WO2019230674A1 - Actuator, camera device, and manufacturing method - Google Patents

Actuator, camera device, and manufacturing method Download PDF

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Publication number
WO2019230674A1
WO2019230674A1 PCT/JP2019/020985 JP2019020985W WO2019230674A1 WO 2019230674 A1 WO2019230674 A1 WO 2019230674A1 JP 2019020985 W JP2019020985 W JP 2019020985W WO 2019230674 A1 WO2019230674 A1 WO 2019230674A1
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WO
WIPO (PCT)
Prior art keywords
axis
magnetic yoke
drive
movable unit
unit
Prior art date
Application number
PCT/JP2019/020985
Other languages
French (fr)
Japanese (ja)
Inventor
英樹 白根
冨田　浩稔
生嶋　君弥
昭仁 鈴木
Original Assignee
パナソニックＩｐマネジメント株式会社
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Publication of WO2019230674A1 publication Critical patent/WO2019230674A1/en

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system

Definitions

  • the present disclosure relates generally to an actuator, a camera device, and a manufacturing method, and more particularly to an actuator, a camera device, and a manufacturing method for rotating a driving target.
  • Patent Document 1 there is a camera driving device as an actuator for rotating a camera to be driven.
  • the camera drive device of Patent Document 1 includes a movable unit on which a camera is mounted, a panning drive unit that tilts the movable unit in the panning direction, and a tilting drive unit that tilts the movable unit in the tilting direction.
  • the panning drive unit includes a pair of panning drive magnets and a pair of panning magnetic yokes around which a panning drive coil is wound.
  • the tilting drive unit includes a pair of tilting drive magnets and a pair of tilting magnetic yokes around which a tilting drive coil is wound.
  • a pair of panning magnetic yokes are provided so as to face the pair of panning drive magnets.
  • a pair of tilting magnetic yokes are provided to face the pair of tilting drive magnets.
  • the camera drive device of Patent Document 1 rotates a movable unit by energizing a panning drive coil wound around a pair of panning magnetic yokes and a tilting drive coil wound around a pair of tilting magnetic yokes.
  • the panning drive coil and the tilting drive coil are not energized (non-energized)
  • the movable unit tilts in the panning direction.
  • the panning drive coil is energized and the movable unit is rotated to the side opposite to the side on which the movable unit is inclined
  • the vibration damping performance of the movable unit is degraded.
  • the movable unit tilts in the tilting direction when no current is applied.
  • the tilting drive coil is energized and the movable unit is rotated to the side opposite to the side on which the movable unit is inclined, the damping performance of the movable unit is degraded.
  • the present disclosure has been made in view of the above problems, and an object of the present disclosure is to provide an actuator, a camera device, and a manufacturing method that can reduce the possibility that the movable unit is inclined in a predetermined direction when no power is supplied.
  • the actuator includes a rotary movable unit, a fixed unit, a drive unit, and a member.
  • the movable unit holds a drive target and has a first loose fitting surface.
  • the fixing unit has a second loose fitting surface and a base that are fitted to the first loose fitting surface.
  • the drive unit includes a plurality of pairs each including a drive magnet and a magnetic yoke disposed to face the drive magnet, and a plurality of holders.
  • the drive unit allows the movable unit to rotate with respect to the fixed unit.
  • One of the first loose fitting surface and the second loose fitting surface has a recess, and the other has a convex spherical surface.
  • the plurality of holders include a first holder.
  • the plurality of pairs includes a first pair.
  • the first pair includes a first drive magnet and a first magnetic yoke.
  • the first magnetic yoke is fixed to the base by the first holder.
  • the first drive magnet rotates the movable unit around a first axis.
  • the member is sandwiched between the first holder and the base.
  • a camera device includes the actuator and a camera module as the drive target.
  • the manufacturing method is a method for manufacturing a camera device.
  • the camera device includes a rotary movable unit, a fixed unit, a drive unit, and a member.
  • the movable unit holds a drive target and has a first loose fitting surface.
  • the fixing unit has a second loose fitting surface and a base that are fitted to the first loose fitting surface.
  • the drive unit includes a plurality of pairs each including a drive magnet and a magnetic yoke disposed to face the drive magnet, and a plurality of holders.
  • the drive unit allows the movable unit to rotate with respect to the fixed unit.
  • One of the first loose fitting surface and the second loose fitting surface has a recess, and the other has a convex spherical surface.
  • the manufacturing method detects an inclination angle of the camera module with respect to a preset axis, selects the member having a thickness corresponding to the inclination angle, and includes the base and at least one holder among the plurality of holders. Install the selected member in between.
  • FIG. 1A is a perspective view of the camera device (actuator) of the first embodiment.
  • FIG. 1B is a plan view of the above camera apparatus.
  • FIG. 2A is an X1-X1 (X2-X2) cross-sectional view of the above camera apparatus.
  • 2B and 2C are enlarged views of main parts in FIG. 2A.
  • FIG. 3 is an exploded perspective view of the camera apparatus.
  • FIG. 4 is an exploded perspective view of the movable unit provided in the camera device.
  • FIG. 5 is a cross-sectional view of the above camera apparatus.
  • FIG. 6 is a diagram showing a state when the camera module is tilted in the camera device.
  • FIG. 7 is a diagram for explaining a method of adjusting the tilt of the camera module with respect to the camera device of the second embodiment.
  • FIG. 8A is a diagram illustrating a method of adjusting the tilt of the camera module with respect to the camera device of the third embodiment.
  • FIG. 8B is a diagram for explaining a base marker imaged by the camera device.
  • FIG. 8C is a diagram illustrating a captured image in which the camera module captures the base marker when the camera module is tilted when the camera device is manufactured.
  • FIG. 8D is a diagram illustrating a captured image in which the camera module captures the base marker when the camera module is in a neutral state when the camera device is manufactured.
  • the camera device 1 is a camera attached to a ceiling or the like, for example, and includes an actuator 2 and a camera module 3 as shown in FIG. 1A.
  • the camera module 3 includes an imaging device, a lens that forms a subject image on the imaging surface of the imaging device, and a lens barrel that holds the lens, and converts an image formed on the imaging surface of the imaging device into an electrical signal. To do.
  • the camera module 3 outputs an electrical signal generated by the image sensor to an image processing circuit provided outside.
  • the actuator 2 includes an upper ring 4, a movable unit 10, a fixed unit 20, a drive unit 30, a first printed board 90 and a second printed board 91 as shown in FIGS. 1A to 2A and 3.
  • the first printed circuit board 90 and the second printed circuit board 91 are omitted.
  • the movable unit 10 includes a camera holder 40, a movable base 41, and a bottom plate 640 (see FIG. 3). Further, the fixed unit 20 is fitted with the movable unit 10 by providing a gap with the movable unit 10. The movable unit 10 rotates (rolls) with respect to the fixed unit 20 around the optical axis 1 a of the lens of the camera module 3. The movable unit 10 rotates with respect to the fixed unit 20 around each of the shaft 1b and the shaft 1c.
  • the shaft 1b and the shaft 1c are orthogonal to the fitting direction in which the movable unit 10 is fitted to the fixed unit 20 in a state where the movable unit 10 is not rotating.
  • the shaft 1b and the shaft 1c are orthogonal to each other.
  • the detailed configuration of the movable unit 10 will be described later.
  • the camera module 3 is attached to the camera holder 40.
  • the configuration of the movable base portion 41 will be described later.
  • the camera module 3 can be rotated by rotating the movable unit 10. In this embodiment, it is defined that the movable unit 10 (camera module 3) is in a neutral state when the optical axis 1a is orthogonal to both the axis 1b and the axis 1c.
  • the direction in which the movable unit 10 (camera module 3) rotates about the axis 1b is defined as the tilting direction
  • the direction in which the movable unit 10 (camera module 3) rotates about the axis 1c is defined as the panning direction.
  • the direction in which the movable unit 10 (camera module 3) rotates (rolls) around the optical axis 1a is defined as the roll direction.
  • the fixed unit 20 includes a connecting part 50 and a main body part 51 (base) (see FIG. 3).
  • the connecting portion 50 is provided with four connecting rods extending from the central portion. Each of the four connecting rods is substantially orthogonal to the adjacent connecting rods.
  • the connecting portion 50 is sandwiched between the main body 51 and the bottom plate 640 and is screwed to the main body 51. Specifically, the front ends of the four connecting rods are screwed to the main body 51.
  • the fixed unit 20 has a pair of first coil units 52 and a pair of second coil units 53 in order to make the movable unit 10 rotatable by electromagnetic drive (see FIG. 3).
  • the pair of first coil units 52 rotates the movable unit 10 around the axis 1b
  • the pair of second coil units 53 rotates the movable unit 10 around the axis 1c.
  • Each first coil unit 52 includes a first magnetic yoke 710 made of a magnetic material, drive coils 720 and 730, and magnetic yoke holders 740 and 750 (see FIG. 3).
  • Each first magnetic yoke 710 has an arc shape centered on the center point of rotation.
  • a drive coil 730 is formed by winding a conductive wire around each first magnetic yoke 710 so that a pair of first drive magnets 620, which will be described later, rotate about the shaft 1b in the winding direction. After the drive coil 730 is provided on each first magnetic yoke 710, the magnetic yoke holders 740 and 750 are fixed to both sides of each first magnetic yoke 710 with screws.
  • each first coil unit 52 is fixed to the upper ring 4 and the main body 51 with screws so as to face each other along the axis 1c when viewed from the camera module 3 side (see FIGS. 1A and 3).
  • Each second coil unit 53 includes a second magnetic yoke 711 made of a magnetic material, drive coils 721 and 731, and magnetic yoke holders 741 and 751 (see FIG. 3).
  • Each of the second magnetic yokes 711 has an arc shape centered on the rotation center point.
  • a drive coil 731 is formed by winding a conductive wire around each second magnetic yoke 711 so that a second drive magnet 621, which will be described later, rotates in the roll direction with the shaft 1c as a winding direction. After the drive coil 731 is provided on each second magnetic yoke 711, the magnetic yoke holders 741 and 751 are fixed with screws on both sides of each second magnetic yoke 711.
  • a conductive wire is wound around each second magnetic yoke 711 so that the pair of second drive magnets 621 are rotationally driven in the panning direction with the optical axis 1a in the winding direction when the movable unit 10 is in the neutral state, and the drive coil 721 is driven. Is formed. Then, the second coil units 53 are fixed to the upper ring 4 and the main body 51 with screws so as to face each other along the axis 1b when viewed from the camera module 3 side (see FIGS. 2A and 3).
  • the camera module 3 attached to the camera holder 40 is fixed to the movable unit 10.
  • the upper ring 4 sandwiches the camera module 3 fixed to the movable unit 10 between itself and the main body 51, and is fixed to the main body 51 with screws (see FIGS. 1A and 3).
  • the first printed circuit board 90 has a plurality of magnetic sensors 92 (four in this case) for detecting the rotational positions of the camera module 3 in the tilting direction and the panning direction (see FIG. 3).
  • the magnetic sensor 92 is, for example, a Hall element.
  • the first printed circuit board 90 is further mounted with a circuit for controlling the current flowing through the drive coils 720, 721, 730, and 731.
  • the second printed circuit board 91 is mounted with a fixed unit sensor chip 93 for detecting acceleration in the tilting and panning directions of the camera module 3, a microcontroller 94, and the like (see FIG. 3).
  • the microcontroller 94 has a processor and a memory.
  • the fixed unit sensor chip 93 includes a first fixed unit sensor, a second fixed unit sensor, and a third fixed unit sensor.
  • the first fixed unit sensor detects acceleration applied to the movable unit 10 in the tilting direction of the camera module 3.
  • the second fixed unit sensor detects an acceleration applied to the movable unit 10 in the panning direction.
  • the third fixed unit sensor detects acceleration applied to the movable unit 10 in the roll direction.
  • the first fixed unit sensor, the second fixed unit sensor, and the third fixed unit sensor may detect the angular velocity together with the acceleration.
  • the camera holder 40 has a movable unit sensor chip 401 (see FIG. 1A).
  • the movable unit sensor chip 401 includes a first movable unit sensor, a second movable unit sensor, and a third movable unit sensor.
  • the first movable unit sensor detects acceleration applied to the movable unit 10 in the tilting direction of the camera module 3.
  • the second movable unit sensor detects acceleration applied to the movable unit 10 in the panning direction.
  • the third movable unit sensor detects acceleration applied to the movable unit 10 in the roll direction.
  • the first movable unit sensor, the second movable unit sensor, and the third movable unit sensor may detect the angular velocity together with the acceleration.
  • the movable base 41 has a loose fitting space and holds the camera module 3.
  • the movable base 41 includes a main body 601, a first loosely fitting member 602, a pair of first magnetic back yokes 610, a pair of second magnetic back yokes 611, a pair of first drive magnets 620, and a pair of And a second drive magnet 621 (see FIG. 4).
  • the main body 601 has a disk part and four fixing parts (arms) that protrude from the outer peripheral part of the disk part to the side opposite to the camera module 3.
  • the four fixing portions have a substantially L shape.
  • the fixed part is referred to as an L-shaped fixed part.
  • the four L-shaped fixing portions face the pair of first coil units 52 and the pair of second coil units 53 on a one-to-one basis.
  • the first loose-fitting member 602 has a tapered recess.
  • the first loosely fitting member 602 has an inner peripheral surface of a tapered recess as a first loosely fitting surface 605.
  • the first loosely fitting member 602 is fixed to the disk portion of the main body 601 with a screw so that the first loosely fitting surface 605 is exposed in the loosely fitting space.
  • the pair of first magnetic back yokes 610 are provided one-to-one on the two L-shaped fixing portions facing the pair of first coil units 52 among the four L-shaped fixing portions.
  • the pair of first magnetic back yokes 610 are fixed to the two L-shaped fixing portions facing the pair of first coil units 52 with screws.
  • the pair of second magnetic back yokes 611 is provided one-to-one on the two L-shaped fixing portions facing the pair of second coil units 53 among the four L-shaped fixing portions.
  • the pair of second magnetic back yokes 611 are fixed to the two L-shaped fixing portions facing the pair of second coil units 53 with screws.
  • the pair of first drive magnets 620 are provided on the pair of first magnetic back yokes 610 on a one-to-one basis, and the pair of second drive magnets 621 are provided on the pair of second magnetic back yokes 611 on a one-on-one basis.
  • the pair of first drive magnets 620 faces the pair of first coil units 52
  • the pair of second drive magnets 621 faces the pair of second coil units 53.
  • the bottom plate 640 is non-magnetic and is made of, for example, brass.
  • the bottom plate 640 is provided so as to sandwich the connecting portion 50 of the fixed unit 20 with the main body portion 601.
  • the bottom plate 640 is fixed to the main body 601 with screws.
  • the bottom plate 640 functions as a counterweight. By causing the bottom plate 640 to function as a counterweight, the center point of rotation and the center of gravity of the movable unit 10 can be matched. Therefore, when an external force is applied to the entire movable unit 10, the moment that the movable unit 10 rotates about the shaft 1b and the moment that the movable unit 10 rotates about the shaft 1c are reduced.
  • the movable unit 10 (camera module 3) can be maintained in a neutral state with a small driving force, or can be rotated around the shaft 1b and the shaft 1c. Therefore, the power consumption of the camera device 1 is reduced. In particular, the drive current required to maintain the movable unit 10 in a neutral state can be made almost zero.
  • the bottom plate 640 has a position detection magnet 650 and a magnet cover 651.
  • the position detection magnet 650 is provided in a recess provided in a central portion of the surface of the bottom plate 640 opposite to the camera module 3.
  • the magnet cover 651 is a non-magnetic material, and the position detection magnet 650 is provided in order to prevent the position detection magnet 650 from dropping from the recess of the bottom plate 640. That is, the position detection magnet 650 is sandwiched between the bottom surface of the recess of the bottom plate 640 and the magnet cover 651.
  • a curved concave portion 641 is provided on the surface of the bottom plate 640 on the camera module 3 side.
  • the four magnetic sensors 92 provided on the first printed circuit board 90 act on the four magnetic sensors 92 by changing the position of the position detection magnet 650 according to the rotation of the movable unit 10 when the movable unit 10 rotates.
  • the four magnetic sensors 92 detect a change in magnetic force that is caused by the rotation of the position detection magnet 650, and calculate a two-dimensional rotation angle with respect to the shaft 1b and the shaft 1c.
  • the four magnetic sensors 92 are arranged on the first printed circuit board 90 in parallel to a plane including the axes 1b and 1c. At this time, two of the four magnetic sensors 92 are arranged on the shaft 1c in order to detect the rotational position of the movable unit 10 in the tilting direction.
  • the remaining two magnetic sensors 92 are arranged on the shaft 1b in order to detect the rotational position of the movable unit 10 in the panning direction.
  • the connecting part 50 has a spherical second loosely fitting member 501 at the central part of the connecting part 50 (see FIGS. 3 and 4).
  • the second loose fitting member 501 includes a second loose fitting surface 505 having a convex spherical surface.
  • the spherical second loosely fitting member 501 is fixed to the central portion (concave portion) of the connecting portion 50 with an adhesive.
  • the connecting portion 50 and the first loosely fitting member 602 are coupled. Specifically, the first loose-fit surface 605 of the first loose-fit member 602 makes point or line contact with the second loose-fit surface 505 of the second loose-fit member 501 so as to be fitted through a slight gap. Thereby, the connection part 50 can pivot-support the movable unit 10 so that the movable unit 10 can rotate.
  • the center of the spherical second loosely fitting member 501 is the center point of rotation.
  • the connecting portion 50 is provided with a convex portion 502 having a curved surface on the opposite side to which the second loose fitting member 501 is provided.
  • the convex portion 502 of the connecting portion 50 is fitted into the concave portion 641 of the bottom plate 640.
  • the bottom plate 640 is fixed to the main body 601. Therefore, when the main body 601 rotates, it is necessary to rotate the bottom plate 640 with the rotation. Therefore, the bottom plate 640 can be rotated with respect to the connecting portion 50 by fitting the curved convex portion 502 of the connecting portion 50 into the curved concave portion 641 of the bottom plate 640. Therefore, when the main body 601 rotates, the bottom plate 640 can be rotated along with the rotation.
  • the pair of first coil units 52, the pair of second coil units 53, the pair of first drive magnets 620, and the pair of second drive magnets 621 constitute the drive unit 30.
  • the drive unit 30 includes a first drive unit that rotates the movable unit 10 in the tilting direction, a second drive unit that rotates the movable unit 10 in the panning direction, and a third drive unit that rotates the movable unit 10 in the roll direction. Contains.
  • the first drive unit includes a pair of magnetic yoke holders 740 and 750 in the pair of first coil units 52, a pair of first magnetic yokes 710 and a pair of drive coils 720, and a pair of first drive magnets 620.
  • the second drive unit includes a pair of magnetic yoke holders 741 and 751 in the pair of second coil units 53, a pair of second magnetic yokes 711 and a pair of drive coils 721, and a pair of second drive magnets 621.
  • the third drive unit includes a pair of magnetic yoke holders 740 and 750, a pair of magnetic yoke holders 741 and 751, a pair of first drive magnets 620, a pair of second drive magnets 621, a pair of first magnetic yokes 710, and a pair.
  • the second magnetic yoke 711, a pair of drive coils 730, and a pair of drive coils 731 are included. That is, the drive unit 30 is opposed to the pair of the first drive magnet 620 and the first magnetic yoke 710 disposed to face the first drive magnet 620, the second drive magnet 621, and the second drive magnet 621. And a pair of second magnetic yokes 711 arranged in this manner.
  • the drive unit 30 further includes a plurality of magnetic yoke holders 740, 741, 750, and 751 (holders).
  • the drive unit 30 includes a plurality of pairs and a plurality of holders.
  • Each of the plurality of pairs includes a drive magnet (first drive magnet 620, second drive magnet 621) and a magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) disposed to face the drive magnet. .
  • a pair including the first drive magnet 620 and the first magnetic yoke 710 disposed to face the first drive magnet 620 corresponds to the first pair of the present disclosure.
  • the magnetic yoke holders 740 and 750 correspond to the first holder of the present disclosure.
  • a pair consisting of the second drive magnet 621 and the second magnetic yoke 711 arranged to face the second drive magnet 621 corresponds to the second pair of the present disclosure.
  • the magnetic yoke holders 741 and 751 correspond to the second holder of the present disclosure.
  • At least one of the pair including the magnetic yoke 711 corresponds to the third pair of the present disclosure.
  • At least one of the magnetic yoke holders 740 and 750 and the magnetic yoke holders 741 and 751 corresponds to the third holder of the present disclosure.
  • At least one of the first drive magnet 620 and the second drive magnet 621 corresponds to the third drive magnet of the present disclosure.
  • At least one of the first magnetic yoke 710 and the second magnetic yoke 711 corresponds to the third magnetic yoke of the present disclosure.
  • the camera device 1 of the present embodiment can rotate the movable unit 10 two-dimensionally (tilting and panning) by energizing the pair of drive coils 720 and the pair of drive coils 721 simultaneously.
  • the camera device 1 can also rotate (roll) the movable unit 10 about the optical axis 1a as a rotation axis by energizing the pair of drive coils 730 and the pair of drive coils 731 simultaneously.
  • the gap between the yoke surface 715 and the magnet surface 625 facing each other is Since the movable unit 10 is in a neutral state when no power is supplied, it is preferable that the movable unit 10 be uniform (see FIG. 5).
  • a gap between the yoke surface 716 and the magnet surface 626 facing each other specifically, a gap in a direction along an arc centered on the center point of rotation. Is preferably uniform because the movable unit 10 is in a neutral state when no power is supplied (see FIG. 5).
  • the non-energization means a state in which no current flows through the first coil unit 52 and the second coil unit 53.
  • the first magnetic yoke 710 (second magnetic yoke 711) is attached, that is, when the magnetic yoke holders 740, 750 (741, 751) are attached to the main body 51, the yoke surface 715 (716) and the magnet surface 625 (626). ) May not be uniform.
  • the gap between the yoke surface 715 and the magnet surface 625 may not be uniform when the first drive magnet 620 is attached to the first magnetic back yoke 610.
  • the gap between the yoke surface 716 and the magnet surface 626 may not be uniform when the second drive magnet 621 is attached to the second magnetic back yoke 611.
  • the camera module rotates along the tilting direction.
  • the camera module 3 (movable unit 10) is inclined in the tilting direction with respect to the vertical direction G from the ceiling (FIG. 6). reference).
  • the camera device 1 (actuator 2) of the present embodiment has no effect when at least one of the gap between the yoke surface 715 and the magnet surface 625 and the gap between the yoke surface 716 and the magnet surface 626 is not uniform.
  • An adjustment mechanism 5 is provided so that the movable unit 10 is in a neutral state when energized.
  • the adjustment mechanism 5 is configured such that when the current is not energized, the yoke surface 715 and the magnet surface 625 are arranged such that the direction in which the camera module 3 captures an image coincides with a predetermined direction (eg, a direction orthogonal to both the axes 1b and 1c) At least one of the gap and the gap between the yoke surface 716 and the magnet surface 626 is adjusted.
  • the direction in which the camera module 3 captures an image is the direction of the optical axis 1a in the image capturing direction.
  • the adjustment mechanism 5 includes at least one adjustment unit.
  • the adjustment unit includes a flat spacer that is a non-magnetic material, for example.
  • the adjustment unit 5a included in the adjustment mechanism 5 is connected to the magnetic yoke holder 740 in the main body 51 of the fixed unit 20 and the portion 515 screwed. It is provided between the part 745 of the yoke holder 740 (refer FIG. 2B). Further, similarly between the portion of the main body 51 screwed to the magnetic yoke holder 750 and the portion 755 (see FIG. 3) which is the end of the magnetic yoke holder 750 screwed to the main body 51. An adjustment unit 5a is provided.
  • the adjustment portion 5b included in the adjustment mechanism 5 is connected to the magnetic yoke holder 741 in the body portion 51 of the fixed unit 20 and the portion 516 to be screwed. It is provided between the portion 746 of the yoke holder 741 (see FIG. 2C). Further, similarly between the portion of the main body 51 screwed to the magnetic yoke holder 751 and the portion 756 (see FIG. 3) which is the end of the magnetic yoke holder 751 screwed to the main body 51. An adjustment unit 5b is provided. In FIG. 3, the adjusting mechanism 5 is omitted.
  • the adjusting mechanism 5 is provided when the camera device 1 is manufactured (before shipment).
  • the adjustment units 5a and 5b correspond to members of the present disclosure.
  • Alignment is performed so that the lens of the camera module 3 of the camera device 1 before the adjustment mechanism 5 is provided faces downward.
  • Power is supplied to the fixed unit sensor chip 93, the movable unit sensor chip 401, and the microcontroller 94 of the camera device 1. That is, no current flows through the first coil unit 52 and the second coil unit 53.
  • the fixed unit sensor chip 93 outputs the detection results of the first fixed unit sensor and the second fixed unit sensor to the microcontroller 94.
  • the fixed unit sensor chip 93 is in the tilting direction of the fixed unit 20 based on the vertical direction G obtained from the accelerations of the first fixed unit sensor and the second fixed unit sensor.
  • the tilt angle and the tilt angle of the fixed unit 20 in the panning direction are output to the microcontroller 94.
  • the first fixed unit sensor detects 0 degree as the inclination angle of the fixed unit 20 in the tilting direction.
  • the inclination angle of the fixed unit 20 in the tilting direction and the inclination angle of the fixed unit 20 in the panning direction are both 0 degrees.
  • the movable unit sensor chip 401 detects the tilt of the camera module 3 with respect to each of the tilting direction and the panning direction using the first movable unit sensor and the second movable unit sensor.
  • the movable unit sensor chip 401 outputs the detection results of the first movable unit sensor and the second movable unit sensor to the microcontroller 94. That is, the movable unit sensor chip 401 includes the tilt angle in the tilting direction of the camera module 3 with respect to the vertical direction G obtained from each of the first movable unit sensor and the second movable unit sensor, and panning.
  • the tilt angle in the direction is output to the microcontroller 94.
  • the first movable unit sensor detects the tilt angle ⁇ of the camera module 3 in the tilting direction (see FIG. 6).
  • an adjustment process for providing an adjustment mechanism for adjusting the tilt of the camera module 3 detected by the detection process is performed.
  • the microcontroller 94 stores the thickness of the spacer to be provided between the magnetic yoke holders 740 and 750 and the main body 51 as the adjusting portion 5a according to the tilt angle in the tilting direction. Further, the microcontroller 94 stores the thickness of the spacer that should be provided between the magnetic yoke holders 741 and 751 and the main body 51 as the adjusting portion 5b according to the inclination angle in the panning direction.
  • the microcontroller 94 displays information on the thickness of the spacer (adjustment unit 5a) according to the tilt angle ⁇ in the tilting direction detected by the first movable unit sensor on an external display device (not shown).
  • the worker provides a spacer (adjustment part 5 a) having a thickness displayed on the display device between the part 515 of the main body part 51 and the part 745 of the magnetic yoke holder 740.
  • the worker places a spacer (adjustment unit 5a) having a thickness displayed on the display device between a portion of the main body 51 that is screwed to the magnetic yoke holder 750 and a portion 755 of the magnetic yoke holder 750.
  • the thickness of the spacer provided between the part 515 of the main body 51 and the part 745 of the magnetic yoke holder 740, the part of the main body 51 that is screwed to the magnetic yoke holder 750, and the part 755 of the magnetic yoke holder 750 can be selected according to the adjustment, and for example, the thickness may be the same or different.
  • the above processing is repeated until the tilt angle in the tilting direction of the camera module 3 with respect to the vertical direction G coincides with the tilt angle in the tilting direction of the fixed unit 20. That is, in the adjustment process, the camera module 3 is adjusted so that the imaging direction of the camera module 3 when no power is supplied coincides with the vertical direction G as a predetermined direction.
  • the microcontroller 94 also sends information on the thickness of the spacer (adjustment unit 5b) corresponding to the detected angle to the external display device. Display.
  • the worker provides a spacer (adjustment portion 5 b) having a thickness displayed on the display device between the portion 516 of the main body 51 and the portion 746 of the magnetic yoke holder 741.
  • the worker places a spacer (adjustment part 5b) having a thickness displayed on the display device between the part of the main body 51 screwed to the magnetic yoke holder 751 and the part 756 of the magnetic yoke holder 751.
  • the thickness of the spacer provided between the part 516 of the main body 51 and the part 746 of the magnetic yoke holder 741, the part of the main body 51 that is screwed to the magnetic yoke holder 751, and the part 756 of the magnetic yoke holder 751 can be selected according to the adjustment, and for example, the thickness may be the same or different.
  • the above operation is repeated until the tilt angle of the camera module 3 in the panning direction with respect to the vertical direction G matches the tilt angle of the fixed unit 20 in the panning direction.
  • the thickness of the spacer (adjustment unit 5a) for adjusting the inclination in the tilting direction and the thickness of the spacer (adjustment unit 5b) for adjusting the inclination in the panning direction are also appropriately determined according to the inclination of the movable unit 10 (camera module 3). Selected. Specifically, the spacer (adjusting part 5a) and the spacer (adjusting part 5b) may have the same thickness or different thicknesses.
  • the selection and installation of the spacer having the thickness displayed on the display device may be automated using a picking system, an assembly robot, or the like.
  • these gaps may not be uniform.
  • the camera module 3 is tilted, for example, in the tilting direction with respect to the vertical direction G from the ceiling when no power is supplied.
  • the side opposite to the side where the camera module 3 is tilted when power is supplied the reverse side along the tilting direction. The vibration control performance of the camera module 3 is reduced.
  • the camera device 1 (actuator 2) includes an adjustment mechanism 5 in order to make the camera module neutral when no power is supplied.
  • the adjustment mechanism 5 By providing the adjustment mechanism 5, it is possible to reduce the possibility that the vibration control performance of the camera module 3 is lowered during energization.
  • the actuator 2 according to the present disclosure can reduce the possibility that the movable unit 10 is tilted in a predetermined direction when there is no energization. Therefore, there is no angular direction in which the damping performance is greatly deteriorated, and any direction is tilted. Can achieve uniform damping performance.
  • the camera device 1 is provided on the ceiling and the camera module 3 images the floor surface.
  • the camera device 1 may be provided on a wall provided between the ceiling and the floor so that the camera module 3 captures a direction orthogonal to the direction from the ceiling to the floor.
  • the adjustment method in this case is that the result of the first fixed unit sensor and the result of the first movable unit sensor match the result of the second fixed unit sensor and the result of the second movable unit sensor, respectively.
  • the adjustment mechanism 5 is provided. Thereby, the same effect as in the first embodiment is obtained.
  • the movable unit sensor chip 401 and the fixed unit sensor chip 93 are used. Therefore, the tilt of the movable unit 10 may be adjusted using the adjustment method in a state where the camera module 3 is not included in the actuator 2. In this case, the camera module 3 is attached after adjusting the inclination of the movable unit 10.
  • An adjustment method in which the adjustment mechanism 5 is provided using the result of the magnetic sensor 92 may be adopted.
  • the gap between the yoke surface 715 and the magnet surface 625 facing each other specifically, the gap in the direction along the arc centered on the center point of rotation is Suppose that it is not uniform.
  • the camera module 3 is tilted, for example, in the tilting direction with respect to the vertical direction G from the ceiling when no power is supplied.
  • the detection process in the adjustment method it is detected from the result of the magnetic sensor 92 that the movable unit 10 (camera module 3) is tilted with respect to the main body 51 in the tilting direction.
  • the microcontroller 94 displays information on the thickness of the spacer (adjustment unit 5a) according to the tilt angle ⁇ in the tilting direction detected by the magnetic sensor 92, using an external display device (FIG. (Not shown).
  • the worker provides a spacer (adjustment unit 5 a) according to the degree of inclination (inclination angle) between the part 515 of the main body part 51 and the part 745 of the magnetic yoke holder 740.
  • the worker also provides a spacer (adjustment unit 5a) corresponding to the degree of inclination between a portion of the main body 51 that is screwed to the magnetic yoke holder 750 and a portion 755 of the magnetic yoke holder 750.
  • the above processing is repeated until the magnetic sensor 92 detects that the movable unit 10 (camera module 3) is not tilted in the tilting direction with respect to the main body 51. That is, in the adjustment process, the adjustment mechanism 5 adjusts the camera module 3 so that the imaging direction of the camera module 3 when not energized coincides with a direction orthogonal to both the axes 1b and 1c as a predetermined direction.
  • the magnetic sensor 92 is used. Therefore, the tilt of the movable unit 10 may be adjusted in a state where the camera module 3 is not provided in the actuator 2 using this modification. In this case, the camera module 3 is attached after adjusting the inclination of the movable unit 10.
  • the gap along the short side direction is uniform.
  • the camera module 3 rotates with respect to the roll direction even when no power is supplied. That is, the camera module 3 is rotated by a certain angle with respect to the roll method from the reference position even when no power is supplied.
  • the magnetic yoke holder between the portion 515 of the main body 51 of the fixed unit 20 and the portion 745 of the magnetic yoke holder 740 and among the main body 51
  • An adjustment unit is provided at least one of a portion 750 and a portion to be screwed and a portion 755 of the magnetic yoke holder 750.
  • an adjustment unit provided between the part 515 of the main body 51 and the part 745 of the magnetic yoke holder 740 is provided.
  • the adjustment amount is different from the adjustment amount of the adjustment portion provided between the magnetic yoke holder 750 and the portion 755 of the magnetic yoke holder 750 in the main body 51.
  • An adjustment unit is provided in at least one of 51 between the part to be screwed with the magnetic yoke holder 751 and the part 756 of the magnetic yoke holder 751.
  • the adjustment amount of the adjustment portion provided between the yoke holder 751 and the portion 756 is different.
  • adjustment of the adjustment unit provided between the part 515 of the main body 51 and the part 745 of the magnetic yoke holder 740 is adjusted.
  • the amount and the adjustment amount of the adjustment portion provided between the magnetic yoke holder 751 and the portion to be screwed in the main body 51 and the portion 756 of the magnetic yoke holder 751 are different.
  • the adjuster has a spring.
  • the adjuster as the adjustment unit is between the part 515 of the main body part 51 and the part 745 of the magnetic yoke holder 740, and between the part of the main body part 51 screwed to the magnetic yoke holder 750 and the part 755 of the magnetic yoke holder 750.
  • the adjuster as the adjustment unit is between the part 516 of the main body part 51 and the part 746 of the magnetic yoke holder 741, and between the part of the main body part 51 screwed to the magnetic yoke holder 751 and the part 756 of the magnetic yoke holder 751.
  • the adjuster as the adjustment unit is between the part 516 of the main body part 51 and the part 746 of the magnetic yoke holder 741, and between the part of the main body part 51 screwed to the magnetic yoke holder 751 and the part 756 of the magnetic yoke holder 751.
  • the screwing tightening at the portion 515 of the main body 51 and the portion 745 of the magnetic yoke holder 740 is loosened. Further, the tightening of the screwing at the portion of the main body 51 screwed to the magnetic yoke holder 750 and the portion 755 of the magnetic yoke holder 750 is loosened.
  • the adjuster of the present modification includes a gap between the portion 515 of the main body 51 and the portion 745 of the magnetic yoke holder 740 generated by the restoring force of the spring, and a portion of the main body 51 that is screwed to the magnetic yoke holder 750 and the magnetic yoke holder.
  • the gap between the yoke surface 715 and the magnet surface 625 can be adjusted by adjusting the gap between the portion 755 and the portion 755.
  • the clamping force between the magnetic yoke holder and the main body is large. Therefore, the strength of the adjusting mechanism 5 is higher when the spacer is used than when the adjuster having a spring is used as the adjusting portion (adjusting mechanism 5). Therefore, it is preferable to use a spacer as the adjustment unit (adjustment mechanism 5). However, it is also within the scope of the present disclosure to use an adjuster as the adjustment unit (adjustment mechanism 5).
  • the adjusting portion 5a is provided between the portion 515 of the main body portion 51 and the portion 745 of the magnetic yoke holder 740, and among the main body portion 51.
  • the magnetic yoke holder 750 is also provided between the part to be screwed and the part 755 of the magnetic yoke holder 750.
  • the adjusting unit 5a may be provided between the upper ring 4 and the magnetic yoke holder 740 and between the upper ring 4 and the magnetic yoke holder 750.
  • the adjustment unit 5 a may be provided both between the magnetic yoke holders 740 and 750 and the main body 51 and between the magnetic yoke holders 740 and 750 and the upper ring 4.
  • the adjusting portion 5b is provided between the upper ring 4 and the magnetic yoke holder 741 and between the upper ring 4 and the magnetic yoke holder 751. May be.
  • the adjusting portion 5 a may be provided both between the magnetic yoke holders 741 and 751 and the main body 51 and between the magnetic yoke holders 741 and 751 and the upper ring 4.
  • the adjusting portion 5 a may be provided both between the magnetic yoke holders 740 and 750 and the main body 51 and between the magnetic yoke holders 740 and 750 and the upper ring 4.
  • the adjusting portion 5 a may be provided both between the magnetic yoke holders 741 and 751 and the main body 51 and between the magnetic yoke holders 741 and 751 and the upper ring 4.
  • the adjustment unit 5a (5b) is provided between the magnetic yoke holders 740, 750 (741, 751) and the main body 51.
  • the present invention is not limited to this configuration. Adjusting portions are provided between the first drive magnet 620 and the first magnetic back yoke 610 and between the second drive magnet 621 and the second magnetic back yoke 611, respectively, and the yoke surface 715 and the magnet surface 625 are provided. And the gap between the yoke surface 716 and the magnet surface 626 may be adjusted.
  • the tilt of the camera module 3 is adjusted using the fixed unit sensor chip 93 and the movable unit sensor chip 401 included in the camera device 1. In the present embodiment, the tilt of the camera module 3 is adjusted using another camera device.
  • the tilt of the camera module 3 of the camera apparatus 1 is adjusted using a camera apparatus 800 different from the camera apparatus 1 (see FIG. 7).
  • the camera device 800 is installed so as to image the camera module 3.
  • the camera apparatus 800 is installed so that the optical axis 1e of the camera apparatus 800 and the design optical axis 1d of the camera apparatus 1 when the camera module 3 is in the neutral state coincide.
  • the camera device 800 is installed such that the design optical axis 1d of the camera device 1 when the camera module 3 is in the neutral state is located at the center of the imaging region of the camera device 800.
  • the camera device 800 images the camera module 3 of the camera device 1 and tilts the optical axis 1d (the optical axis 1e of the camera device 800) on the design of the camera device 1 using the captured image.
  • the inclination of the optical axis 1a of the camera module 3 in the direction and the inclination of the optical axis 1a of the camera module 3 in the panning direction are obtained.
  • the camera device 800 includes information on the thickness (first adjustment amount) of the adjustment unit 5a according to the inclination (tilt angle) of the optical axis 1a of the camera module 3 in the tilting direction obtained by the detection process, and the chill.
  • Information on the thickness (second adjustment amount) of the adjustment unit 5b corresponding to the inclination (inclination angle) of the optical axis 1a of the camera module 3 in the tilting direction is displayed.
  • the worker provides a spacer (adjustment unit 5 a) corresponding to the first adjustment amount displayed on the display device between the magnetic yoke holder 740 and the main body 51 and between the magnetic yoke holder 750 and the main body 51.
  • the worker inserts a spacer (adjustment unit 5 b) corresponding to the second adjustment amount displayed on the display device between the magnetic yoke holder 741 and the main body 51 and between the magnetic yoke holder 751 and the main body 51.
  • a spacer (adjustment unit 5 b) corresponding to the second adjustment amount displayed on the display device between the magnetic yoke holder 741 and the main body 51 and between the magnetic yoke holder 751 and the main body 51.
  • the camera device 800 captures the camera module 3 again.
  • the above processing detection processing and adjustment processing
  • the optical axis 1a of the camera module 3 matches the optical axis 1e of the camera device 800, that is, the optical axis 1d of the camera device 1 designed.
  • the above process is repeated so that the center of the lens of the camera module 3 is positioned at the center of the image captured by the camera device 800. That is, in the adjustment process, the camera module 3 is adjusted so that the imaging direction of the camera module 3 when no power is supplied coincides with the direction of the optical axis 1d in the design of the camera device 1 as a predetermined direction.
  • the tilt of the camera module 3 is adjusted using an image captured by the camera module 3.
  • the camera device 1 of the present embodiment supplies power to the camera module 3. That is, no current flows through the first coil unit 52 and the second coil unit 53.
  • the camera device 1 of the present embodiment images the base marker 850 used for adjusting the tilt of the camera module 3 (see FIG. 8A).
  • the camera module 3 displays a captured image obtained by superimposing mutually orthogonal broken lines on the captured image on a display unit (not shown) via an image processing circuit. Note that the broken line intersects with the optical axis 1 a of the camera module 3.
  • the base marker 850 has two straight lines 851 and 852 orthogonal to each other (see FIG. 8B).
  • the base marker 850 and the camera device 1 are installed such that the intersection 853 between the straight line 851 and the straight line 852 intersects the design optical axis 1d of the camera device 1 when the camera module 3 is in a neutral state (see FIG. 8A). ).
  • FIG. 8C shows a captured image 860 in which the camera module 3 captures the base marker 850 in the tilted state of the camera module 3 shown in FIG. 8A.
  • the captured image 860 includes broken lines 861 and 862 and straight lines 851 and 852 marked on the base marker 850, as shown in FIG. 8C.
  • FIG. 8A when the base marker 850 is viewed from the camera device 1, the camera module 3 is tilted to the lower right with respect to the intersection 853 of the base marker 850.
  • the intersection 853 of the base marker 850 is located in the upper left direction of the optical axis 1 a of the camera module 3. Therefore, the intersection 853 of the straight lines 851 and 852 is shifted in the upper left direction from the intersection 863 of the broken lines 861 and 862.
  • the up and down direction of the captured image 860 is the direction in which the tilting direction is projected onto the plane
  • the left and right direction is the direction in which the panning direction is projected onto the plane.
  • the worker sets a spacer (adjustment unit 5a) between the magnetic yoke holder 740 and the main body 51 according to the amount of vertical displacement between the intersection 853 of the straight lines 851 and 852 and the intersection 863 of the broken lines 861 and 862. And between the magnetic yoke holder 750 and the main body 51. Further, the worker can insert a spacer (adjustment part 5b) between the magnetic yoke holder 741 and the main body part 51 in accordance with the amount of horizontal displacement between the intersection 853 of the straight lines 851 and 852 and the intersection 863 of the broken lines 861 and 862. And provided between the magnetic yoke holder 751 and the main body 51.
  • the camera device 1 again images the base marker 850.
  • the captured image 870 in which the optical axis 1a of the camera module 3, that is, the intersection point 863 of the broken lines 861, 862, coincides with the intersection point 853 of the straight lines 851, 852 of the base marker 850 is obtained (detection process).
  • the camera module 3 is adjusted so that the imaging direction of the camera module 3 when no power is supplied matches the direction of the optical axis 1d in the design of the camera device 1 as a predetermined direction.
  • the camera module 3 includes information on the thickness of the adjustment unit 5a in accordance with the amount of vertical displacement between the intersection 853 of the straight lines 851 and 852 and the intersection 863 of the broken lines 861 and 862, in addition to the captured image.
  • information on the thickness of the adjustment unit 5b corresponding to the amount of deviation in the left-right direction between the intersection point 853 and the intersection point 863 may be displayed on the display unit.
  • the adjustment is performed by visually observing the vertical and horizontal shifts between the intersection 853 of the straight lines 851 and 852 and the intersection 863 of the broken lines 861 and 862.
  • the camera module 3 or a device (display device) including a display unit that displays a captured image automatically uses the captured image at the intersection 853 of the straight lines 851 and 852 and the point where the optical axis 1a intersects the base marker 850.
  • You may have the function to acquire automatically the deviation
  • the camera module 3 or the display device having the function displays information on the thickness of the adjustment unit 5a according to the downward shift amount and information on the thickness of the adjustment unit 5b according to the horizontal shift amount.
  • the actuator 2 (camera apparatus 1) includes a pair of first magnetic yokes 710, a pair of second magnetic yokes 711, two first drive magnets 620 that face the first magnetic yokes 710, and The configuration has two second drive magnets 621 respectively facing the two second magnetic yokes 711. That is, the actuator 2 (camera device 1) has a configuration including four magnetic yokes and four drive magnets, but is not limited to this configuration.
  • the actuator 2 (camera device 1) may include two or more magnetic yokes and two or more drive magnets facing the two or more magnetic yokes. In this case, the two or more magnetic yokes are arranged at equal intervals on the circumference around the center point of rotation.
  • the actuator 2 may include three magnetic yokes and three drive magnets that face the three magnetic yokes. At this time, the three magnetic yokes are arranged every 120 degrees on the circumference centered on the center point of rotation.
  • the camera module 3 (movable unit 10) may be rotated in the tilting direction and the panning direction by controlling the current flowing in the coil wound around each of the three magnetic yokes. That is, the current flowing through the coils wound around each of the three magnetic yokes may be controlled to rotate the camera module 3 (movable unit 10) about the shaft 1b and the shaft 1c described above.
  • the actuator 2 (camera device 1) has three magnetic yokes and three drive magnets, and explains how to adjust the tilt of the camera module 3 with respect to the tilting direction and the tilt of the camera module 3 with respect to the panning direction.
  • the microcontroller 94 of the camera apparatus 1 includes a set of a tilt angle of the camera module 3 with respect to the tilting direction and a tilt angle of the camera module 3 with respect to the panning direction, and spacers to be provided for each magnetic yoke as an adjustment unit. Information on thickness is stored.
  • the microcontroller 94 displays thickness information according to the detection result of the tilt of the camera module 3 on a display unit (not shown). The worker provides a spacer having a thickness for each magnetic yoke displayed on the display device between the magnetic yoke holder of the corresponding magnetic yoke and the main body 51.
  • the axis of rotation with respect to the camera module 3 is not limited to the axis 1b and the axis 1c.
  • shaft determined according to the opposing direction of two or more magnetic yokes (two or more drive magnets) may be sufficient.
  • an axis corresponding to the axis 1 b is a rotation axis when rotation is caused by passing a current through a coil wound around one magnetic yoke. It is good.
  • a rotation axis when rotation is caused by passing a current through a coil wound around one magnetic yoke of the remaining two magnetic yokes (remaining two drive magnets) may be an axis corresponding to the axis 1c.
  • the gap between the yoke surface 715 (716) and the magnet surface 625 (626) is not uniform is assumed when the first magnetic yoke 710 (second magnetic yoke 711) is attached or the first driving magnet 620.
  • the present invention is not limited to this assumption. Even when the magnetism of the magnet surface 625 of the first drive magnet 620 is not uniform, it is effective to provide the adjusting mechanism 5. This is because, when the magnetism of the magnet surface 625 is not uniform, the force for attracting the first magnetic yoke 710 at the magnet surface 625 is not uniform.
  • the magnetic surface 625 attracts more strongly with the first magnetic yoke 710 at a portion where the magnetism is relatively strong.
  • the camera module 3 rotates along the tilting direction. Therefore, by providing the adjustment mechanism 5 (adjustment unit 5a) described above, the camera module 3 can be in a neutral state even when no power is supplied. Even when the magnetism of the magnet surface 626 of the second drive magnet 621 is not uniform, the force for attracting the second magnetic yoke 711 at the magnet surface 626 is not uniform. Therefore, the camera module 3 rotates along the panning direction. Therefore, by providing the adjustment mechanism 5 (adjustment unit 5b), the camera module 3 can be in a neutral state even when no power is supplied.
  • the actuator 2 of each embodiment is configured to be applied to the camera device 1, but is not limited to this configuration.
  • the actuator 2 may be applied to a laser pointer, a lighting fixture, a projector, or the like.
  • the first loose-fitting member 602 has the inner peripheral surface of the recess as the first loose-fitting surface 605, and the second loose-fitting member 501 has a second loose-fitting surface 505 having a convex spherical surface.
  • the first loosely fitting member 602 may have a convex spherical surface
  • the second loosely fitting member 501 may have a concave portion.
  • the adjustment unit 5a and the adjustment unit 5b are separate members, but the adjustment unit 5a and the adjustment unit 5b may be integrated members.
  • the third drive unit that rotates the movable unit 10 in the roll direction around the optical axis 1a includes a pair of magnetic yoke holders 740 and 750, a pair of magnetic yoke holders 741 and 751, a pair of first drive magnets 620, and a pair of
  • the configuration includes a second drive magnet 621, a pair of first magnetic yokes 710, a pair of second magnetic yokes 711, a pair of drive coils 730, and a pair of drive coils 731. That is, the third drive unit is configured to share the components of the first drive unit and the second drive unit. However, it is not limited to this configuration.
  • the third drive unit is different from the component of the first drive unit and the component of the second drive unit, that is, the third magnetic yoke holder as a third magnetic yoke holder.
  • an adjustment unit is provided (sandwiched) between the third magnetic yoke holder and the main body 51.
  • the actuator (2) includes the rotary movable unit (10), the fixed unit (20), the driving unit (30), and the members (for example, the adjusting units 5a and 5b). And comprising.
  • the movable unit (10) holds a drive target and has a first loose fitting surface (605).
  • the fixing unit (20) has a second loose fitting surface (505) to be fitted to the first loose fitting surface (605) and a base (main body portion 51).
  • the drive unit (30) includes a plurality of pairs and a plurality of holders (magnetic yoke holders 740, 741, 750, 751).
  • Each of the plurality of pairs includes a drive magnet (first drive magnet 620, second drive magnet 621) and a magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) disposed to face the drive magnet.
  • the drive unit (30) allows the movable unit (10) to rotate with respect to the fixed unit (20).
  • One of the first loose fitting surface (605) and the second loose fitting surface (505) has a concave portion, and the other has a convex spherical surface.
  • the plurality of holders include a first holder (predetermined holder).
  • the multiple pairs include a first pair (predetermined pair).
  • the first pair includes a first drive magnet (predetermined drive magnet) and a first magnetic yoke (predetermined magnetic yoke).
  • the first magnetic yoke is fixed to the base by the first holder.
  • the first drive magnet rotates the movable unit (10) about a first axis (a predetermined axis (for example, the axis 1b)).
  • the member is sandwiched between the first holder and the base.
  • the inclination of the movable unit (10) (the inclination of the drive target) can be adjusted by providing a member and sandwiching it between the base and at least one holder.
  • the movable unit (10) tilts in a predetermined direction when no power is supplied, that is, the drive target held by the movable unit (10) does not tilt in the predetermined direction when no power is supplied.
  • the plurality of holders include a second holder (a second holder different from the first holder as the predetermined holder).
  • the plural pairs include a second pair (a second pair different from the first pair as the predetermined pair).
  • the second pair includes a second drive magnet and a second magnetic yoke.
  • the second drive magnet rotates the movable unit (10) around a second axis (for example, the axis 1c) different from the first axis (the first axis as the predetermined axis).
  • the member is sandwiched between the second holder and the base.
  • the movable unit (10) is tilted in the direction of rotation about the second axis when there is no current, that is, the drive target held by the movable unit (10) is rotated about the second axis when there is no current. It is possible to reduce the possibility of tilting.
  • the first axis and the second axis are orthogonal.
  • the plurality of holders include a third holder.
  • the plurality of pairs includes a third pair.
  • the third pair includes a third drive magnet and a third magnetic yoke.
  • the member is sandwiched between the third holder and the base.
  • the second axis is orthogonal to the facing direction of the second drive magnet and the second magnetic yoke.
  • the first axis is orthogonal to the direction in which the first drive magnet faces the first magnetic yoke.
  • the member in any one of the first to sixth aspects, includes at least one of a spacer and an adjuster.
  • This configuration enables adjustment using at least one of a spacer and an adjuster as a member.
  • the at least one holder has a first portion (for example, a target) relative to an axis parallel to the longitudinal direction of the drive target (for example, Part 745) and a second part (eg part 755).
  • the member includes a first member (adjustment unit 5a) that maintains the distance between the base and the first part, and a second member (adjustment part 5a) that maintains the distance between the base and the second part.
  • the thickness of the first member is different from the thickness of the second member.
  • the camera device of the ninth aspect includes the actuator (2) of any one of the first to eighth aspects, and a camera module (3) as a drive target.
  • the manufacturing method of the tenth aspect is a manufacturing method of the camera device (1).
  • the camera device (1) includes a rotary movable unit (10), a fixed unit (20), a drive unit (30), and members (for example, adjustment units 5a and 5b).
  • the movable unit (10) holds a drive target and has a first loose fitting surface (605).
  • the fixed unit (20) has a second loose fitting surface (505) that fits into the first loose fitting surface (605) and a base (main body portion 51).
  • the drive unit (30) includes a plurality of pairs and a plurality of holders (magnetic yoke holders 740, 741, 750, 751).
  • Each of the plurality of pairs includes a drive magnet (first drive magnet 620, second drive magnet 621) and a magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) arranged to face the drive magnet.
  • the drive unit (30) allows the movable unit (10) to rotate with respect to the fixed unit (20).
  • One of the first loose fitting surface (605) and the second loose fitting surface (505) has a concave portion, and the other has a convex spherical surface.
  • the manufacturing method detects the tilt angle of the camera module (3) with respect to a preset axis, selects a member having a thickness corresponding to the tilt angle, and selects between the base and at least one holder among the plurality of holders. The attached member is attached.
  • this manufacturing method it is possible to reduce the possibility that the movable unit (10) tilts in a predetermined direction when no power is supplied, that is, the drive target held by the movable unit (10) does not tilt in the predetermined direction when no power is supplied.
  • the preset axis includes a first axis (for example, the axis 1b) and a second axis (for example, the axis 1c).
  • the movable unit (10) is rotatable about the first axis and the second axis. In the detection of the tilt angle, a first angle that is the tilt of the camera module (3) with respect to the first axis and a second angle that is the tilt of the camera module (3) with respect to the second axis are detected.
  • a first member for example, the adjusting unit 5a
  • a second member for example, the adjusting unit 5b
  • the first member is attached between the base and the holder orthogonal to the first axis
  • the second member is attached between the base and the holder orthogonal to the second axis.
  • the inclination according to each of the first axis and the second axis can be adjusted.
  • the actuator (2) of the twelfth aspect includes a rotary movable unit (10) that holds a drive target, a drive unit (30), and an adjustment mechanism (5).
  • the drive unit (30) includes a plurality of drive magnets (first drive magnet 620, second drive magnet 621) and a plurality of drive magnets facing each other in a one-to-one relationship to enable the movable unit (10) to rotate.
  • the magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) is included.
  • the adjustment mechanism (5) includes a drive magnet (for example, the first drive magnet 620) that rotates the movable unit (10) around a predetermined axis (for example, the axis 1b) among the plurality of drive magnets, and a plurality of magnetic yokes. Among them, the gap between the magnetic yoke (for example, the first magnetic yoke 710) facing the drive magnet is adjusted.
  • the movable unit (10) further rotates around a second axis (for example, the axis 1c) different from the first axis as the predetermined axis.
  • the adjustment mechanism (5) further includes a drive magnet (for example, the second drive magnet 621) that rotates the movable unit (10) around the second axis among the plurality of drive magnets, and a second of the plurality of magnetic yokes. The clearance between the magnetic yoke (for example, the second magnetic yoke 711) facing the drive magnet that rotates the movable unit (10) about the axis is adjusted.
  • the movable unit (10) is tilted in the direction of rotation about the second axis when there is no current, that is, the drive target held by the movable unit (10) is rotated about the second axis when there is no current. It is possible to reduce the possibility of tilting.
  • the first axis and the second axis are orthogonal. According to this configuration, since the first axis and the second axis are orthogonal to each other, the tilt error with respect to each axis is equally divided, so that the tilt can be adjusted relatively easily.
  • the first axis and the second axis are axes determined according to the facing directions of the plurality of drive magnets.
  • the movable unit (10) further includes the first shaft and the first shaft when the movable unit (10) is in a neutral state. It can rotate around a third axis (for example, the optical axis 1a) orthogonal to both of the two axes.
  • the adjusting mechanism (5) further includes a drive magnet that rotates the movable unit (10) around the third axis among the plurality of drive magnets, and a movable unit (10) around the third axis among the plurality of magnetic yokes. The gap between the magnetic yoke facing the drive magnet that rotates the motor is adjusted.
  • the adjustment mechanism (5) is a first member for fixing the magnetic yoke to be adjusted among the plurality of magnetic yokes. It is a spacer that is sandwiched between (for example, the magnetic yoke holder 740, 750) and the second member (main body 51). According to this configuration, adjustment using a spacer as the adjustment mechanism (5) is possible.
  • the adjustment mechanism (5) is a first member for fixing the magnetic yoke to be adjusted among the plurality of magnetic yokes. It is an adjuster provided between (for example, the magnetic yoke holders 740 and 750) and the second member (main body 51). According to this configuration, adjustment using an adjuster as the adjustment mechanism (5) becomes possible.
  • each of the plurality of magnetic yokes is provided on the first member.
  • the adjustment mechanism (5) includes a gap between each of two parts (for example, parts 745, 755 or parts 646, 756) that are symmetrical in the first member provided with the magnetic yoke to be adjusted and the second member. Is adjusted.
  • the adjustment amount in the adjustment mechanism (5) in one of the two parts (eg, part 745 or part 746) and the adjustment amount in the adjustment mechanism (5) in the other part (eg, part 755 or part 756) Is different.
  • the camera device (1) according to the twentieth aspect includes the actuator (2) according to any one of the twelfth to nineteenth aspects, and a camera module (3) as a drive target.
  • the manufacturing method of the twenty-first aspect is a manufacturing method of the camera device (1).
  • the camera device (1) holds a camera module (3) as a drive target, and includes a rotary movable unit (10) and a drive unit (30).
  • the drive unit (30) includes a plurality of drive magnets (first drive magnet 620, second drive magnet 621) and a plurality of drive magnets facing each other in a one-to-one relationship to enable the movable unit (10) to rotate.
  • the magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) is included.
  • the manufacturing method includes a detection process for detecting the tilt of the drive target with respect to a preset setting axis (for example, the vertical direction G), and an adjustment process for providing an adjustment mechanism (5) for adjusting the tilt of the drive target detected by the detection process. Including.
  • the gap between the drive magnet and the magnetic yoke is adjusted by performing the adjustment process.
  • the tilt of the movable unit (10) (the tilt of the drive target) can be adjusted. Accordingly, it is possible to reduce the possibility that the movable unit (10) tilts in a predetermined direction when no power is supplied, that is, the drive target held by the movable unit (10) does not tilt in the predetermined direction when no power is supplied.
  • the adjustment process adjusts the inclination of the drive target so that the direction of the drive target matches a predetermined direction. According to this manufacturing method, the possibility that an inclination with respect to a predetermined direction occurs can be reduced.
  • the movable unit (10) rotates about each of the first axis (for example, the axis 1b) and the second axis (for example, the axis 1c). Is possible.
  • the detection process the inclination of the drive target in the first rotation direction around the first axis and the tilt of the drive target in the second rotation direction around the second axis are detected.
  • the adjustment process adjusts each of the tilt of the drive target in the first rotation direction and the tilt of the drive target in the second rotation direction.
  • the inclination according to each of the first axis and the second axis can be adjusted.
  • Adjustment mechanism 10 Movable unit 30 Drive part 51 Main part (base) 505 Second loose fitting surface 605 First loose fitting surface 620 First driving magnet (driving magnet) 621 Second drive magnet (drive magnet) 710 First magnetic yoke (magnetic yoke) 711 Second magnetic yoke (magnetic yoke) 740, 741, 750, 751 Magnetic yoke holder 745, 746 part (first part) 755, 756 site (second site) 1a Optical axis (third axis) 1b axis (predetermined axis, first axis) 1c axis (second axis)

Abstract

Provided are an actuator, a camera device, and a manufacturing method with which it is possible to reduce the possibility that a movable unit will be inclined in a prescribed direction when not powered. The actuator (2) comprises a movable unit (10), a fixed unit (20), a drive unit (30), and adjustment parts (5a, 5b). The movable unit (10) holds an object to be driven, and has a first loosely fitted surface (605). The fixed unit (20) has a second loosely fitted surface (505) that engages with the first loosely fitted surface (605), and a main body part (51). The drive unit (30) has a plurality of drive magnets, a plurality of magnetic yokes respectively disposed facing the plurality of drive magnets, and a plurality of magnetic yoke holders that respectively secure the plurality of magnetic yokes to the main body part (51), the drive unit (30) being able to rotate the movable unit (20) in relation to the fixed unit (30). The adjustment parts (5a, 5b) are sandwiched between the main body part 51 and at least one magnetic yoke holder among the plurality of magnetic yoke holders.

Description

アクチュエータ、カメラ装置及び製造方法Actuator, camera device and manufacturing method
　本開示は、一般にアクチュエータ、カメラ装置及び製造方法に関し、より詳細には駆動対象を回転させるアクチュエータ、カメラ装置及び製造方法に関する。 The present disclosure relates generally to an actuator, a camera device, and a manufacturing method, and more particularly to an actuator, a camera device, and a manufacturing method for rotating a driving target.
　従来、駆動対象であるカメラを回転させるアクチュエータとしてのカメラ駆動装置がある（例えば、特許文献１）。 Conventionally, there is a camera driving device as an actuator for rotating a camera to be driven (for example, Patent Document 1).
　特許文献１のカメラ駆動装置は、カメラを搭載する可動ユニットと、可動ユニットをパンニング方向に傾斜させるパンニング駆動部と、可動ユニットをチルティング方向に傾斜させるチルティング駆動部とを有している。 The camera drive device of Patent Document 1 includes a movable unit on which a camera is mounted, a panning drive unit that tilts the movable unit in the panning direction, and a tilting drive unit that tilts the movable unit in the tilting direction.
　パンニング駆動部は、１対のパンニング駆動磁石と、パンニング駆動コイルが巻かれた１対のパンニング磁気ヨークとを含む。チルティング駆動部は、１対のチルティング駆動磁石と、チルティング駆動コイルが巻かれた１対のチルティング磁気ヨークとを含む。１対のパンニング駆動磁石にそれぞれ対向するように１対のパンニング磁気ヨークが設けられている。１対のチルティング駆動磁石にそれぞれ対向するように１対のチルティング磁気ヨークが設けられている。 The panning drive unit includes a pair of panning drive magnets and a pair of panning magnetic yokes around which a panning drive coil is wound. The tilting drive unit includes a pair of tilting drive magnets and a pair of tilting magnetic yokes around which a tilting drive coil is wound. A pair of panning magnetic yokes are provided so as to face the pair of panning drive magnets. A pair of tilting magnetic yokes are provided to face the pair of tilting drive magnets.
　特許文献１のカメラ駆動装置は、１対のパンニング磁気ヨークに巻かれたパンニング駆動コイル及び１対のチルティング磁気ヨークに巻かれたチルティング駆動コイルに通電することで、可動ユニットを回転させる。 The camera drive device of Patent Document 1 rotates a movable unit by energizing a panning drive coil wound around a pair of panning magnetic yokes and a tilting drive coil wound around a pair of tilting magnetic yokes.
　特許文献１のカメラ駆動装置では、例えばパンニング磁気ヨークとパンニング駆動磁石との間に発生する磁気が均一でない場合には、パンニング駆動コイル及びチルティング駆動コイルに対して通電していない場合（無通電時）において、可動ユニットがパンニング方向に傾く。この場合、パンニング駆動コイルに通電して、可動ユニットが傾いた側とは逆側に可動ユニットを回転させたときに可動ユニットの制振性能が低下する。同様に、チルティング磁気ヨークとチルティング駆動磁石との間に発生する磁気が均一でない場合においても、無通電時には可動ユニットがチルティング方向に傾く。その結果、チルティング駆動コイルに通電して、可動ユニットが傾いた側とは逆側に可動ユニットを回転させたときに可動ユニットの制振性能が低下する。 In the camera drive device of Patent Document 1, for example, when the magnetism generated between the panning magnetic yoke and the panning drive magnet is not uniform, the panning drive coil and the tilting drive coil are not energized (non-energized) The movable unit tilts in the panning direction. In this case, when the panning drive coil is energized and the movable unit is rotated to the side opposite to the side on which the movable unit is inclined, the vibration damping performance of the movable unit is degraded. Similarly, even when the magnetism generated between the tilting magnetic yoke and the tilting drive magnet is not uniform, the movable unit tilts in the tilting direction when no current is applied. As a result, when the tilting drive coil is energized and the movable unit is rotated to the side opposite to the side on which the movable unit is inclined, the damping performance of the movable unit is degraded.
国際公開第２０１２／００４９５２号International Publication No. 2012/004952
　本開示は上記課題に鑑みてなされ、無通電時に可動ユニットが所定方向に傾く可能性を低くすることができるアクチュエータ、カメラ装置及び製造方法を提供することを目的とする。 The present disclosure has been made in view of the above problems, and an object of the present disclosure is to provide an actuator, a camera device, and a manufacturing method that can reduce the possibility that the movable unit is inclined in a predetermined direction when no power is supplied.
　本開示の一態様に係るアクチュエータは、回転式の可動ユニットと、固定ユニットと、駆動部と、部材と、を備える。前記可動ユニットは、駆動対象を保持し、第１遊嵌面を有する。前記固定ユニットは、前記第１遊嵌面に嵌め合せる第２遊嵌面とベースを有する。前記駆動部は、各々が駆動磁石と前記駆動磁石に対向して配置された磁気ヨークとからなる複数ペアと、複数のホルダを有する。前記駆動部は、前記固定ユニットに対して前記可動ユニットを回転可能とする。前記第１遊嵌面及び前記第２遊嵌面の一方が凹部を有し、他方が凸状球面を有する。前記複数のホルダは、第１ホルダを含む。前記複数ペアは、第１ペアを含む。前記第１ペアは、第１駆動磁石と第１磁気ヨークとを含む。前記第１磁気ヨークは、前記第１ホルダによって前記ベースに固定される。前記第１駆動磁石は、第１軸を中心として前記可動ユニットを回転させる。前記部材は、前記第１ホルダと前記ベースとの間に挟まれている。 The actuator according to an aspect of the present disclosure includes a rotary movable unit, a fixed unit, a drive unit, and a member. The movable unit holds a drive target and has a first loose fitting surface. The fixing unit has a second loose fitting surface and a base that are fitted to the first loose fitting surface. The drive unit includes a plurality of pairs each including a drive magnet and a magnetic yoke disposed to face the drive magnet, and a plurality of holders. The drive unit allows the movable unit to rotate with respect to the fixed unit. One of the first loose fitting surface and the second loose fitting surface has a recess, and the other has a convex spherical surface. The plurality of holders include a first holder. The plurality of pairs includes a first pair. The first pair includes a first drive magnet and a first magnetic yoke. The first magnetic yoke is fixed to the base by the first holder. The first drive magnet rotates the movable unit around a first axis. The member is sandwiched between the first holder and the base.
　本開示の一態様に係るカメラ装置は、前記アクチュエータと、前記駆動対象としてカメラモジュールとを備える。 A camera device according to an aspect of the present disclosure includes the actuator and a camera module as the drive target.
　本開示の一態様に係る製造方法は、カメラ装置の製造方法である。前記カメラ装置は、回転式の可動ユニットと、固定ユニットと、駆動部と、部材と、を備える。前記可動ユニットは、駆動対象を保持し、第１遊嵌面を有する。前記固定ユニットは、前記第１遊嵌面に嵌め合せる第２遊嵌面とベースとを有する。前記駆動部は、各々が駆動磁石と前記駆動磁石に対向して配置された磁気ヨークとからなる複数ペアと、複数のホルダを有する。前記駆動部は、前記固定ユニットに対して前記可動ユニットを回転可能とする。前記第１遊嵌面及び前記第２遊嵌面の一方が凹部を有し、他方が凸状球面を有する。前記製造方法は、予め設定された軸に対する前記カメラモジュールの傾き角度を検出し、前記傾き角度に応じた厚みの前記部材を選択し、前記ベースと前記複数のホルダのうち少なくとも１つのホルダとの間に前記選択された前記部材を取り付ける。 The manufacturing method according to an aspect of the present disclosure is a method for manufacturing a camera device. The camera device includes a rotary movable unit, a fixed unit, a drive unit, and a member. The movable unit holds a drive target and has a first loose fitting surface. The fixing unit has a second loose fitting surface and a base that are fitted to the first loose fitting surface. The drive unit includes a plurality of pairs each including a drive magnet and a magnetic yoke disposed to face the drive magnet, and a plurality of holders. The drive unit allows the movable unit to rotate with respect to the fixed unit. One of the first loose fitting surface and the second loose fitting surface has a recess, and the other has a convex spherical surface. The manufacturing method detects an inclination angle of the camera module with respect to a preset axis, selects the member having a thickness corresponding to the inclination angle, and includes the base and at least one holder among the plurality of holders. Install the selected member in between.
図１Ａは、実施形態１のカメラ装置（アクチュエータ）の斜視図である。図１Ｂは、同上のカメラ装置の平面図である。FIG. 1A is a perspective view of the camera device (actuator) of the first embodiment. FIG. 1B is a plan view of the above camera apparatus. 図２Ａは、同上のカメラ装置のＸ１－Ｘ１（Ｘ２－Ｘ２）断面図である。図２Ｂ、図２Ｃは、図２Ａにおける要部拡大図である。FIG. 2A is an X1-X1 (X2-X2) cross-sectional view of the above camera apparatus. 2B and 2C are enlarged views of main parts in FIG. 2A. 図３は、同上のカメラ装置の分解斜視図である。FIG. 3 is an exploded perspective view of the camera apparatus. 図４は、同上のカメラ装置が備える可動ユニットの分解斜視図である。FIG. 4 is an exploded perspective view of the movable unit provided in the camera device. 図５は、同上のカメラ装置の断面図である。FIG. 5 is a cross-sectional view of the above camera apparatus. 図６は、同上のカメラ装置においてカメラモジュールが傾いているときの状態を示す図である。FIG. 6 is a diagram showing a state when the camera module is tilted in the camera device. 図７は、実施形態２のカメラ装置に対するカメラモジュールの傾きを調整する方法を説明する図である。FIG. 7 is a diagram for explaining a method of adjusting the tilt of the camera module with respect to the camera device of the second embodiment. 図８Ａは、実施形態３のカメラ装置に対するカメラモジュールの傾きを調整する方法を説明する図である。図８Ｂは、同上のカメラ装置が撮像する土台マーカを説明する図である。図８Ｃは、同上のカメラ装置の製造時に、カメラモジュールが傾いている状態である場合にカメラモジュールが土台マーカを撮像した撮像画像を説明する図である。図８Ｄは、同上のカメラ装置の製造時に、カメラモジュールが中立状態である場合にカメラモジュールが土台マーカを撮像した撮像画像を説明する図である。FIG. 8A is a diagram illustrating a method of adjusting the tilt of the camera module with respect to the camera device of the third embodiment. FIG. 8B is a diagram for explaining a base marker imaged by the camera device. FIG. 8C is a diagram illustrating a captured image in which the camera module captures the base marker when the camera module is tilted when the camera device is manufactured. FIG. 8D is a diagram illustrating a captured image in which the camera module captures the base marker when the camera module is in a neutral state when the camera device is manufactured.
　以下に説明する各実施形態及び変形例は、本開示の一例に過ぎず、本開示は、各実施形態及び変形例に限定されない。これらの実施形態及び変形例以外であっても、本開示に係る技術的思想を逸脱しない範囲であれば、設計等に応じて種々の変更が可能である。 Each embodiment and modification described below are merely examples of the present disclosure, and the present disclosure is not limited to each embodiment and modification. Other than these embodiments and modifications, various modifications can be made according to the design and the like as long as they do not depart from the technical idea according to the present disclosure.
　（実施形態１）
　以下、本実施形態に係るカメラ装置１について、図１Ａ～図６を用いて説明する。 (Embodiment 1)
Hereinafter, the camera apparatus 1 according to the present embodiment will be described with reference to FIGS. 1A to 6.
　（１）構成
　カメラ装置１は、例えば天井等に取り付けられるカメラであり、図１Ａに示すように、アクチュエータ２とカメラモジュール３とを備える。 (1) Configuration The camera device 1 is a camera attached to a ceiling or the like, for example, and includes an actuator 2 and a camera module 3 as shown in FIG. 1A.
　カメラモジュール３は、撮像素子と、撮像素子の撮像面に被写体像を結像させるレンズと、レンズを保持するレンズ鏡筒とを含み、撮像素子の撮像面に形成された映像を電気信号に変換する。カメラモジュール３は、撮像素子が生成した電気信号を外部に設けられた画像処理回路に出力する。 The camera module 3 includes an imaging device, a lens that forms a subject image on the imaging surface of the imaging device, and a lens barrel that holds the lens, and converts an image formed on the imaging surface of the imaging device into an electrical signal. To do. The camera module 3 outputs an electrical signal generated by the image sensor to an image processing circuit provided outside.
　アクチュエータ２は、図１Ａ～図２Ａ、図３に示すように、アッパーリング４、可動ユニット１０、固定ユニット２０、駆動部３０、第１プリント基板９０及び第２プリント基板９１を備える。なお、図２Ａ及び図５では、第１プリント基板９０及び第２プリント基板９１は省略している。 The actuator 2 includes an upper ring 4, a movable unit 10, a fixed unit 20, a drive unit 30, a first printed board 90 and a second printed board 91 as shown in FIGS. 1A to 2A and 3. In FIG. 2A and FIG. 5, the first printed circuit board 90 and the second printed circuit board 91 are omitted.
　可動ユニット１０は、カメラホルダ４０と、可動ベース部４１と、ボトムプレート６４０とを有している（図３参照）。また、固定ユニット２０は、可動ユニット１０との間に隙間を設けて可動ユニット１０を嵌め合せる。可動ユニット１０は、固定ユニット２０に対して、カメラモジュール３のレンズの光軸１ａを中心に回転（ローリング）する。また、可動ユニット１０は、固定ユニット２０に対して、軸１ｂ及び軸１ｃのそれぞれを中心に回転する。ここで、軸１ｂ、軸１ｃは、可動ユニット１０が回転していない状態において可動ユニット１０を固定ユニット２０に嵌め合せる嵌合方向に直交している。さらに、軸１ｂ、軸１ｃは、互いに直交している。なお、可動ユニット１０の詳細な構成については後述する。カメラモジュール３は、カメラホルダ４０に取り付けられている。可動ベース部４１の構成については、後述する。可動ユニット１０が回転することでカメラモジュール３を回転させることができる。なお、本実施形態では、光軸１ａが軸１ｂ及び軸１ｃの双方と直交している場合に、可動ユニット１０（カメラモジュール３）は中立状態であると定義する。また、軸１ｂを中心として可動ユニット１０（カメラモジュール３）が回転する方向をチルティング方向と、軸１ｃを中心として可動ユニット１０（カメラモジュール３）が回転する方向をパンニング方向と、それぞれ定義する。さらに、光軸１ａを中心として可動ユニット１０（カメラモジュール３）が回転（ローリング）する方向をロール方向と定義する。 The movable unit 10 includes a camera holder 40, a movable base 41, and a bottom plate 640 (see FIG. 3). Further, the fixed unit 20 is fitted with the movable unit 10 by providing a gap with the movable unit 10. The movable unit 10 rotates (rolls) with respect to the fixed unit 20 around the optical axis 1 a of the lens of the camera module 3. The movable unit 10 rotates with respect to the fixed unit 20 around each of the shaft 1b and the shaft 1c. Here, the shaft 1b and the shaft 1c are orthogonal to the fitting direction in which the movable unit 10 is fitted to the fixed unit 20 in a state where the movable unit 10 is not rotating. Furthermore, the shaft 1b and the shaft 1c are orthogonal to each other. The detailed configuration of the movable unit 10 will be described later. The camera module 3 is attached to the camera holder 40. The configuration of the movable base portion 41 will be described later. The camera module 3 can be rotated by rotating the movable unit 10. In this embodiment, it is defined that the movable unit 10 (camera module 3) is in a neutral state when the optical axis 1a is orthogonal to both the axis 1b and the axis 1c. Further, the direction in which the movable unit 10 (camera module 3) rotates about the axis 1b is defined as the tilting direction, and the direction in which the movable unit 10 (camera module 3) rotates about the axis 1c is defined as the panning direction. . Furthermore, the direction in which the movable unit 10 (camera module 3) rotates (rolls) around the optical axis 1a is defined as the roll direction.
　固定ユニット２０は、連結部５０と本体部５１（ベース）とを含んでいる（図３参照）。 The fixed unit 20 includes a connecting part 50 and a main body part 51 (base) (see FIG. 3).
　連結部５０は、中央部位から４つの連結棒が延びて設けられている。４つの連結棒のそれぞれは、互いに隣り合う連結棒と略直交している。連結部５０は、本体部５１との間にボトムプレート６４０を挟み込み、本体部５１にねじ止めされる。具体的には、４つの連結棒の先端部が本体部５１にねじ止めされる。 The connecting portion 50 is provided with four connecting rods extending from the central portion. Each of the four connecting rods is substantially orthogonal to the adjacent connecting rods. The connecting portion 50 is sandwiched between the main body 51 and the bottom plate 640 and is screwed to the main body 51. Specifically, the front ends of the four connecting rods are screwed to the main body 51.
　固定ユニット２０は、可動ユニット１０を電磁駆動で回転可能とするために、一対の第１コイルユニット５２と、一対の第２コイルユニット５３とを有している（図３参照）。一対の第１コイルユニット５２は、軸１ｂを中心として可動ユニット１０を回転させ、一対の第２コイルユニット５３は、軸１ｃを中心として可動ユニット１０を回転させる。 The fixed unit 20 has a pair of first coil units 52 and a pair of second coil units 53 in order to make the movable unit 10 rotatable by electromagnetic drive (see FIG. 3). The pair of first coil units 52 rotates the movable unit 10 around the axis 1b, and the pair of second coil units 53 rotates the movable unit 10 around the axis 1c.
　各第１コイルユニット５２は、磁性材料で形成された第１磁気ヨーク７１０と、駆動コイル７２０，７３０と、磁気ヨークホルダ７４０，７５０とを有している（図３参照）。各第１磁気ヨーク７１０は、回転の中心点を中心とする円弧形状である。軸１ｂを巻方向として後述する一対の第１駆動磁石６２０がロール方向に回転駆動するように各第１磁気ヨーク７１０に導線が巻き付けられて駆動コイル７３０が形成されている。各第１磁気ヨーク７１０に駆動コイル７３０が設けられた後、各第１磁気ヨーク７１０の両側に磁気ヨークホルダ７４０、７５０を、ねじで固定する。その後、可動ユニット１０が中立状態である場合の光軸１ａを巻方向として一対の第１駆動磁石６２０がチルティング方向に回転駆動するように各第１磁気ヨーク７１０に導線が巻き付けられて駆動コイル７２０が形成されている。そして、各第１コイルユニット５２を、カメラモジュール３側から見て軸１ｃに沿って対向するように、ねじでアッパーリング４と本体部５１とに固定する（図１Ａ、図３参照）。 Each first coil unit 52 includes a first magnetic yoke 710 made of a magnetic material, drive coils 720 and 730, and magnetic yoke holders 740 and 750 (see FIG. 3). Each first magnetic yoke 710 has an arc shape centered on the center point of rotation. A drive coil 730 is formed by winding a conductive wire around each first magnetic yoke 710 so that a pair of first drive magnets 620, which will be described later, rotate about the shaft 1b in the winding direction. After the drive coil 730 is provided on each first magnetic yoke 710, the magnetic yoke holders 740 and 750 are fixed to both sides of each first magnetic yoke 710 with screws. After that, a conductive wire is wound around each first magnetic yoke 710 so that the pair of first drive magnets 620 are rotationally driven in the tilting direction with the optical axis 1a as the winding direction when the movable unit 10 is in the neutral state. 720 is formed. Then, each first coil unit 52 is fixed to the upper ring 4 and the main body 51 with screws so as to face each other along the axis 1c when viewed from the camera module 3 side (see FIGS. 1A and 3).
　各第２コイルユニット５３は、磁性材料で形成された第２磁気ヨーク７１１と、駆動コイル７２１，７３１と、磁気ヨークホルダ７４１，７５１とを有している（図３参照）。各第２磁気ヨーク７１１は、回転の中心点を中心とする円弧形状である。軸１ｃを巻方向として後述する第２駆動磁石６２１がロール方向に回転駆動するように各第２磁気ヨーク７１１に導線が巻き付けられて駆動コイル７３１が形成されている。各第２磁気ヨーク７１１に駆動コイル７３１が設けられた後、各第２磁気ヨーク７１１の両側に磁気ヨークホルダ７４１、７５１を、ねじで固定する。その後、可動ユニット１０が中立状態である場合の光軸１ａを巻方向として一対の第２駆動磁石６２１がパンニング方向に回転駆動するように各第２磁気ヨーク７１１に導線が巻き付けられて駆動コイル７２１が形成されている。そして、各第２コイルユニット５３を、カメラモジュール３側から見て軸１ｂに沿って対向するように、ねじでアッパーリング４と本体部５１とに固定する（図２Ａ、図３参照）。 Each second coil unit 53 includes a second magnetic yoke 711 made of a magnetic material, drive coils 721 and 731, and magnetic yoke holders 741 and 751 (see FIG. 3). Each of the second magnetic yokes 711 has an arc shape centered on the rotation center point. A drive coil 731 is formed by winding a conductive wire around each second magnetic yoke 711 so that a second drive magnet 621, which will be described later, rotates in the roll direction with the shaft 1c as a winding direction. After the drive coil 731 is provided on each second magnetic yoke 711, the magnetic yoke holders 741 and 751 are fixed with screws on both sides of each second magnetic yoke 711. Thereafter, a conductive wire is wound around each second magnetic yoke 711 so that the pair of second drive magnets 621 are rotationally driven in the panning direction with the optical axis 1a in the winding direction when the movable unit 10 is in the neutral state, and the drive coil 721 is driven. Is formed. Then, the second coil units 53 are fixed to the upper ring 4 and the main body 51 with screws so as to face each other along the axis 1b when viewed from the camera module 3 side (see FIGS. 2A and 3).
　カメラホルダ４０に取り付けられたカメラモジュール３は、可動ユニット１０に固定される。アッパーリング４は、本体部５１との間に可動ユニット１０に固定されたカメラモジュール３を挟み込み、ねじで本体部５１に固定される（図１Ａ、図３参照）。 The camera module 3 attached to the camera holder 40 is fixed to the movable unit 10. The upper ring 4 sandwiches the camera module 3 fixed to the movable unit 10 between itself and the main body 51, and is fixed to the main body 51 with screws (see FIGS. 1A and 3).
　第１プリント基板９０は、カメラモジュール３のチルティング方向及びパンニング方向における回転位置を検出するための複数の磁気センサ９２（ここでは４個）を有している（図３参照）。ここで、磁気センサ９２は、例えばホール素子である。第１プリント基板９０は、さらに駆動コイル７２０，７２１，７３０，７３１に流す電流を制御するための回路等が搭載されている。 The first printed circuit board 90 has a plurality of magnetic sensors 92 (four in this case) for detecting the rotational positions of the camera module 3 in the tilting direction and the panning direction (see FIG. 3). Here, the magnetic sensor 92 is, for example, a Hall element. The first printed circuit board 90 is further mounted with a circuit for controlling the current flowing through the drive coils 720, 721, 730, and 731.
　第２プリント基板９１には、カメラモジュール３のチルティング方向及びパンニング方向における加速度を検出するための固定ユニット用センサチップ９３、及びマイクロコントローラ９４等が搭載されている（図３参照）。マイクロコントローラ９４は、プロセッサ及びメモリを有する。固定ユニット用センサチップ９３は、第１固定ユニット用センサと、第２固定ユニット用センサと、第３固定ユニット用センサとを有している。第１固定ユニット用センサは、カメラモジュール３のチルティング方向において可動ユニット１０に加わる加速度を検出する。第２固定ユニット用センサは、パンニング方向において可動ユニット１０に加わる加速度を検出する。第３固定ユニット用センサは、ロール方向において可動ユニット１０に加わる加速度を検出する。なお、第１固定ユニット用センサ、第２固定ユニット用センサ及び第３固定ユニット用センサは、加速度とともに、角速度を検出してもよい。 The second printed circuit board 91 is mounted with a fixed unit sensor chip 93 for detecting acceleration in the tilting and panning directions of the camera module 3, a microcontroller 94, and the like (see FIG. 3). The microcontroller 94 has a processor and a memory. The fixed unit sensor chip 93 includes a first fixed unit sensor, a second fixed unit sensor, and a third fixed unit sensor. The first fixed unit sensor detects acceleration applied to the movable unit 10 in the tilting direction of the camera module 3. The second fixed unit sensor detects an acceleration applied to the movable unit 10 in the panning direction. The third fixed unit sensor detects acceleration applied to the movable unit 10 in the roll direction. The first fixed unit sensor, the second fixed unit sensor, and the third fixed unit sensor may detect the angular velocity together with the acceleration.
　次に、カメラホルダ４０及び可動ベース部４１の詳細な構成について説明する。 Next, detailed configurations of the camera holder 40 and the movable base 41 will be described.
　カメラホルダ４０は、可動ユニット用センサチップ４０１を有している（図１Ａ参照）。可動ユニット用センサチップ４０１は、第１可動ユニット用センサと、第２可動ユニット用センサと、第３可動ユニット用センサとを有している。第１可動ユニット用センサは、カメラモジュール３のチルティング方向において可動ユニット１０に加わる加速度を検出する。第２可動ユニット用センサは、パンニング方向において可動ユニット１０に加わる加速度を検出する。第３可動ユニット用センサは、ロール方向において可動ユニット１０に加わる加速度を検出する。なお、第１可動ユニット用センサ、第２可動ユニット用センサ及び第３可動ユニット用センサは、加速度とともに、角速度を検出してもよい。 The camera holder 40 has a movable unit sensor chip 401 (see FIG. 1A). The movable unit sensor chip 401 includes a first movable unit sensor, a second movable unit sensor, and a third movable unit sensor. The first movable unit sensor detects acceleration applied to the movable unit 10 in the tilting direction of the camera module 3. The second movable unit sensor detects acceleration applied to the movable unit 10 in the panning direction. The third movable unit sensor detects acceleration applied to the movable unit 10 in the roll direction. The first movable unit sensor, the second movable unit sensor, and the third movable unit sensor may detect the angular velocity together with the acceleration.
　可動ベース部４１は、遊嵌空間を有し、カメラモジュール３を保持する。可動ベース部４１は、本体部６０１と、第１遊嵌部材６０２と、一対の第１磁気バックヨーク６１０と、一対の第２磁気バックヨーク６１１と、一対の第１駆動磁石６２０と、一対の第２駆動磁石６２１とを有している（図４参照）。 The movable base 41 has a loose fitting space and holds the camera module 3. The movable base 41 includes a main body 601, a first loosely fitting member 602, a pair of first magnetic back yokes 610, a pair of second magnetic back yokes 611, a pair of first drive magnets 620, and a pair of And a second drive magnet 621 (see FIG. 4).
　本体部６０１は、円板部分と、円板部分の外周部からカメラモジュール３とは反対側に突出する４つの固定部（アーム）とを有している。４つの固定部のうち２つの固定部は、軸１ｂにおいて対向し、他の２つの固定部は、軸１ｃにおいて対向している。４つの固定部は、略Ｌ字の形状である。以下、当該固定部をＬ字固定部という。４つのＬ字固定部は、一対の第１コイルユニット５２及び一対の第２コイルユニット５３と１対１に対向している。 The main body 601 has a disk part and four fixing parts (arms) that protrude from the outer peripheral part of the disk part to the side opposite to the camera module 3. Of the four fixed portions, two fixed portions face each other on the shaft 1b, and the other two fixed portions face each other on the shaft 1c. The four fixing portions have a substantially L shape. Hereinafter, the fixed part is referred to as an L-shaped fixed part. The four L-shaped fixing portions face the pair of first coil units 52 and the pair of second coil units 53 on a one-to-one basis.
　第１遊嵌部材６０２は、テーパー形状の凹部を有している。第１遊嵌部材６０２は、テーパー形状の凹部の内周面を第１遊嵌面６０５として有している。第１遊嵌部材６０２は、第１遊嵌面６０５が遊嵌空間に露出するように本体部６０１の円板部分にねじで固定される。 The first loose-fitting member 602 has a tapered recess. The first loosely fitting member 602 has an inner peripheral surface of a tapered recess as a first loosely fitting surface 605. The first loosely fitting member 602 is fixed to the disk portion of the main body 601 with a screw so that the first loosely fitting surface 605 is exposed in the loosely fitting space.
　一対の第１磁気バックヨーク６１０は、４つのＬ字固定部のうち一対の第１コイルユニット５２と対向する２つのＬ字固定部に、一対一に設けられている。一対の第１磁気バックヨーク６１０は、一対の第１コイルユニット５２と対向する２つのＬ字固定部にねじで固定される。一対の第２磁気バックヨーク６１１は、４つのＬ字固定部のうち一対の第２コイルユニット５３と対向する２つのＬ字固定部に、一対一に設けられている。一対の第２磁気バックヨーク６１１は、一対の第２コイルユニット５３と対向する２つのＬ字固定部にねじで固定される。 The pair of first magnetic back yokes 610 are provided one-to-one on the two L-shaped fixing portions facing the pair of first coil units 52 among the four L-shaped fixing portions. The pair of first magnetic back yokes 610 are fixed to the two L-shaped fixing portions facing the pair of first coil units 52 with screws. The pair of second magnetic back yokes 611 is provided one-to-one on the two L-shaped fixing portions facing the pair of second coil units 53 among the four L-shaped fixing portions. The pair of second magnetic back yokes 611 are fixed to the two L-shaped fixing portions facing the pair of second coil units 53 with screws.
　一対の第１駆動磁石６２０は、一対の第１磁気バックヨーク６１０に一対一に設けられ、一対の第２駆動磁石６２１は、一対の第２磁気バックヨーク６１１に一対一に設けられている。これにより、一対の第１駆動磁石６２０は、一対の第１コイルユニット５２と対向し、一対の第２駆動磁石６２１は、一対の第２コイルユニット５３と対向している。 The pair of first drive magnets 620 are provided on the pair of first magnetic back yokes 610 on a one-to-one basis, and the pair of second drive magnets 621 are provided on the pair of second magnetic back yokes 611 on a one-on-one basis. Thus, the pair of first drive magnets 620 faces the pair of first coil units 52, and the pair of second drive magnets 621 faces the pair of second coil units 53.
　ボトムプレート６４０は、非磁性であり、例えば真鍮で形成されている。ボトムプレート６４０は、本体部６０１とで固定ユニット２０の連結部５０を挟み込むように設けられている。ボトムプレート６４０は、ねじで本体部６０１に固定される。ボトムプレート６４０は、カウンタウエイトとして機能する。ボトムプレート６４０をカウンタウエイトとして機能させることで、回転の中心点と、可動ユニット１０の重心とを一致させることができる。そのため、可動ユニット１０の全体に外力が加わった場合、可動ユニット１０が軸１ｂを中心に回転するモーメント及び軸１ｃを中心に回転するモーメントは小さくなる。これにより、小さな駆動力で可動ユニット１０（カメラモジュール３）を中立状態に維持したり、軸１ｂ及び軸１ｃを中心に回転させたりすることができる。よって、カメラ装置１の消費電力が低減される。特に、可動ユニット１０を中立状態に維持するために必要な駆動電流をほとんどゼロにすることも可能である。 The bottom plate 640 is non-magnetic and is made of, for example, brass. The bottom plate 640 is provided so as to sandwich the connecting portion 50 of the fixed unit 20 with the main body portion 601. The bottom plate 640 is fixed to the main body 601 with screws. The bottom plate 640 functions as a counterweight. By causing the bottom plate 640 to function as a counterweight, the center point of rotation and the center of gravity of the movable unit 10 can be matched. Therefore, when an external force is applied to the entire movable unit 10, the moment that the movable unit 10 rotates about the shaft 1b and the moment that the movable unit 10 rotates about the shaft 1c are reduced. Thereby, the movable unit 10 (camera module 3) can be maintained in a neutral state with a small driving force, or can be rotated around the shaft 1b and the shaft 1c. Therefore, the power consumption of the camera device 1 is reduced. In particular, the drive current required to maintain the movable unit 10 in a neutral state can be made almost zero.
　ボトムプレート６４０は、位置検出磁石６５０と、磁石カバー６５１とを有している。位置検出磁石６５０は、ボトムプレート６４０において、カメラモジュール３とは反対側の面の中央部位に設けられた凹部内に設けられている。磁石カバー６５１は、非磁性体であり、位置検出磁石６５０がボトムプレート６４０の凹部から脱落を防止するために設けられている。つまり、位置検出磁石６５０は、ボトムプレート６４０の凹部の底面と磁石カバー６５１との間に挟み込まれている。 The bottom plate 640 has a position detection magnet 650 and a magnet cover 651. The position detection magnet 650 is provided in a recess provided in a central portion of the surface of the bottom plate 640 opposite to the camera module 3. The magnet cover 651 is a non-magnetic material, and the position detection magnet 650 is provided in order to prevent the position detection magnet 650 from dropping from the recess of the bottom plate 640. That is, the position detection magnet 650 is sandwiched between the bottom surface of the recess of the bottom plate 640 and the magnet cover 651.
　また、ボトムプレート６４０のカメラモジュール３側の面には、曲面形状の凹部６４１が設けられている。 Further, a curved concave portion 641 is provided on the surface of the bottom plate 640 on the camera module 3 side.
　第１プリント基板９０に設けられた４つの磁気センサ９２は、可動ユニット１０が回転すると、可動ユニット１０の回転に応じて位置検出磁石６５０の位置が変化することで、４つの磁気センサ９２に作用する磁力が変化する。４つの磁気センサ９２は、位置検出磁石６５０の回転により作用する磁力変化を検出し、軸１ｂ、軸１ｃに対する２次元の回転角度を算出する。４つの磁気センサ９２は、軸１ｂ、１ｃを含む平面に平行に第１プリント基板９０に配置される。このとき、４つの磁気センサ９２のうち２つの磁気センサ９２は、可動ユニット１０のチルティング方向における回転位置を検出するために、軸１ｃ上に配置される。残り２つの磁気センサ９２は、可動ユニット１０のパンニング方向における回転位置を検出するために、軸１ｂ上に配置される。 The four magnetic sensors 92 provided on the first printed circuit board 90 act on the four magnetic sensors 92 by changing the position of the position detection magnet 650 according to the rotation of the movable unit 10 when the movable unit 10 rotates. The magnetic force that changes. The four magnetic sensors 92 detect a change in magnetic force that is caused by the rotation of the position detection magnet 650, and calculate a two-dimensional rotation angle with respect to the shaft 1b and the shaft 1c. The four magnetic sensors 92 are arranged on the first printed circuit board 90 in parallel to a plane including the axes 1b and 1c. At this time, two of the four magnetic sensors 92 are arranged on the shaft 1c in order to detect the rotational position of the movable unit 10 in the tilting direction. The remaining two magnetic sensors 92 are arranged on the shaft 1b in order to detect the rotational position of the movable unit 10 in the panning direction.
　連結部５０は、連結部５０の中央部分に球状の第２遊嵌部材５０１を有している（図３、図４参照）。第２遊嵌部材５０１は、凸状球面を有する第２遊嵌面５０５を含んでいる。球状の第２遊嵌部材５０１は、連結部５０の中央部分（凹部）に接着剤で固定されている。 The connecting part 50 has a spherical second loosely fitting member 501 at the central part of the connecting part 50 (see FIGS. 3 and 4). The second loose fitting member 501 includes a second loose fitting surface 505 having a convex spherical surface. The spherical second loosely fitting member 501 is fixed to the central portion (concave portion) of the connecting portion 50 with an adhesive.
　連結部５０と第１遊嵌部材６０２とが結合する。具体的には、第１遊嵌部材６０２の第１遊嵌面６０５は、第２遊嵌部材５０１の第２遊嵌面５０５と僅かな隙間を介して嵌め合せるように点または線接触する。これにより、連結部５０は、可動ユニット１０が回転可能となるように可動ユニット１０をピボット支持することができる。ここで、球状の第２遊嵌部材５０１の中心が、回転の中心点となる。 The connecting portion 50 and the first loosely fitting member 602 are coupled. Specifically, the first loose-fit surface 605 of the first loose-fit member 602 makes point or line contact with the second loose-fit surface 505 of the second loose-fit member 501 so as to be fitted through a slight gap. Thereby, the connection part 50 can pivot-support the movable unit 10 so that the movable unit 10 can rotate. Here, the center of the spherical second loosely fitting member 501 is the center point of rotation.
　連結部５０は、第２遊嵌部材５０１が設けられた反対側に、曲面形状の凸部５０２が設けられている。連結部５０の凸部５０２は、ボトムプレート６４０の凹部６４１に嵌め込まれている。上述したように、ボトムプレート６４０は、本体部６０１に固定される。そのため、本体部６０１が回転すると、その回転に伴ってボトムプレート６４０も回転させる必要がある。そこで、連結部５０の曲面形状の凸部５０２をボトムプレート６４０の曲面形状の凹部６４１に嵌め込むことで、連結部５０に対してボトムプレート６４０が回転可能となる。したがって、本体部６０１が回転すると、その回転に伴ってボトムプレート６４０も回転させることができる。 The connecting portion 50 is provided with a convex portion 502 having a curved surface on the opposite side to which the second loose fitting member 501 is provided. The convex portion 502 of the connecting portion 50 is fitted into the concave portion 641 of the bottom plate 640. As described above, the bottom plate 640 is fixed to the main body 601. Therefore, when the main body 601 rotates, it is necessary to rotate the bottom plate 640 with the rotation. Therefore, the bottom plate 640 can be rotated with respect to the connecting portion 50 by fitting the curved convex portion 502 of the connecting portion 50 into the curved concave portion 641 of the bottom plate 640. Therefore, when the main body 601 rotates, the bottom plate 640 can be rotated along with the rotation.
　本実施形態では、上述した一対の第１コイルユニット５２、一対の第２コイルユニット５３、一対の第１駆動磁石６２０及び一対の第２駆動磁石６２１が、駆動部３０を構成している。また、駆動部３０は、チルティング方向に可動ユニット１０を回転させる第１駆動部、パンニング方向に可動ユニット１０を回転させる第２駆動部及びロール方向に可動ユニット１０を回転させる第３駆動部を含んでいる。 In the present embodiment, the pair of first coil units 52, the pair of second coil units 53, the pair of first drive magnets 620, and the pair of second drive magnets 621 constitute the drive unit 30. The drive unit 30 includes a first drive unit that rotates the movable unit 10 in the tilting direction, a second drive unit that rotates the movable unit 10 in the panning direction, and a third drive unit that rotates the movable unit 10 in the roll direction. Contains.
　第１駆動部は、一対の第１コイルユニット５２における一対の磁気ヨークホルダ７４０，７５０、一対の第１磁気ヨーク７１０及び一対の駆動コイル７２０と、一対の第１駆動磁石６２０とを含んでいる。第２駆動部は、一対の第２コイルユニット５３における一対の磁気ヨークホルダ７４１，７５１、一対の第２磁気ヨーク７１１及び一対の駆動コイル７２１と、一対の第２駆動磁石６２１とを含んでいる。第３駆動部は、一対の磁気ヨークホルダ７４０，７５０、一対の磁気ヨークホルダ７４１，７５１、一対の第１駆動磁石６２０と、一対の第２駆動磁石６２１と、一対の第１磁気ヨーク７１０と、一対の第２磁気ヨーク７１１と、一対の駆動コイル７３０と、一対の駆動コイル７３１とを含んでいる。すなわち、駆動部３０は、第１駆動磁石６２０と当該第１駆動磁石６２０に対向して配置された第１磁気ヨーク７１０とからなるペア、第２駆動磁石６２１と当該第２駆動磁石６２１に対向して配置された第２磁気ヨーク７１１とからなるペアを有している。駆動部３０は、さらに、複数の磁気ヨークホルダ７４０，７４１，７５０，７５１（ホルダ）を有している。言い換えると、駆動部３０は、複数ペアと、複数のホルダとを有する。複数ペアの各々は、駆動磁石（第１駆動磁石６２０、第２駆動磁石６２１）と当該駆動磁石に対向して配置された磁気ヨーク（第１磁気ヨーク７１０、第２磁気ヨーク７１１）とからなる。 The first drive unit includes a pair of magnetic yoke holders 740 and 750 in the pair of first coil units 52, a pair of first magnetic yokes 710 and a pair of drive coils 720, and a pair of first drive magnets 620. The second drive unit includes a pair of magnetic yoke holders 741 and 751 in the pair of second coil units 53, a pair of second magnetic yokes 711 and a pair of drive coils 721, and a pair of second drive magnets 621. The third drive unit includes a pair of magnetic yoke holders 740 and 750, a pair of magnetic yoke holders 741 and 751, a pair of first drive magnets 620, a pair of second drive magnets 621, a pair of first magnetic yokes 710, and a pair. The second magnetic yoke 711, a pair of drive coils 730, and a pair of drive coils 731 are included. That is, the drive unit 30 is opposed to the pair of the first drive magnet 620 and the first magnetic yoke 710 disposed to face the first drive magnet 620, the second drive magnet 621, and the second drive magnet 621. And a pair of second magnetic yokes 711 arranged in this manner. The drive unit 30 further includes a plurality of magnetic yoke holders 740, 741, 750, and 751 (holders). In other words, the drive unit 30 includes a plurality of pairs and a plurality of holders. Each of the plurality of pairs includes a drive magnet (first drive magnet 620, second drive magnet 621) and a magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) disposed to face the drive magnet. .
　なお、第１駆動磁石６２０と当該第１駆動磁石６２０に対向して配置された第１磁気ヨーク７１０とからなるペアが、本開示の第１ペアに相当する。磁気ヨークホルダ７４０，７５０が、本開示の第１ホルダに相当する。 Note that a pair including the first drive magnet 620 and the first magnetic yoke 710 disposed to face the first drive magnet 620 corresponds to the first pair of the present disclosure. The magnetic yoke holders 740 and 750 correspond to the first holder of the present disclosure.
　第２駆動磁石６２１と当該第２駆動磁石６２１に対向して配置された第２磁気ヨーク７１１とからなるペアが、本開示の第２ペアに相当する。磁気ヨークホルダ７４１，７５１が、本開示の第２ホルダに相当する。 A pair consisting of the second drive magnet 621 and the second magnetic yoke 711 arranged to face the second drive magnet 621 corresponds to the second pair of the present disclosure. The magnetic yoke holders 741 and 751 correspond to the second holder of the present disclosure.
　第１駆動磁石６２０と当該第１駆動磁石６２０に対向して配置された第１磁気ヨーク７１０とからなるペア及び第２駆動磁石６２１と当該第２駆動磁石６２１に対向して配置された第２磁気ヨーク７１１とからなるペアのうち少なくとも一方が、本開示の第３ペアに相当する。磁気ヨークホルダ７４０，７５０及び磁気ヨークホルダ７４１，７５１のうち少なくとも一方が、本開示の第３ホルダに相当する。第１駆動磁石６２０及び第２駆動磁石６２１のうち少なくとも一方が、本開示の第３駆動磁石に相当する。第１磁気ヨーク７１０及び第２磁気ヨーク７１１のうち少なくとも一方が、本開示の第３磁気ヨークに相当する。 A pair composed of a first drive magnet 620 and a first magnetic yoke 710 disposed opposite to the first drive magnet 620 and a second drive magnet 621 and a second disposed opposite to the second drive magnet 621. At least one of the pair including the magnetic yoke 711 corresponds to the third pair of the present disclosure. At least one of the magnetic yoke holders 740 and 750 and the magnetic yoke holders 741 and 751 corresponds to the third holder of the present disclosure. At least one of the first drive magnet 620 and the second drive magnet 621 corresponds to the third drive magnet of the present disclosure. At least one of the first magnetic yoke 710 and the second magnetic yoke 711 corresponds to the third magnetic yoke of the present disclosure.
　本実施形態のカメラ装置１は、一対の駆動コイル７２０と一対の駆動コイル７２１に同時に通電することで、可動ユニット１０を２次元的に回転（チルティング、パンニング）させることができる。また、カメラ装置１は、一対の駆動コイル７３０と一対の駆動コイル７３１に同時に通電することで、光軸１ａを回転軸として可動ユニット１０を回転（ローリング）させることもできる。 The camera device 1 of the present embodiment can rotate the movable unit 10 two-dimensionally (tilting and panning) by energizing the pair of drive coils 720 and the pair of drive coils 721 simultaneously. The camera device 1 can also rotate (roll) the movable unit 10 about the optical axis 1a as a rotation axis by energizing the pair of drive coils 730 and the pair of drive coils 731 simultaneously.
　ところで、第１磁気ヨーク７１０と第１駆動磁石６２０とにおいて、互いに対向するヨーク面７１５と磁石面６２５との隙間、具体的には回転の中心点を中心とする円弧に沿った方向の隙間は、無通電時に可動ユニット１０が中立状態となるために均一であることが好ましい（図５参照）。同様に、第２磁気ヨーク７１１と第２駆動磁石６２１とにおいて、互いに対向するヨーク面７１６と磁石面６２６との隙間、具体的には回転の中心点を中心とする円弧に沿った方向の隙間は、無通電時に可動ユニット１０が中立状態となるために均一であることが好ましい（図５参照）。なお、本実施形態において、無通電とは、第１コイルユニット５２及び第２コイルユニット５３に電流が流れていない状態のことをいう。 By the way, in the first magnetic yoke 710 and the first drive magnet 620, the gap between the yoke surface 715 and the magnet surface 625 facing each other, specifically, the gap in the direction along the arc centered on the center point of rotation is Since the movable unit 10 is in a neutral state when no power is supplied, it is preferable that the movable unit 10 be uniform (see FIG. 5). Similarly, in the second magnetic yoke 711 and the second drive magnet 621, a gap between the yoke surface 716 and the magnet surface 626 facing each other, specifically, a gap in a direction along an arc centered on the center point of rotation. Is preferably uniform because the movable unit 10 is in a neutral state when no power is supplied (see FIG. 5). In the present embodiment, the non-energization means a state in which no current flows through the first coil unit 52 and the second coil unit 53.
　しかしながら、第１磁気ヨーク７１０（第２磁気ヨーク７１１）の取り付け時、つまり磁気ヨークホルダ７４０，７５０（７４１，７５１）の本体部５１への取り付け時に、ヨーク面７１５（７１６）と磁石面６２５（６２６）との隙間が均一にならない場合がある。または、第１駆動磁石６２０の第１磁気バックヨーク６１０への取り付け時にヨーク面７１５と磁石面６２５との隙間が均一にならない場合がある。さらには、第２駆動磁石６２１の第２磁気バックヨーク６１１への取り付け時にヨーク面７１６と磁石面６２６との隙間が均一にならない場合がある。 However, when the first magnetic yoke 710 (second magnetic yoke 711) is attached, that is, when the magnetic yoke holders 740, 750 (741, 751) are attached to the main body 51, the yoke surface 715 (716) and the magnet surface 625 (626). ) May not be uniform. Alternatively, the gap between the yoke surface 715 and the magnet surface 625 may not be uniform when the first drive magnet 620 is attached to the first magnetic back yoke 610. Furthermore, the gap between the yoke surface 716 and the magnet surface 626 may not be uniform when the second drive magnet 621 is attached to the second magnetic back yoke 611.
　例えば、ヨーク面７１５と磁石面６２５との隙間が均一でない場合には、磁石面６２５において第１磁気ヨーク７１０を吸引する力が均一とはならない。そのため、ヨーク面７１５と磁石面６２５との間で互いの距離が近い部位が強く引き合い、その結果、カメラモジュールがチルティング方向に沿って回転する。例えば、カメラモジュール３が床面を撮像するようにカメラ装置１を天井に設けた場合、カメラモジュール３（可動ユニット１０）は、天井からの鉛直方向Ｇに対してチルティング方向に傾く（図６参照）。 For example, when the gap between the yoke surface 715 and the magnet surface 625 is not uniform, the force for attracting the first magnetic yoke 710 on the magnet surface 625 is not uniform. Therefore, a portion where the distance between the yoke surface 715 and the magnet surface 625 is close to each other attracts strongly, and as a result, the camera module rotates along the tilting direction. For example, when the camera device 1 is provided on the ceiling so that the camera module 3 images the floor surface, the camera module 3 (movable unit 10) is inclined in the tilting direction with respect to the vertical direction G from the ceiling (FIG. 6). reference).
　そこで、本実施形態のカメラ装置１（アクチュエータ２）は、ヨーク面７１５と磁石面６２５との隙間、及びヨーク面７１６と磁石面６２６との隙間のうち少なくとも一方の隙間が均一でない場合において、無通電時に可動ユニット１０が中立状態となるように調整機構５を備えている。つまり、調整機構５は、無通電時において、カメラモジュール３が撮像する向きが所定方向（例えば軸１ｂ，１ｃの双方に直交する方向）と一致するように、ヨーク面７１５と磁石面６２５との隙間、及びヨーク面７１６と磁石面６２６との隙間のうち少なくとも一方の隙間を調整する。ここで、カメラモジュール３が撮像する向きとは、撮像方向に向う光軸１ａの向きである。調整機構５は、少なくとも１つの調整部を含む。ここで、調整部は、例えば非磁性体である平板形状のスペーサを含む。 Therefore, the camera device 1 (actuator 2) of the present embodiment has no effect when at least one of the gap between the yoke surface 715 and the magnet surface 625 and the gap between the yoke surface 716 and the magnet surface 626 is not uniform. An adjustment mechanism 5 is provided so that the movable unit 10 is in a neutral state when energized. In other words, the adjustment mechanism 5 is configured such that when the current is not energized, the yoke surface 715 and the magnet surface 625 are arranged such that the direction in which the camera module 3 captures an image coincides with a predetermined direction (eg, a direction orthogonal to both the axes 1b and 1c) At least one of the gap and the gap between the yoke surface 716 and the magnet surface 626 is adjusted. Here, the direction in which the camera module 3 captures an image is the direction of the optical axis 1a in the image capturing direction. The adjustment mechanism 5 includes at least one adjustment unit. Here, the adjustment unit includes a flat spacer that is a non-magnetic material, for example.
　ヨーク面７１５と磁石面６２５との隙間が均一でない場合には、調整機構５に含まれる調整部５ａが、固定ユニット２０の本体部５１のうち磁気ヨークホルダ７４０とねじ止めされる部位５１５と、磁気ヨークホルダ７４０の部位７４５との間に設けられる（図２Ｂ参照）。さらに、本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と、本体部５１にねじ止めされる磁気ヨークホルダ７５０の端部である部位７５５（図３参照）との間にも、同様に、調整部５ａが設けられる。 When the gap between the yoke surface 715 and the magnet surface 625 is not uniform, the adjustment unit 5a included in the adjustment mechanism 5 is connected to the magnetic yoke holder 740 in the main body 51 of the fixed unit 20 and the portion 515 screwed. It is provided between the part 745 of the yoke holder 740 (refer FIG. 2B). Further, similarly between the portion of the main body 51 screwed to the magnetic yoke holder 750 and the portion 755 (see FIG. 3) which is the end of the magnetic yoke holder 750 screwed to the main body 51. An adjustment unit 5a is provided.
　ヨーク面７１６と磁石面６２６との隙間が均一でない場合には、調整機構５に含まれる調整部５ｂが、固定ユニット２０の本体部５１のうち磁気ヨークホルダ７４１とねじ止めされる部位５１６と、磁気ヨークホルダ７４１の部位７４６との間に設けられる（図２Ｃ参照）。さらに、本体部５１のうち磁気ヨークホルダ７５１とねじ止めされる部位と、本体部５１にねじ止めされる磁気ヨークホルダ７５１の端部である部位７５６（図３参照）との間にも、同様に、調整部５ｂが設けられる。なお、図３では、調整機構５は省略している。 When the gap between the yoke surface 716 and the magnet surface 626 is not uniform, the adjustment portion 5b included in the adjustment mechanism 5 is connected to the magnetic yoke holder 741 in the body portion 51 of the fixed unit 20 and the portion 516 to be screwed. It is provided between the portion 746 of the yoke holder 741 (see FIG. 2C). Further, similarly between the portion of the main body 51 screwed to the magnetic yoke holder 751 and the portion 756 (see FIG. 3) which is the end of the magnetic yoke holder 751 screwed to the main body 51. An adjustment unit 5b is provided. In FIG. 3, the adjusting mechanism 5 is omitted.
　ここで、調整機構５は、カメラ装置１の製造時（出荷前）に設けられる。なお、調整部５ａ，５ｂは、本開示の部材に相当する。 Here, the adjusting mechanism 5 is provided when the camera device 1 is manufactured (before shipment). The adjustment units 5a and 5b correspond to members of the present disclosure.
　（２）調整方法（製造方法）
　次に、カメラ装置１の製造方法、具体的には調整機構５を設けて隙間を調整する調整方法について説明する。なお、ここでは、カメラ装置１は、カメラモジュール３が床面を撮像するようにカメラ装置１を天井に設けて使用されることを想定している。 (2) Adjustment method (manufacturing method)
Next, a method for manufacturing the camera device 1, specifically, an adjustment method for adjusting the gap by providing the adjustment mechanism 5 will be described. Here, it is assumed that the camera device 1 is used with the camera device 1 provided on the ceiling so that the camera module 3 images the floor surface.
　調整機構５が設けられる前のカメラ装置１のカメラモジュール３のレンズが下方を向くように配置する。カメラ装置１の固定ユニット用センサチップ９３、可動ユニット用センサチップ４０１及びマイクロコントローラ９４に対して電源の供給を行う。つまり、第１コイルユニット５２、第２コイルユニット５３には電流は流れない。 Alignment is performed so that the lens of the camera module 3 of the camera device 1 before the adjustment mechanism 5 is provided faces downward. Power is supplied to the fixed unit sensor chip 93, the movable unit sensor chip 401, and the microcontroller 94 of the camera device 1. That is, no current flows through the first coil unit 52 and the second coil unit 53.
　このとき、固定ユニット用センサチップ９３は、第１固定ユニット用センサと、第２固定ユニット用センサとの検知結果をマイクロコントローラ９４に出力する。具体的には、固定ユニット用センサチップ９３は、第１固定ユニット用センサと、第２固定ユニット用センサとのそれぞれの加速度から得られる鉛直方向Ｇを基準とする固定ユニット２０のチルティング方向における傾き角度、及び固定ユニット２０のパンニング方向における傾き角度を、マイクロコントローラ９４に出力する。例えば、チルティング方向に対する固定ユニット２０の傾きが方向Ｇ１である場合、つまり鉛直方向と一致する場合、第１固定ユニット用センサは、チルティング方向における固定ユニット２０の傾き角度として０度を検出する。なお、ここでは、チルティング方向における固定ユニット２０の傾き角度、及びパンニング方向における固定ユニット２０の傾き角度は、双方とも０度である。 At this time, the fixed unit sensor chip 93 outputs the detection results of the first fixed unit sensor and the second fixed unit sensor to the microcontroller 94. Specifically, the fixed unit sensor chip 93 is in the tilting direction of the fixed unit 20 based on the vertical direction G obtained from the accelerations of the first fixed unit sensor and the second fixed unit sensor. The tilt angle and the tilt angle of the fixed unit 20 in the panning direction are output to the microcontroller 94. For example, when the inclination of the fixed unit 20 with respect to the tilting direction is the direction G1, that is, when it coincides with the vertical direction, the first fixed unit sensor detects 0 degree as the inclination angle of the fixed unit 20 in the tilting direction. . Here, the inclination angle of the fixed unit 20 in the tilting direction and the inclination angle of the fixed unit 20 in the panning direction are both 0 degrees.
　次に、調整方法（製造方法）では、予め設定された設定軸（例えば、鉛直方向Ｇ）に対するカメラモジュール３の傾きを検出する検出処理を行う。可動ユニット用センサチップ４０１が、第１可動ユニット用センサと、第２可動ユニット用センサとを用いてチルティング方向及びパンニング方向のそれぞれに対するカメラモジュール３の傾きを検出する。可動ユニット用センサチップ４０１は、第１可動ユニット用センサと、第２可動ユニット用センサとの検知結果をマイクロコントローラ９４に出力する。つまり、可動ユニット用センサチップ４０１は、第１可動ユニット用センサと、第２可動ユニット用センサとのそれぞれから得られる鉛直方向Ｇを基準とするカメラモジュール３のチルティング方向における傾き角度、及びパンニング方向における傾き角度を、マイクロコントローラ９４に出力する。例えば、カメラモジュール３が鉛直方向Ｇに対して方向Ｇ２に傾いている場合、第１可動ユニット用センサは、チルティング方向におけるカメラモジュール３の傾き角度θを検出する（図６参照）。 Next, in the adjustment method (manufacturing method), detection processing for detecting the tilt of the camera module 3 with respect to a preset setting axis (for example, the vertical direction G) is performed. The movable unit sensor chip 401 detects the tilt of the camera module 3 with respect to each of the tilting direction and the panning direction using the first movable unit sensor and the second movable unit sensor. The movable unit sensor chip 401 outputs the detection results of the first movable unit sensor and the second movable unit sensor to the microcontroller 94. That is, the movable unit sensor chip 401 includes the tilt angle in the tilting direction of the camera module 3 with respect to the vertical direction G obtained from each of the first movable unit sensor and the second movable unit sensor, and panning. The tilt angle in the direction is output to the microcontroller 94. For example, when the camera module 3 is tilted in the direction G2 with respect to the vertical direction G, the first movable unit sensor detects the tilt angle θ of the camera module 3 in the tilting direction (see FIG. 6).
　次に、調整方法（製造方法）では、検出処理が検出したカメラモジュール３の傾きを調整する調整機構を設ける調整処理を行う。マイクロコントローラ９４は、チルティング方向における傾き角度に応じて調整部５ａとして磁気ヨークホルダ７４０，７５０と本体部５１との間に設けるべきスペーサの厚みを記憶している。さらに、マイクロコントローラ９４は、パンニング方向における傾き角度に応じて調整部５ｂとして磁気ヨークホルダ７４１，７５１と本体部５１との間に設けるべきスペーサの厚みを記憶している。マイクロコントローラ９４は、第１可動ユニット用センサが検出したチルティング方向における傾き角度θに応じたスペーサ（調整部５ａ）の厚みの情報を、外部の表示装置（図示せず）に表示させる。作業員は、表示装置に表示された厚みのスペーサ（調整部５ａ）を、本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間に設ける。同様に、作業員は、本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と、磁気ヨークホルダ７５０の部位７５５との間にも、表示装置に表示された厚みのスペーサ（調整部５ａ）を設ける。なお、本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間に設けられるスペーサの厚みと、本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と、磁気ヨークホルダ７５０の部位７５５との間に設けられるスペーサの厚みは、調整具合に応じて、選択することができ、例えば、同じ厚みであっても、異なる厚みであってもよい。 Next, in the adjustment method (manufacturing method), an adjustment process for providing an adjustment mechanism for adjusting the tilt of the camera module 3 detected by the detection process is performed. The microcontroller 94 stores the thickness of the spacer to be provided between the magnetic yoke holders 740 and 750 and the main body 51 as the adjusting portion 5a according to the tilt angle in the tilting direction. Further, the microcontroller 94 stores the thickness of the spacer that should be provided between the magnetic yoke holders 741 and 751 and the main body 51 as the adjusting portion 5b according to the inclination angle in the panning direction. The microcontroller 94 displays information on the thickness of the spacer (adjustment unit 5a) according to the tilt angle θ in the tilting direction detected by the first movable unit sensor on an external display device (not shown). The worker provides a spacer (adjustment part 5 a) having a thickness displayed on the display device between the part 515 of the main body part 51 and the part 745 of the magnetic yoke holder 740. Similarly, the worker places a spacer (adjustment unit 5a) having a thickness displayed on the display device between a portion of the main body 51 that is screwed to the magnetic yoke holder 750 and a portion 755 of the magnetic yoke holder 750. Provide. In addition, the thickness of the spacer provided between the part 515 of the main body 51 and the part 745 of the magnetic yoke holder 740, the part of the main body 51 that is screwed to the magnetic yoke holder 750, and the part 755 of the magnetic yoke holder 750 The thickness of the spacer provided between them can be selected according to the adjustment, and for example, the thickness may be the same or different.
　鉛直方向Ｇを基準とするカメラモジュール３のチルティング方向における傾き角度が、固定ユニット２０のチルティング方向における傾き角度と、一致するまで、上記処理（検出処理、調整処理）を繰り返す。つまり、調整処理では、無通電時におけるカメラモジュール３の撮像向きが所定方向として鉛直方向Ｇと一致するように、カメラモジュール３を調整する。 The above processing (detection processing and adjustment processing) is repeated until the tilt angle in the tilting direction of the camera module 3 with respect to the vertical direction G coincides with the tilt angle in the tilting direction of the fixed unit 20. That is, in the adjustment process, the camera module 3 is adjusted so that the imaging direction of the camera module 3 when no power is supplied coincides with the vertical direction G as a predetermined direction.
　また、第２可動ユニット用センサがパンニング方向における傾き角度を検出した場合も同様に、マイクロコントローラ９４は、検出した角度に応じたスペーサ（調整部５ｂ）の厚みの情報を、外部の表示装置に表示させる。作業員は、表示装置に表示された厚みのスペーサ（調整部５ｂ）を、本体部５１の部位５１６と磁気ヨークホルダ７４１の部位７４６との間に設ける。同様に、作業員は、本体部５１のうち磁気ヨークホルダ７５１とねじ止めされる部位と、磁気ヨークホルダ７５１の部位７５６との間にも、表示装置に表示された厚みのスペーサ（調整部５ｂ）を設ける。なお、本体部５１の部位５１６と磁気ヨークホルダ７４１の部位７４６との間に設けられるスペーサの厚みと、本体部５１のうち磁気ヨークホルダ７５１とねじ止めされる部位と、磁気ヨークホルダ７５１の部位７５６との間に設けられるスペーサの厚みは、調整具合に応じて、選択することができ、例えば、同じ厚みであっても、異なる厚みであってもよい。 Similarly, when the second movable unit sensor detects the tilt angle in the panning direction, the microcontroller 94 also sends information on the thickness of the spacer (adjustment unit 5b) corresponding to the detected angle to the external display device. Display. The worker provides a spacer (adjustment portion 5 b) having a thickness displayed on the display device between the portion 516 of the main body 51 and the portion 746 of the magnetic yoke holder 741. Similarly, the worker places a spacer (adjustment part 5b) having a thickness displayed on the display device between the part of the main body 51 screwed to the magnetic yoke holder 751 and the part 756 of the magnetic yoke holder 751. Provide. In addition, the thickness of the spacer provided between the part 516 of the main body 51 and the part 746 of the magnetic yoke holder 741, the part of the main body 51 that is screwed to the magnetic yoke holder 751, and the part 756 of the magnetic yoke holder 751 The thickness of the spacer provided between them can be selected according to the adjustment, and for example, the thickness may be the same or different.
　鉛直方向Ｇを基準とするカメラモジュール３のパンニング方向における傾き角度が、固定ユニット２０のパンニング方向における傾き角度と、それぞれ一致するまで、上記作業を繰り返す。 The above operation is repeated until the tilt angle of the camera module 3 in the panning direction with respect to the vertical direction G matches the tilt angle of the fixed unit 20 in the panning direction.
　チルティング方向における傾きを調整するスペーサ（調整部５ａ）の厚みと、パンニング方向における傾きを調整するスペーサ（調整部５ｂ）の厚みも、可動ユニット１０（カメラモジュール３）の傾き具合に応じて適宜選択される。具体的には、スペーサ（調整部５ａ）とスペーサ（調整部５ｂ）は、同じ厚みである場合もあれば、異なる厚みである場合もある。 The thickness of the spacer (adjustment unit 5a) for adjusting the inclination in the tilting direction and the thickness of the spacer (adjustment unit 5b) for adjusting the inclination in the panning direction are also appropriately determined according to the inclination of the movable unit 10 (camera module 3). Selected. Specifically, the spacer (adjusting part 5a) and the spacer (adjusting part 5b) may have the same thickness or different thicknesses.
　なお、表示装置に表示された厚みのスペーサの選択、取り付けを、ピッキングシステム、組み立てロボット等を用いて自動化してもよい。 Note that the selection and installation of the spacer having the thickness displayed on the display device may be automated using a picking system, an assembly robot, or the like.
　（３）利点
　上述したように、第１磁気ヨーク７１０と第１駆動磁石６２０とにおいて、互いに対向するヨーク面７１５と磁石面６２５との隙間、具体的には回転の中心点を中心とする円弧に沿った方向の隙間は均一であることが好ましい（図５参照）。同様に、第２磁気ヨーク７１１と第２駆動磁石６２１とにおいて、互いに対向するヨーク面７１６と磁石面６２６との隙間、具体的には回転の中心点を中心とする円弧に沿った方向の隙間は均一であることが好ましい（図５参照）。 (3) Advantages As described above, in the first magnetic yoke 710 and the first drive magnet 620, a gap between the mutually opposing yoke surface 715 and the magnet surface 625, specifically, an arc centered on the center point of rotation. It is preferable that the gap in the direction along is uniform (see FIG. 5). Similarly, in the second magnetic yoke 711 and the second drive magnet 621, a gap between the yoke surface 716 and the magnet surface 626 facing each other, specifically, a gap in a direction along an arc centered on the center point of rotation. Is preferably uniform (see FIG. 5).
　しかしながら、これらの隙間が均一とはならない場合がある。そのような場合、カメラモジュール３が床面を撮像するようにカメラ装置１を天井に設けたとき、カメラモジュール３は、無通電時において天井からの鉛直方向Ｇに対して例えばチルティング方向に傾く。カメラモジュール３が無通電時において天井からの鉛直方向Ｇに対して、チルティング方向に傾くと、通電時において、カメラモジュール３が傾いた側とは逆側（チルティング方向に沿った逆側）におけるカメラモジュール３の制振性能が低下する。 However, these gaps may not be uniform. In such a case, when the camera device 1 is provided on the ceiling so that the camera module 3 captures an image of the floor surface, the camera module 3 is tilted, for example, in the tilting direction with respect to the vertical direction G from the ceiling when no power is supplied. . When the camera module 3 is tilted in the tilting direction with respect to the vertical direction G from the ceiling when there is no power supply, the side opposite to the side where the camera module 3 is tilted when power is supplied (the reverse side along the tilting direction). The vibration control performance of the camera module 3 is reduced.
　カメラモジュール３が無通電時において天井からの鉛直方向Ｇに対してパンニング方向に傾いた場合も、通電時において、カメラモジュール３が傾いた側とは逆側（パンニング方向に沿った逆側）におけるカメラモジュール３の制振性能が低下する。 Even when the camera module 3 is tilted in the panning direction with respect to the vertical direction G from the ceiling when there is no energization, on the side opposite to the side where the camera module 3 is tilted during energization (the opposite side along the panning direction). The vibration control performance of the camera module 3 is reduced.
　そのため、無通電時にカメラモジュールを中立状態とするために、本実施形態では、カメラ装置１（アクチュエータ２）は、調整機構５を備えている。調整機構５を備えることで、通電時において、カメラモジュール３の制振性能が低下する可能性を低くすることができる。 Therefore, in this embodiment, the camera device 1 (actuator 2) includes an adjustment mechanism 5 in order to make the camera module neutral when no power is supplied. By providing the adjustment mechanism 5, it is possible to reduce the possibility that the vibration control performance of the camera module 3 is lowered during energization.
　つまり、本開示に係るアクチュエータ２は、無通電時に可動ユニット１０が所定方向に傾く可能性を低くすることができるので、制振性能が大きく劣化する角度方向が存在せず、どの方向に傾いても均一な制振性能を実現することができる。 That is, the actuator 2 according to the present disclosure can reduce the possibility that the movable unit 10 is tilted in a predetermined direction when there is no energization. Therefore, there is no angular direction in which the damping performance is greatly deteriorated, and any direction is tilted. Can achieve uniform damping performance.
　なお、実施形態１では、カメラ装置１を天井に設けてカメラモジュール３が床面を撮像する構成としたがこの構成に限定されない。例えば、カメラモジュール３が天井から床面への方向に直交する方向を撮像するように、天井と床面と間に設けられた壁にカメラ装置１を設けてもよい。この場合の調整方法は、第１固定ユニット用センサの結果と第１可動ユニット用センサの結果とが、第２固定ユニット用センサの結果と第２可動ユニット用センサの結果とが、それぞれ一致するように、調整機構５を設ける。これにより、実施形態１と同様の効果を得る。 In the first embodiment, the camera device 1 is provided on the ceiling and the camera module 3 images the floor surface. However, the present invention is not limited to this configuration. For example, the camera device 1 may be provided on a wall provided between the ceiling and the floor so that the camera module 3 captures a direction orthogonal to the direction from the ceiling to the floor. The adjustment method in this case is that the result of the first fixed unit sensor and the result of the first movable unit sensor match the result of the second fixed unit sensor and the result of the second movable unit sensor, respectively. Thus, the adjustment mechanism 5 is provided. Thereby, the same effect as in the first embodiment is obtained.
　また、上述した調整方法では、可動ユニット用センサチップ４０１及び固定ユニット用センサチップ９３チップを用いている。そのため、上記調整方法を用いて、カメラモジュール３がアクチュエータ２に備えられていない状態で可動ユニット１０の傾きを調整してもよい。この場合、可動ユニット１０の傾きを調整した後に、カメラモジュール３が取り付けられる。 In the above-described adjustment method, the movable unit sensor chip 401 and the fixed unit sensor chip 93 are used. Therefore, the tilt of the movable unit 10 may be adjusted using the adjustment method in a state where the camera module 3 is not included in the actuator 2. In this case, the camera module 3 is attached after adjusting the inclination of the movable unit 10.
　（４）変形例
　（４－１）変形例１
　実施形態１で説明した調整方法では、第１固定ユニット用センサの結果と第１可動ユニット用センサの結果とが、第２固定ユニット用センサの結果と第２可動ユニット用センサの結果とが、それぞれ一致するように調整機構５を設ける構成とした。しかしながら、この構成に限定されない。 (4) Modification (4-1) Modification 1
In the adjustment method described in the first embodiment, the result of the first fixed unit sensor and the result of the first movable unit sensor are the result of the second fixed unit sensor and the result of the second movable unit sensor. The adjustment mechanism 5 is provided so as to match each other. However, it is not limited to this configuration.
　磁気センサ９２の結果を用いて、調整機構５を設ける調整方法を採用してもよい。 An adjustment method in which the adjustment mechanism 5 is provided using the result of the magnetic sensor 92 may be adopted.
　例えば、第１磁気ヨーク７１０と第１駆動磁石６２０とにおいて、互いに対向するヨーク面７１５と磁石面６２５との隙間、具体的には回転の中心点を中心とする円弧に沿った方向の隙間は均一でないとする。 For example, in the first magnetic yoke 710 and the first drive magnet 620, the gap between the yoke surface 715 and the magnet surface 625 facing each other, specifically, the gap in the direction along the arc centered on the center point of rotation is Suppose that it is not uniform.
　このとき、カメラモジュール３が床面を撮像するようにカメラ装置１を天井に設けたとき、カメラモジュール３は、無通電時において天井からの鉛直方向Ｇに対して例えばチルティング方向に傾く。この場合、調整方法（製造方法）における検出処理では、磁気センサ９２の結果により、本体部５１に対して可動ユニット１０（カメラモジュール３）がチルティング方向に傾いていることが検出される。 At this time, when the camera device 1 is provided on the ceiling so that the camera module 3 images the floor surface, the camera module 3 is tilted, for example, in the tilting direction with respect to the vertical direction G from the ceiling when no power is supplied. In this case, in the detection process in the adjustment method (manufacturing method), it is detected from the result of the magnetic sensor 92 that the movable unit 10 (camera module 3) is tilted with respect to the main body 51 in the tilting direction.
　調整方法（製造方法）における調整処理では、マイクロコントローラ９４は、磁気センサ９２が検出したチルティング方向における傾き角度θに応じたスペーサ（調整部５ａ）の厚みの情報を、外部の表示装置（図示せず）に表示させる。作業員は、傾き度合（傾き角度）に応じたスペーサ（調整部５ａ）を本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間に設ける。同様に、作業員は、本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と、磁気ヨークホルダ７５０の部位７５５との間にも、傾き度合に応じたスペーサ（調整部５ａ）を設ける。 In the adjustment process in the adjustment method (manufacturing method), the microcontroller 94 displays information on the thickness of the spacer (adjustment unit 5a) according to the tilt angle θ in the tilting direction detected by the magnetic sensor 92, using an external display device (FIG. (Not shown). The worker provides a spacer (adjustment unit 5 a) according to the degree of inclination (inclination angle) between the part 515 of the main body part 51 and the part 745 of the magnetic yoke holder 740. Similarly, the worker also provides a spacer (adjustment unit 5a) corresponding to the degree of inclination between a portion of the main body 51 that is screwed to the magnetic yoke holder 750 and a portion 755 of the magnetic yoke holder 750.
　本体部５１に対して可動ユニット１０（カメラモジュール３）がチルティング方向に傾いていないことが磁気センサ９２によって検出されるまで、上記処理（検出処理、調整処理）を繰り返す。つまり、調整処理では、調整機構５は、無通電時におけるカメラモジュール３の撮像向きが所定方向として軸１ｂ，１ｃの双方と直交する方向と一致するように、カメラモジュール３を調整する。 The above processing (detection processing, adjustment processing) is repeated until the magnetic sensor 92 detects that the movable unit 10 (camera module 3) is not tilted in the tilting direction with respect to the main body 51. That is, in the adjustment process, the adjustment mechanism 5 adjusts the camera module 3 so that the imaging direction of the camera module 3 when not energized coincides with a direction orthogonal to both the axes 1b and 1c as a predetermined direction.
　なお、本変形例の調整方法では、磁気センサ９２を用いている。そのため、本変形例を用いて、カメラモジュール３がアクチュエータ２に備えられていない状態で可動ユニット１０の傾きを調整してもよい。この場合、可動ユニット１０の傾きを調整した後に、カメラモジュール３が取り付けられる。 In the adjustment method of this modification, the magnetic sensor 92 is used. Therefore, the tilt of the movable unit 10 may be adjusted in a state where the camera module 3 is not provided in the actuator 2 using this modification. In this case, the camera module 3 is attached after adjusting the inclination of the movable unit 10.
　（４－２）変形例２
　実施形態１では、チルティング方向及びパンニング方向のそれぞれにおけるカメラモジュール３の傾きを調整する方法を述べた。本変形例では、ロール方向におけるカメラモジュール３の傾きを調整する方法を述べる。なお、ここでは、ヨーク面７１５と磁石面６２５、及びヨーク面７１６と磁石面６２６とのそれぞれにおいて回転の中心点を中心とする円弧に沿った方向を長辺方向とし、長辺方向に直交する方向を短辺方向という。 (4-2) Modification 2
In the first embodiment, the method of adjusting the tilt of the camera module 3 in each of the tilting direction and the panning direction has been described. In this modification, a method for adjusting the tilt of the camera module 3 in the roll direction will be described. Here, in each of the yoke surface 715 and the magnet surface 625, and the yoke surface 716 and the magnet surface 626, the direction along the arc centering on the center point of rotation is defined as the long side direction, and is orthogonal to the long side direction. The direction is called the short side direction.
　ヨーク面７１５と磁石面６２５、及びヨーク面７１６と磁石面６２６とのそれぞれにおいても、短辺方向に沿った隙間が均一であることが好ましい。 Also in each of the yoke surface 715 and the magnet surface 625, and the yoke surface 716 and the magnet surface 626, it is preferable that the gap along the short side direction is uniform.
　ヨーク面７１５と磁石面６２５とにおいて短辺方向に沿った隙間が均一でない場合には、磁石面６２５において短辺方向に沿った第１磁気ヨーク７１０を吸引する力が均一とはならない。そのため、カメラモジュール３は、無通電時であってもロール方向に対して回転する。つまり、カメラモジュール３は、無通電時である場合においても基準位置からロール方法に対してある角度分だけ回転している。 When the gap along the short side direction is not uniform between the yoke surface 715 and the magnet surface 625, the force for attracting the first magnetic yoke 710 along the short side direction on the magnet surface 625 is not uniform. Therefore, the camera module 3 rotates with respect to the roll direction even when no power is supplied. That is, the camera module 3 is rotated by a certain angle with respect to the roll method from the reference position even when no power is supplied.
　ヨーク面７１５と磁石面６２５とにおける短辺方向の隙間が均一でない場合には、固定ユニット２０の本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間、及び本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と磁気ヨークホルダ７５０の部位７５５との間の少なくとも一方に、調整部が設けられる。このとき、磁気ヨークホルダ７４０の部位７４５と固定ユニット２０の本体部５１の部位５１５との間に設けられる調整部の調整量（厚み）と、本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と磁気ヨークホルダ７５０の部位７５５との間に設けられる調整部の調整量とが異なる。特に、無通電時にカメラモジュール３がロール方向に回転し、かつチルティング方向において回転している場合には、本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間に設けられる調整部の調整量と、本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と磁気ヨークホルダ７５０の部位７５５との間に設けられる調整部の調整量とが異なる。 When the gaps in the short side direction between the yoke surface 715 and the magnet surface 625 are not uniform, the magnetic yoke holder between the portion 515 of the main body 51 of the fixed unit 20 and the portion 745 of the magnetic yoke holder 740 and among the main body 51 An adjustment unit is provided at least one of a portion 750 and a portion to be screwed and a portion 755 of the magnetic yoke holder 750. At this time, the adjustment amount (thickness) of the adjustment portion provided between the portion 745 of the magnetic yoke holder 740 and the portion 515 of the main body 51 of the fixed unit 20, and the portion of the main body 51 that is screwed to the magnetic yoke holder 750 And the adjustment amount of the adjustment portion provided between the magnetic yoke holder 750 and the portion 755 of the magnetic yoke holder 750 are different. In particular, when the camera module 3 rotates in the roll direction and rotates in the tilting direction when no power is supplied, an adjustment unit provided between the part 515 of the main body 51 and the part 745 of the magnetic yoke holder 740 is provided. The adjustment amount is different from the adjustment amount of the adjustment portion provided between the magnetic yoke holder 750 and the portion 755 of the magnetic yoke holder 750 in the main body 51.
　同様に、ヨーク面７１６と磁石面６２６とにおいて短辺方向に沿って隙間が均一でない場合には、固定ユニット２０の本体部５１の部位５１６と磁気ヨークホルダ７４１の部位７４６との間、及び本体部５１のうち磁気ヨークホルダ７５１とねじ止めされる部位と磁気ヨークホルダ７５１の部位７５６との間のうち少なくとも一方に、調整部が設けられる。この場合においても、本体部５１の部位５１６と磁気ヨークホルダ７４１の部位７４６との間に設けられる調整部の調整量（厚み）と、本体部５１のうち磁気ヨークホルダ７５１とねじ止めされる部位と磁気ヨークホルダ７５１の部位７５６との間に設けられる調整部の調整量とが異なる。特に、無通電時にカメラモジュール３がロール方向に回転し、かつパンニング方向において回転している場合には、本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間に設けられる調整部の調整量と、本体部５１のうち磁気ヨークホルダ７５１とねじ止めされる部位と磁気ヨークホルダ７５１の部位７５６との間に設けられる調整部の調整量とが異なる。 Similarly, when the gaps are not uniform along the short side direction between the yoke surface 716 and the magnet surface 626, between the portion 516 of the main body 51 of the fixed unit 20 and the portion 746 of the magnetic yoke holder 741, and the main body An adjustment unit is provided in at least one of 51 between the part to be screwed with the magnetic yoke holder 751 and the part 756 of the magnetic yoke holder 751. Even in this case, the adjustment amount (thickness) of the adjustment portion provided between the portion 516 of the main body 51 and the portion 746 of the magnetic yoke holder 741, the portion of the main body 51 that is screwed to the magnetic yoke holder 751, and the magnetic The adjustment amount of the adjustment portion provided between the yoke holder 751 and the portion 756 is different. In particular, when the camera module 3 rotates in the roll direction and rotates in the panning direction when no power is supplied, adjustment of the adjustment unit provided between the part 515 of the main body 51 and the part 745 of the magnetic yoke holder 740 is adjusted. The amount and the adjustment amount of the adjustment portion provided between the magnetic yoke holder 751 and the portion to be screwed in the main body 51 and the portion 756 of the magnetic yoke holder 751 are different.
　（４－３）変形例３
　実施形態１では、平板状のスペーサを調整部５ａ，５ｂとして説明したが、本変形例では、アジャスタを調整部とする。 (4-3) Modification 3
In the first embodiment, the flat spacers have been described as the adjustment units 5a and 5b. However, in the present modification, an adjuster is used as the adjustment unit.
　この場合、アジャスタは、ばねを有している。調整部としてのアジャスタは、本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間、及び本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と磁気ヨークホルダ７５０の部位７５５との間に設けられる。さらに、調整部としてのアジャスタは、本体部５１の部位５１６と磁気ヨークホルダ７４１の部位７４６との間、本体部５１のうち磁気ヨークホルダ７５１とねじ止めされる部位と磁気ヨークホルダ７５１の部位７５６との間に設けられる。 In this case, the adjuster has a spring. The adjuster as the adjustment unit is between the part 515 of the main body part 51 and the part 745 of the magnetic yoke holder 740, and between the part of the main body part 51 screwed to the magnetic yoke holder 750 and the part 755 of the magnetic yoke holder 750. Provided. Further, the adjuster as the adjustment unit is between the part 516 of the main body part 51 and the part 746 of the magnetic yoke holder 741, and between the part of the main body part 51 screwed to the magnetic yoke holder 751 and the part 756 of the magnetic yoke holder 751. Provided.
　例えば、ヨーク面７１５と磁石面６２５との隙間が均一でない場合には、本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５とにおけるねじ止めの締め付けを緩める。さらに、本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と磁気ヨークホルダ７５０の部位７５５とにおけるねじ止めの締め付けを緩める。これにより、各アジャスタのばねの復元力が発生し、本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間、及び本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と磁気ヨークホルダ７５０の部位７５５との間に、隙間がそれぞれ生じる。本変形例のアジャスタは、ばねの復元力によって生じる本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間の隙間、及び本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と磁気ヨークホルダ７５０の部位７５５との間の隙間を調整することで、ヨーク面７１５と磁石面６２５との隙間を調整することができる。 For example, when the gap between the yoke surface 715 and the magnet surface 625 is not uniform, the screwing tightening at the portion 515 of the main body 51 and the portion 745 of the magnetic yoke holder 740 is loosened. Further, the tightening of the screwing at the portion of the main body 51 screwed to the magnetic yoke holder 750 and the portion 755 of the magnetic yoke holder 750 is loosened. As a result, a restoring force of the spring of each adjuster is generated, and between the portion 515 of the main body 51 and the portion 745 of the magnetic yoke holder 740 and the portion of the main body 51 screwed to the magnetic yoke holder 750 and the magnetic yoke holder 750. A gap is generated between each part 755 and the other part 755. The adjuster of the present modification includes a gap between the portion 515 of the main body 51 and the portion 745 of the magnetic yoke holder 740 generated by the restoring force of the spring, and a portion of the main body 51 that is screwed to the magnetic yoke holder 750 and the magnetic yoke holder. The gap between the yoke surface 715 and the magnet surface 625 can be adjusted by adjusting the gap between the portion 755 and the portion 755.
　ヨーク面７１６と磁石面６２６との隙間が均一でない場合には、本体部５１の部位５１６と磁気ヨークホルダ７４１の部位７４６とにおけるねじ止めの締め付けを緩める。さらに、本体部５１のうち磁気ヨークホルダ７５１とねじ止めされる部位と磁気ヨークホルダ７５１の部位７５６とにおけるねじ止めの締め付けを緩める。これにより、各アジャスタのばねの復元力が発生し、本体部５１の部位５１６と磁気ヨークホルダ７４１の部位７４６との間、及び本体部５１のうち磁気ヨークホルダ７５１とねじ止めされる部位と磁気ヨークホルダ７５１の部位７５６との間に、隙間がそれぞれ生じる。ばねの復元力によって生じる本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間の隙間、及び本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と磁気ヨークホルダ７５０の部位７５６との間の隙間を調整することで、ヨーク面７１５と磁石面６２５との隙間が調整される。 When the gap between the yoke surface 716 and the magnet surface 626 is not uniform, the screwing tightening at the part 516 of the main body 51 and the part 746 of the magnetic yoke holder 741 is loosened. Further, the tightening of the screwing at the part to be screwed with the magnetic yoke holder 751 and the part 756 of the magnetic yoke holder 751 in the main body 51 is loosened. As a result, a restoring force of the spring of each adjuster is generated, and between the portion 516 of the main body 51 and the portion 746 of the magnetic yoke holder 741 and the portion of the main body 51 screwed to the magnetic yoke holder 751 and the magnetic yoke holder 751. A gap is formed between each part 756 and the other part 756. A gap between the part 515 of the main body 51 and the part 745 of the magnetic yoke holder 740 generated by the restoring force of the spring, and between the part of the main body 51 screwed to the magnetic yoke holder 750 and the part 756 of the magnetic yoke holder 750. By adjusting the gap, the gap between the yoke surface 715 and the magnet surface 625 is adjusted.
　ところで、磁気ヨークホルダと本体部との間でねじ止めした場合、磁気ヨークホルダと本体部との間での挟み込む力は大きい。そのため、ばねを有するアジャスタを調整部（調整機構５）として用いる場合よりも、スペーサを用いた場合の方が調整機構５としての強度は高い。そのため、調整部（調整機構５）としてスペーサを用いることが好ましい。しかしながら、調整部（調整機構５）としてアジャスタを用いることも本開示の範疇である。 By the way, when screwed between the magnetic yoke holder and the main body, the clamping force between the magnetic yoke holder and the main body is large. Therefore, the strength of the adjusting mechanism 5 is higher when the spacer is used than when the adjuster having a spring is used as the adjusting portion (adjusting mechanism 5). Therefore, it is preferable to use a spacer as the adjustment unit (adjustment mechanism 5). However, it is also within the scope of the present disclosure to use an adjuster as the adjustment unit (adjustment mechanism 5).
　（４－４）変形例４
　実施形態１では、ヨーク面７１５と磁石面６２５との隙間が均一でない場合には、調整部５ａが、本体部５１の部位５１５と磁気ヨークホルダ７４０の部位７４５との間、及び本体部５１のうち磁気ヨークホルダ７５０とねじ止めされる部位と磁気ヨークホルダ７５０の部位７５５との間にも、設けられる構成とした。しかしながら、この構成に限定されない。調整部５ａは、アッパーリング４と磁気ヨークホルダ７４０との間、及びアッパーリング４と磁気ヨークホルダ７５０との間に設けられてもよい。 (4-4) Modification 4
In the first embodiment, when the gap between the yoke surface 715 and the magnet surface 625 is not uniform, the adjusting portion 5a is provided between the portion 515 of the main body portion 51 and the portion 745 of the magnetic yoke holder 740, and among the main body portion 51. The magnetic yoke holder 750 is also provided between the part to be screwed and the part 755 of the magnetic yoke holder 750. However, it is not limited to this configuration. The adjusting unit 5a may be provided between the upper ring 4 and the magnetic yoke holder 740 and between the upper ring 4 and the magnetic yoke holder 750.
　または、磁気ヨークホルダ７４０，７５０と本体部５１との間、及び磁気ヨークホルダ７４０，７５０とアッパーリング４との間の双方に、調整部５ａを設けてもよい。 Alternatively, the adjustment unit 5 a may be provided both between the magnetic yoke holders 740 and 750 and the main body 51 and between the magnetic yoke holders 740 and 750 and the upper ring 4.
　同様に、ヨーク面７１６と磁石面６２６との隙間が均一でない場合には、調整部５ｂは、アッパーリング４と磁気ヨークホルダ７４１との間、及びアッパーリング４と磁気ヨークホルダ７５１との間に設けられてもよい。または、磁気ヨークホルダ７４１，７５１と本体部５１との間、及び磁気ヨークホルダ７４１，７５１とアッパーリング４との間の双方に、調整部５ａを設けてもよい。 Similarly, when the gap between the yoke surface 716 and the magnet surface 626 is not uniform, the adjusting portion 5b is provided between the upper ring 4 and the magnetic yoke holder 741 and between the upper ring 4 and the magnetic yoke holder 751. May be. Alternatively, the adjusting portion 5 a may be provided both between the magnetic yoke holders 741 and 751 and the main body 51 and between the magnetic yoke holders 741 and 751 and the upper ring 4.
　また、ヨーク面７１５と磁石面６２５とにおいて短辺方向に沿った隙間が均一でない場合においても、磁気ヨークホルダ７４０，７５０と本体部５１との間に設けてもよい。または、磁気ヨークホルダ７４０，７５０と本体部５１との間及び磁気ヨークホルダ７４０，７５０とアッパーリング４との間の双方に、調整部５ａを設けてもよい。同様に、ヨーク面７１６と磁石面６２６とにおいて短辺方向に沿った隙間が均一でない場合においても、磁気ヨークホルダ７４１，７５１と本体部５１との間に設けてもよい。または、磁気ヨークホルダ７４１，７５１と本体部５１との間及び磁気ヨークホルダ７４１，７５１とアッパーリング４との間の双方に、調整部５ａを設けてもよい。 Further, even when the gap along the short side direction is not uniform between the yoke surface 715 and the magnet surface 625, it may be provided between the magnetic yoke holders 740 and 750 and the main body 51. Alternatively, the adjusting portion 5 a may be provided both between the magnetic yoke holders 740 and 750 and the main body 51 and between the magnetic yoke holders 740 and 750 and the upper ring 4. Similarly, even when the gap along the short side direction is not uniform between the yoke surface 716 and the magnet surface 626, it may be provided between the magnetic yoke holders 741 and 751 and the main body 51. Alternatively, the adjusting portion 5 a may be provided both between the magnetic yoke holders 741 and 751 and the main body 51 and between the magnetic yoke holders 741 and 751 and the upper ring 4.
　また、実施形態１では、磁気ヨークホルダ７４０，７５０（７４１，７５１）と本体部５１との間に調整部５ａ（５ｂ）を設ける構成としたが、この構成に限定されない。調整部を、第１駆動磁石６２０と第１磁気バックヨーク６１０との間、及び第２駆動磁石６２１と第２磁気バックヨーク６１１との間に、それぞれ設けて、ヨーク面７１５と磁石面６２５との隙間、及びヨーク面７１６と磁石面６２６との隙間を調整してもよい。 In the first embodiment, the adjustment unit 5a (5b) is provided between the magnetic yoke holders 740, 750 (741, 751) and the main body 51. However, the present invention is not limited to this configuration. Adjusting portions are provided between the first drive magnet 620 and the first magnetic back yoke 610 and between the second drive magnet 621 and the second magnetic back yoke 611, respectively, and the yoke surface 715 and the magnet surface 625 are provided. And the gap between the yoke surface 716 and the magnet surface 626 may be adjusted.
　（実施形態２）
　実施形態１ではカメラ装置１が備える固定ユニット用センサチップ９３と可動ユニット用センサチップ４０１とを用いてカメラモジュール３の傾きを調整した。本実施形態では、他のカメラ装置を用いて、カメラモジュール３の傾きを調整する。 (Embodiment 2)
In the first embodiment, the tilt of the camera module 3 is adjusted using the fixed unit sensor chip 93 and the movable unit sensor chip 401 included in the camera device 1. In the present embodiment, the tilt of the camera module 3 is adjusted using another camera device.
　以下、本実施形態のカメラ装置１の調整方法について、実施形態１と異なる点を中心に説明する。なお、実施形態１と同一の構成要素については、同一の符号を付して説明を適宜省略する。 Hereinafter, the adjustment method of the camera device 1 of the present embodiment will be described focusing on differences from the first embodiment. In addition, about the component same as Embodiment 1, the same code | symbol is attached | subjected and description is abbreviate | omitted suitably.
　本実施形態では、カメラ装置１とは異なるカメラ装置８００を用いて、カメラ装置１のカメラモジュール３の傾きを調整する（図７参照）。 In this embodiment, the tilt of the camera module 3 of the camera apparatus 1 is adjusted using a camera apparatus 800 different from the camera apparatus 1 (see FIG. 7).
　本実施形態では、カメラモジュール３を撮像するように、カメラ装置８００を設置する。このとき、カメラ装置８００の光軸１ｅと、カメラモジュール３が中立状態である場合のカメラ装置１の設計上の光軸１ｄとが一致するように、カメラ装置８００は設置される。具体的には、カメラ装置８００の撮像領域の中心にカメラモジュール３が中立状態である場合のカメラ装置１の設計上の光軸１ｄが位置するように、カメラ装置８００は設置される。 In the present embodiment, the camera device 800 is installed so as to image the camera module 3. At this time, the camera apparatus 800 is installed so that the optical axis 1e of the camera apparatus 800 and the design optical axis 1d of the camera apparatus 1 when the camera module 3 is in the neutral state coincide. Specifically, the camera device 800 is installed such that the design optical axis 1d of the camera device 1 when the camera module 3 is in the neutral state is located at the center of the imaging region of the camera device 800.
　検出処理において、カメラ装置８００は、カメラ装置１のカメラモジュール３を撮像し、撮像した画像を用いてカメラ装置１の設計上の光軸１ｄ（カメラ装置８００の光軸１ｅ）に対してチルティング方向におけるカメラモジュール３の光軸１ａの傾き、及びパンニング方向におけるカメラモジュール３の光軸１ａの傾きを求める。 In the detection process, the camera device 800 images the camera module 3 of the camera device 1 and tilts the optical axis 1d (the optical axis 1e of the camera device 800) on the design of the camera device 1 using the captured image. The inclination of the optical axis 1a of the camera module 3 in the direction and the inclination of the optical axis 1a of the camera module 3 in the panning direction are obtained.
　調整処理において、カメラ装置８００は、検出処理が求めたチルティング方向におけるカメラモジュール３の光軸１ａの傾き（傾き角度）に応じた調整部５ａの厚みの情報（第１調整量）、及びチルティング方向におけるカメラモジュール３の光軸１ａの傾き（傾き角度）に応じた調整部５ｂの厚みの情報（第２調整量）を表示する。作業員は、表示装置に表示された第１調整量に応じたスペーサ（調整部５ａ）を、磁気ヨークホルダ７４０と本体部５１との間、及び磁気ヨークホルダ７５０と本体部５１との間に設ける。さらに、作業員は、表示装置に表示された第２調整量に応じたスペーサ（調整部５ｂ）を、磁気ヨークホルダ７４１と本体部５１との間、及び磁気ヨークホルダ７５１と本体部５１との間に設ける。 In the adjustment process, the camera device 800 includes information on the thickness (first adjustment amount) of the adjustment unit 5a according to the inclination (tilt angle) of the optical axis 1a of the camera module 3 in the tilting direction obtained by the detection process, and the chill. Information on the thickness (second adjustment amount) of the adjustment unit 5b corresponding to the inclination (inclination angle) of the optical axis 1a of the camera module 3 in the tilting direction is displayed. The worker provides a spacer (adjustment unit 5 a) corresponding to the first adjustment amount displayed on the display device between the magnetic yoke holder 740 and the main body 51 and between the magnetic yoke holder 750 and the main body 51. Further, the worker inserts a spacer (adjustment unit 5 b) corresponding to the second adjustment amount displayed on the display device between the magnetic yoke holder 741 and the main body 51 and between the magnetic yoke holder 751 and the main body 51. Provide.
　その後、再度、カメラ装置８００は、カメラモジュール３を撮像する。カメラモジュール３の光軸１ａが、カメラ装置８００の光軸１ｅ、つまりカメラ装置１の設計上の光軸１ｄと一致するまで、上記処理（検出処理、調整処理）を繰り返す。言い換えると、カメラモジュール３のレンズの中心が、カメラ装置８００が撮像した画像の中心に位置するように、上記処理を繰り返す。つまり、調整処理は、無通電時におけるカメラモジュール３の撮像向きが所定方向としてカメラ装置１の設計上の光軸１ｄの方向と一致するように、カメラモジュール３を調整する。 Thereafter, the camera device 800 captures the camera module 3 again. The above processing (detection processing and adjustment processing) is repeated until the optical axis 1a of the camera module 3 matches the optical axis 1e of the camera device 800, that is, the optical axis 1d of the camera device 1 designed. In other words, the above process is repeated so that the center of the lens of the camera module 3 is positioned at the center of the image captured by the camera device 800. That is, in the adjustment process, the camera module 3 is adjusted so that the imaging direction of the camera module 3 when no power is supplied coincides with the direction of the optical axis 1d in the design of the camera device 1 as a predetermined direction.
　（実施形態３）
　本実施形態では、カメラモジュール３が撮像した画像を用いて、カメラモジュール３の傾きを調整する。 (Embodiment 3)
In the present embodiment, the tilt of the camera module 3 is adjusted using an image captured by the camera module 3.
　以下、本実施形態のカメラ装置１の調整方法について、実施形態１と異なる点を中心に説明する。なお、実施形態１と同一の構成要素については、同一の符号を付して説明を適宜省略する。 Hereinafter, the adjustment method of the camera device 1 of the present embodiment will be described focusing on differences from the first embodiment. In addition, about the component same as Embodiment 1, the same code | symbol is attached | subjected and description is abbreviate | omitted suitably.
　本実施形態のカメラ装置１は、カメラモジュール３に対して電源の供給を行う。つまり、第１コイルユニット５２、第２コイルユニット５３には電流は流れない。本実施形態のカメラ装置１は、カメラモジュール３の傾き調整に用いる土台マーカ８５０を撮像する（図８Ａ参照）。カメラモジュール３は、撮像した画像に、互いに直交する破線を重畳した撮像画像を画像処理回路を介して表示部（図示しない）に表示させる。なお、破線の交点がカメラモジュール３の光軸１ａと交わっている。 The camera device 1 of the present embodiment supplies power to the camera module 3. That is, no current flows through the first coil unit 52 and the second coil unit 53. The camera device 1 of the present embodiment images the base marker 850 used for adjusting the tilt of the camera module 3 (see FIG. 8A). The camera module 3 displays a captured image obtained by superimposing mutually orthogonal broken lines on the captured image on a display unit (not shown) via an image processing circuit. Note that the broken line intersects with the optical axis 1 a of the camera module 3.
　土台マーカ８５０は、互いに直交する２つの直線８５１，８５２を有している（図８Ｂ参照）。直線８５１と直線８５２との交点８５３がカメラモジュール３が中立状態である場合のカメラ装置１の設計上の光軸１ｄと交わるように、土台マーカ８５０及びカメラ装置１は設置される（図８Ａ参照）。 The base marker 850 has two straight lines 851 and 852 orthogonal to each other (see FIG. 8B). The base marker 850 and the camera device 1 are installed such that the intersection 853 between the straight line 851 and the straight line 852 intersects the design optical axis 1d of the camera device 1 when the camera module 3 is in a neutral state (see FIG. 8A). ).
　検出処理では、土台マーカ８５０及びカメラ装置１がそれぞれ配置されると、カメラ装置１のカメラモジュール３は、土台マーカ８５０を撮像する。図８Ｃは、図８Ａに示すカメラモジュール３の傾き状態において、カメラモジュール３が土台マーカ８５０を撮像した撮像画像８６０を示す。撮像画像８６０は、図８Ｃに示すように、破線８６１，８６２、及び土台マーカ８５０に記された直線８５１，８５２を含む。 In the detection process, when the base marker 850 and the camera device 1 are respectively arranged, the camera module 3 of the camera device 1 images the base marker 850. FIG. 8C shows a captured image 860 in which the camera module 3 captures the base marker 850 in the tilted state of the camera module 3 shown in FIG. 8A. The captured image 860 includes broken lines 861 and 862 and straight lines 851 and 852 marked on the base marker 850, as shown in FIG. 8C.
　図８Ａでは、カメラ装置１から土台マーカ８５０を見た場合においてカメラモジュール３は、土台マーカ８５０の交点８５３に対して右下方向に傾いている。言い換えると、土台マーカ―８５０の交点８５３は、カメラモジュール３の光軸１ａの左上方向に位置している。そのため、直線８５１，８５２の交点８５３は、破線８６１，８６２の交点８６３よりも左上方向にずれている。 In FIG. 8A, when the base marker 850 is viewed from the camera device 1, the camera module 3 is tilted to the lower right with respect to the intersection 853 of the base marker 850. In other words, the intersection 853 of the base marker 850 is located in the upper left direction of the optical axis 1 a of the camera module 3. Therefore, the intersection 853 of the straight lines 851 and 852 is shifted in the upper left direction from the intersection 863 of the broken lines 861 and 862.
　ここで、撮像画像８６０の上下方向をチルティング方向を平面上に射影した方向とし、左右方向をパンニング方向を平面上に射影した方向とする。 Here, the up and down direction of the captured image 860 is the direction in which the tilting direction is projected onto the plane, and the left and right direction is the direction in which the panning direction is projected onto the plane.
　調整処理では、作業員は、直線８５１，８５２の交点８５３と破線８６１，８６２の交点８６３との上下方向のずれ量に応じたスペーサ（調整部５ａ）を、磁気ヨークホルダ７４０と本体部５１との間、及び磁気ヨークホルダ７５０と本体部５１との間に設ける。さらに、作業員は、直線８５１，８５２の交点８５３と破線８６１，８６２の交点８６３との左右方向のずれ量に応じたスペーサ（調整部５ｂ）を、磁気ヨークホルダ７４１と本体部５１との間、及び磁気ヨークホルダ７５１と本体部５１との間に設ける。 In the adjustment process, the worker sets a spacer (adjustment unit 5a) between the magnetic yoke holder 740 and the main body 51 according to the amount of vertical displacement between the intersection 853 of the straight lines 851 and 852 and the intersection 863 of the broken lines 861 and 862. And between the magnetic yoke holder 750 and the main body 51. Further, the worker can insert a spacer (adjustment part 5b) between the magnetic yoke holder 741 and the main body part 51 in accordance with the amount of horizontal displacement between the intersection 853 of the straight lines 851 and 852 and the intersection 863 of the broken lines 861 and 862. And provided between the magnetic yoke holder 751 and the main body 51.
　その後、再度、カメラ装置１は、土台マーカ８５０を撮像する。カメラモジュール３の光軸１ａ、つまり破線８６１，８６２の交点８６３が、土台マーカ８５０の直線８５１，８５２の交点８５３と一致する撮像画像８７０（図８Ｄ参照）が得られるまで、上記処理（検出処理、調整処理）を繰り返す。つまり、調整処理は、無通電時におけるカメラモジュール３の撮像向きが所定方向としてカメラ装置１の設計上の光軸１ｄの方向と一致するように、カメラモジュール３を調整している。 Thereafter, the camera device 1 again images the base marker 850. Until the captured image 870 (see FIG. 8D) in which the optical axis 1a of the camera module 3, that is, the intersection point 863 of the broken lines 861, 862, coincides with the intersection point 853 of the straight lines 851, 852 of the base marker 850 is obtained (detection process). Repeat the adjustment process. That is, in the adjustment process, the camera module 3 is adjusted so that the imaging direction of the camera module 3 when no power is supplied matches the direction of the optical axis 1d in the design of the camera device 1 as a predetermined direction.
　なお、調整処理において、カメラモジュール３は、撮像画像に加えて、直線８５１，８５２の交点８５３と破線８６１，８６２の交点８６３との上下方向のずれ量に応じた調整部５ａの厚みの情報、及び交点８５３と交点８６３との左右方向のずれ量に応じた調整部５ｂの厚みの情報を、表示部に表示させてもよい。 In the adjustment process, the camera module 3 includes information on the thickness of the adjustment unit 5a in accordance with the amount of vertical displacement between the intersection 853 of the straight lines 851 and 852 and the intersection 863 of the broken lines 861 and 862, in addition to the captured image. In addition, information on the thickness of the adjustment unit 5b corresponding to the amount of deviation in the left-right direction between the intersection point 853 and the intersection point 863 may be displayed on the display unit.
　なお、実施形態３では、直線８５１，８５２の交点８５３と破線８６１，８６２の交点８６３との上下方向及び左右方向のずれを目視して、調整を行う構成としたが、この構成に限定されない。例えば、カメラモジュール３又は撮像画像を表示する表示部を備える装置（表示装置）が、撮像画像を用いて自動で直線８５１，８５２の交点８５３と、光軸１ａが土台マーカ８５０と交わる点とにおける上下方向及び左右方向のずれ量を自動で取得する機能を有してもよい。この場合、破線８６１，８６２の表示は不要になる。当該機能を有するカメラモジュール３又は表示装置は、下方向のずれ量に応じた調整部５ａの厚みの情報、及び左右方向のずれ量に応じた調整部５ｂの厚みの情報を表示する。 In the third embodiment, the adjustment is performed by visually observing the vertical and horizontal shifts between the intersection 853 of the straight lines 851 and 852 and the intersection 863 of the broken lines 861 and 862. However, the present invention is not limited to this configuration. For example, the camera module 3 or a device (display device) including a display unit that displays a captured image automatically uses the captured image at the intersection 853 of the straight lines 851 and 852 and the point where the optical axis 1a intersects the base marker 850. You may have the function to acquire automatically the deviation | shift amount of an up-down direction and a left-right direction. In this case, the display of the broken lines 861 and 862 becomes unnecessary. The camera module 3 or the display device having the function displays information on the thickness of the adjustment unit 5a according to the downward shift amount and information on the thickness of the adjustment unit 5b according to the horizontal shift amount.
　（変形例）
　以下に、変形例について列記する。なお、以下に説明する変形例は、上記各実施形態と適宜組み合わせて適用可能である。 (Modification)
Below, modifications are listed. Note that the modifications described below can be applied in appropriate combination with the above embodiments.
　各実施形態では、アクチュエータ２（カメラ装置１）は、一対の第１磁気ヨーク７１０、一対の第２磁気ヨーク７１１、２つの第１磁気ヨーク７１０にそれぞれ対向する２つ第１駆動磁石６２０、及び２つの第２磁気ヨーク７１１にそれぞれ対向する２つ第２駆動磁石６２１を有する構成とした。つまり、アクチュエータ２（カメラ装置１）は、４つの磁気ヨークと、４つの駆動磁石を有する構成としたが、この構成に限定されない。アクチュエータ２（カメラ装置１）は、２つ以上の磁気ヨークと、当該２つ以上の磁気ヨークにそれぞれ対向する２つ以上の駆動磁石を有する構成としてもよい。この場合、２つ以上の磁気ヨークは、回転の中心点を中心とした円周上に等間隔に配置される。 In each embodiment, the actuator 2 (camera apparatus 1) includes a pair of first magnetic yokes 710, a pair of second magnetic yokes 711, two first drive magnets 620 that face the first magnetic yokes 710, and The configuration has two second drive magnets 621 respectively facing the two second magnetic yokes 711. That is, the actuator 2 (camera device 1) has a configuration including four magnetic yokes and four drive magnets, but is not limited to this configuration. The actuator 2 (camera device 1) may include two or more magnetic yokes and two or more drive magnets facing the two or more magnetic yokes. In this case, the two or more magnetic yokes are arranged at equal intervals on the circumference around the center point of rotation.
　例えば、アクチュエータ２（カメラ装置１）は、３つの磁気ヨークと、当該３つの磁気ヨークにそれぞれ対向する３つの駆動磁石を有する構成としてもよい。このとき、３つの磁気ヨークは、回転の中心点を中心とした円周上に１２０度ごとに配置される。３つの磁気ヨークの各々に巻かれたコイルに流れる電流を制御して、カメラモジュール３（可動ユニット１０）をチルティング方向及びパンニング方向に回転させてもよい。つまり、３つの磁気ヨークの各々に巻かれたコイルに流れる電流を制御して、カメラモジュール３（可動ユニット１０）を、上述した軸１ｂ及び軸１ｃの各々を中心に回転させてもよい。 For example, the actuator 2 (camera device 1) may include three magnetic yokes and three drive magnets that face the three magnetic yokes. At this time, the three magnetic yokes are arranged every 120 degrees on the circumference centered on the center point of rotation. The camera module 3 (movable unit 10) may be rotated in the tilting direction and the panning direction by controlling the current flowing in the coil wound around each of the three magnetic yokes. That is, the current flowing through the coils wound around each of the three magnetic yokes may be controlled to rotate the camera module 3 (movable unit 10) about the shaft 1b and the shaft 1c described above.
　アクチュエータ２（カメラ装置１）は、３つの磁気ヨークと、３つの駆動磁石を有している場合のチルティング方向に対するカメラモジュール３の傾き及びパンニング方向に対するカメラモジュール３の傾きの調整方法について、説明する。この場合、カメラ装置１のマイクロコントローラ９４は、チルティング方向に対するカメラモジュール３の傾き角度とパンニング方向に対するカメラモジュール３の傾き角度との組と、調整部として各磁気ヨークに対して設けるべきスペーサの厚みの情報とを記憶している。マイクロコントローラ９４は、カメラモジュール３の傾きの検出結果に応じた厚みの情報を表示部（図示せず）に表示する。作業員は、表示装置に表示された磁気ヨークごとの厚みのスペーサを、対応する磁気ヨークの磁気ヨークホルダと本体部５１との間に設ける。 The actuator 2 (camera device 1) has three magnetic yokes and three drive magnets, and explains how to adjust the tilt of the camera module 3 with respect to the tilting direction and the tilt of the camera module 3 with respect to the panning direction. To do. In this case, the microcontroller 94 of the camera apparatus 1 includes a set of a tilt angle of the camera module 3 with respect to the tilting direction and a tilt angle of the camera module 3 with respect to the panning direction, and spacers to be provided for each magnetic yoke as an adjustment unit. Information on thickness is stored. The microcontroller 94 displays thickness information according to the detection result of the tilt of the camera module 3 on a display unit (not shown). The worker provides a spacer having a thickness for each magnetic yoke displayed on the display device between the magnetic yoke holder of the corresponding magnetic yoke and the main body 51.
　また、カメラモジュール３に対する回転の軸は、軸１ｂ、軸１ｃに限定されない。２つ以上の磁気ヨーク（２つ以上の駆動磁石）の対向方向に応じて決定される軸であってもよい。例えば、３つの磁気ヨーク（３つの駆動磁石）がカメラ装置１に設けられる場合、１つの磁気ヨークに巻かれたコイルに電流を流すことで回転が生じる際の回転軸を軸１ｂに相当する軸としてもよい。残り２つの磁気ヨーク（残り２つの駆動磁石）のうち１つの磁気ヨークに巻かれたコイルに電流を流すことで回転が生じる際の回転軸を軸１ｃに相当する軸としてもよい。 Further, the axis of rotation with respect to the camera module 3 is not limited to the axis 1b and the axis 1c. The axis | shaft determined according to the opposing direction of two or more magnetic yokes (two or more drive magnets) may be sufficient. For example, when three magnetic yokes (three drive magnets) are provided in the camera apparatus 1, an axis corresponding to the axis 1 b is a rotation axis when rotation is caused by passing a current through a coil wound around one magnetic yoke. It is good. A rotation axis when rotation is caused by passing a current through a coil wound around one magnetic yoke of the remaining two magnetic yokes (remaining two drive magnets) may be an axis corresponding to the axis 1c.
　各実施形態では、ヨーク面７１５（７１６）と磁石面６２５（６２６）との隙間が均一とならない場合として、第１磁気ヨーク７１０（第２磁気ヨーク７１１）の取り付け時、又は第１駆動磁石６２０（第２駆動磁石６２１）の取り付け時を想定したが、この想定に限定されない。第１駆動磁石６２０の磁石面６２５の磁気が均一でない場合においても、上記調整機構５を設けることは有効である。なぜなら、磁石面６２５の磁気が均一でない場合には、磁石面６２５において第１磁気ヨーク７１０を吸引する力が均一とはならないからである。そのため、磁石面６２５のうち磁気が比較的強い部位において、第１磁気ヨーク７１０とより強く引き合うので、その結果、カメラモジュール３がチルティング方向に沿って回転する。そこで、上述した調整機構５（調整部５ａ）を設けることで、無通電時であってもカメラモジュール３を中立状態とすることができる。また、第２駆動磁石６２１の磁石面６２６の磁気が均一でない場合においても、磁石面６２６において第２磁気ヨーク７１１を吸引する力が均一とはならない。そのため、カメラモジュール３がパンニング方向に沿って回転する。そこで、調整機構５（調整部５ｂ）を設けることで、無通電時であってもカメラモジュール３を中立状態とすることができる。 In each embodiment, the case where the gap between the yoke surface 715 (716) and the magnet surface 625 (626) is not uniform is assumed when the first magnetic yoke 710 (second magnetic yoke 711) is attached or the first driving magnet 620. Although it is assumed that the (second drive magnet 621) is attached, the present invention is not limited to this assumption. Even when the magnetism of the magnet surface 625 of the first drive magnet 620 is not uniform, it is effective to provide the adjusting mechanism 5. This is because, when the magnetism of the magnet surface 625 is not uniform, the force for attracting the first magnetic yoke 710 at the magnet surface 625 is not uniform. Therefore, the magnetic surface 625 attracts more strongly with the first magnetic yoke 710 at a portion where the magnetism is relatively strong. As a result, the camera module 3 rotates along the tilting direction. Therefore, by providing the adjustment mechanism 5 (adjustment unit 5a) described above, the camera module 3 can be in a neutral state even when no power is supplied. Even when the magnetism of the magnet surface 626 of the second drive magnet 621 is not uniform, the force for attracting the second magnetic yoke 711 at the magnet surface 626 is not uniform. Therefore, the camera module 3 rotates along the panning direction. Therefore, by providing the adjustment mechanism 5 (adjustment unit 5b), the camera module 3 can be in a neutral state even when no power is supplied.
　各実施形態のアクチュエータ２は、カメラ装置１に適用した構成としたが、この構成に限定されない。アクチュエータ２は、レーザポインタ、照明器具、プロジェクタ等に適用してもよい。 The actuator 2 of each embodiment is configured to be applied to the camera device 1, but is not limited to this configuration. The actuator 2 may be applied to a laser pointer, a lighting fixture, a projector, or the like.
　各実施形態では、第１遊嵌部材６０２が凹部の内周面を第１遊嵌面６０５として有し、第２遊嵌部材５０１が凸状球面を有する第２遊嵌面５０５を有する構成としたが、この構成に限定されない。第１遊嵌部材６０２が、凸状球面を有し、第２遊嵌部材５０１が凹部を有する構成としてもよい。 In each embodiment, the first loose-fitting member 602 has the inner peripheral surface of the recess as the first loose-fitting surface 605, and the second loose-fitting member 501 has a second loose-fitting surface 505 having a convex spherical surface. However, it is not limited to this configuration. The first loosely fitting member 602 may have a convex spherical surface, and the second loosely fitting member 501 may have a concave portion.
　各実施形態では、調整部５ａと調整部５ｂとは、個別の部材としたが、調整部５ａと調整部５ｂとは一体型の部材であってもよい。 In each embodiment, the adjustment unit 5a and the adjustment unit 5b are separate members, but the adjustment unit 5a and the adjustment unit 5b may be integrated members.
　光軸１ａを中心にロール方向に可動ユニット１０を回転させる第３駆動部は、一対の磁気ヨークホルダ７４０，７５０と、一対の磁気ヨークホルダ７４１，７５１と、一対の第１駆動磁石６２０と、一対の第２駆動磁石６２１と、一対の第１磁気ヨーク７１０と、一対の第２磁気ヨーク７１１と、一対の駆動コイル７３０と、一対の駆動コイル７３１とを含む構成とした。つまり、第３駆動部が、第１駆動部の構成要素、及び第２駆動部の構成要素を共用する構成とした。しかしながら、この構成に限定されない。第３駆動部は、ロール方向に可動ユニット１０を回転させるために、第１駆動部の構成要素、及び第２駆動部の構成要素とは、異なる構成要素、すなわち他の磁気ヨークホルダとしての第３磁気ヨークホルダと、他の駆動磁石としての第３駆動磁石と、他の磁気ヨークとしての第３磁気ヨークと、他の駆動コイルとを有してもよい。この場合、第３磁気ヨークホルダと、本体部５１との間に調整部が設けられる（挟まれる）。 The third drive unit that rotates the movable unit 10 in the roll direction around the optical axis 1a includes a pair of magnetic yoke holders 740 and 750, a pair of magnetic yoke holders 741 and 751, a pair of first drive magnets 620, and a pair of The configuration includes a second drive magnet 621, a pair of first magnetic yokes 710, a pair of second magnetic yokes 711, a pair of drive coils 730, and a pair of drive coils 731. That is, the third drive unit is configured to share the components of the first drive unit and the second drive unit. However, it is not limited to this configuration. In order to rotate the movable unit 10 in the roll direction, the third drive unit is different from the component of the first drive unit and the component of the second drive unit, that is, the third magnetic yoke holder as a third magnetic yoke holder. You may have a magnetic yoke holder, the 3rd drive magnet as another drive magnet, the 3rd magnetic yoke as another magnetic yoke, and another drive coil. In this case, an adjustment unit is provided (sandwiched) between the third magnetic yoke holder and the main body 51.
　（まとめ）
　以上説明したように、第１の態様のアクチュエータ（２）は、回転式の可動ユニット（１０）と、固定ユニット（２０）と、駆動部（３０）と、部材（例えば調整部５ａ，５ｂ）と、を備える。可動ユニット（１０）は、駆動対象を保持し、第１遊嵌面（６０５）を有する。固定ユニット（２０）は、第１遊嵌面（６０５）に嵌め合せる第２遊嵌面（５０５）とベース（本体部５１）を有する。駆動部（３０）は、複数ペアと、複数のホルダ（磁気ヨークホルダ７４０，７４１，７５０，７５１）を有する。複数ペアの各々は、駆動磁石（第１駆動磁石６２０、第２駆動磁石６２１）と駆動磁石に対向して配置された磁気ヨーク（第１磁気ヨーク７１０、第２磁気ヨーク７１１）とからなる。駆動部（３０）は、固定ユニット（２０）に対して可動ユニット（１０）を回転可能とする。第１遊嵌面（６０５）及び第２遊嵌面（５０５）の一方が凹部を有し、他方が凸状球面を有する。複数のホルダは、第１ホルダ（所定のホルダ）を含む。複数ペアは、第１ペア（所定のペア）を含む。第１ペアは、第１駆動磁石（所定の駆動磁石）と第１磁気ヨーク（所定の磁気ヨーク）とを含む。第１磁気ヨークは、第１ホルダによってベースに固定される。第１駆動磁石は、第１軸（所定の軸（例えば軸１ｂ））を中心として可動ユニット（１０）を回転させる。部材は、第１ホルダとベースとの間に挟まれている。 (Summary)
As described above, the actuator (2) according to the first aspect includes the rotary movable unit (10), the fixed unit (20), the driving unit (30), and the members (for example, the adjusting units 5a and 5b). And comprising. The movable unit (10) holds a drive target and has a first loose fitting surface (605). The fixing unit (20) has a second loose fitting surface (505) to be fitted to the first loose fitting surface (605) and a base (main body portion 51). The drive unit (30) includes a plurality of pairs and a plurality of holders ( magnetic yoke holders 740, 741, 750, 751). Each of the plurality of pairs includes a drive magnet (first drive magnet 620, second drive magnet 621) and a magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) disposed to face the drive magnet. The drive unit (30) allows the movable unit (10) to rotate with respect to the fixed unit (20). One of the first loose fitting surface (605) and the second loose fitting surface (505) has a concave portion, and the other has a convex spherical surface. The plurality of holders include a first holder (predetermined holder). The multiple pairs include a first pair (predetermined pair). The first pair includes a first drive magnet (predetermined drive magnet) and a first magnetic yoke (predetermined magnetic yoke). The first magnetic yoke is fixed to the base by the first holder. The first drive magnet rotates the movable unit (10) about a first axis (a predetermined axis (for example, the axis 1b)). The member is sandwiched between the first holder and the base.
　この構成によると、部材を設けて、ベースと少なくとも１つのホルダとの間に挟むことで、可動ユニット（１０）の傾き（駆動対象の傾き）を調整することができる。その結果、無通電時に可動ユニット（１０）が所定方向に傾く、つまり無通電時に可動ユニット（１０）が保持する駆動対象が所定方向に傾く可能性を低くすることができる。 According to this configuration, the inclination of the movable unit (10) (the inclination of the drive target) can be adjusted by providing a member and sandwiching it between the base and at least one holder. As a result, it is possible to reduce the possibility that the movable unit (10) tilts in a predetermined direction when no power is supplied, that is, the drive target held by the movable unit (10) does not tilt in the predetermined direction when no power is supplied.
　第２の態様のアクチュエータ（２）では、第１の態様において、複数のホルダは、第２ホルダ（所定のホルダとしての第１ホルダとは異なる第２ホルダ）を含む。複数ペアは、第２ペア（所定のペアとしての第１のペアとは異なる第２のペア）を含む。第２ペアは、第２駆動磁石と第２磁気ヨークとを含む。第２駆動磁石は、第１軸（所定の軸としての第１軸）とは異なる第２軸（例えば、軸１ｃ）を中心として可動ユニット（１０）を回転させる。部材は、第２ホルダとベースとの間に挟まれている。 In the actuator (2) of the second aspect, in the first aspect, the plurality of holders include a second holder (a second holder different from the first holder as the predetermined holder). The plural pairs include a second pair (a second pair different from the first pair as the predetermined pair). The second pair includes a second drive magnet and a second magnetic yoke. The second drive magnet rotates the movable unit (10) around a second axis (for example, the axis 1c) different from the first axis (the first axis as the predetermined axis). The member is sandwiched between the second holder and the base.
　この構成によると、無通電時に可動ユニット（１０）が第２軸を中心として回転する方向に傾く、つまり無通電時に可動ユニット（１０）が保持する駆動対象が第２軸を中心として回転する方向に傾く可能性を低くすることができる。 According to this configuration, the movable unit (10) is tilted in the direction of rotation about the second axis when there is no current, that is, the drive target held by the movable unit (10) is rotated about the second axis when there is no current. It is possible to reduce the possibility of tilting.
　第３の態様のアクチュエータ（２）では、第２の態様において、第１軸と第２軸とは直交している。 In the actuator (2) of the third aspect, in the second aspect, the first axis and the second axis are orthogonal.
　この構成によると、第１軸と第２軸とが直交していることで、それぞれの軸に対する傾きの誤差が等分されるため、傾きの調整が比較的容易に行うことができる。 According to this configuration, since the first axis and the second axis are orthogonal to each other, an error in inclination with respect to each axis is equally divided, so that the inclination can be adjusted relatively easily.
　第４の態様のアクチュエータ（２）では、第３の態様において、複数のホルダは第３ホルダを含む。複数ペアは第３ペアを含む。第３ペアは、第３駆動磁石と第３磁気ヨークを含む。部材は、第３ホルダとベースとの間に挟まれている。第３駆動磁石は、可動ユニット（１０）が中立状態である場合には、第１軸と第２軸とに対して直交する第３軸（光軸１ａ）を中心として可動ユニット（１０）を回転させる。 In the actuator (2) of the fourth aspect, in the third aspect, the plurality of holders include a third holder. The plurality of pairs includes a third pair. The third pair includes a third drive magnet and a third magnetic yoke. The member is sandwiched between the third holder and the base. When the movable unit (10) is in a neutral state, the third drive magnet moves the movable unit (10) around the third axis (optical axis 1a) orthogonal to the first axis and the second axis. Rotate.
　この構成によると、無通電時に可動ユニットが第３軸を中心として回転する方向に傾くこと可能性を低くすることができる。 According to this configuration, it is possible to reduce the possibility that the movable unit tilts in the direction of rotation about the third axis when no power is supplied.
　第５の態様のアクチュエータ（２）では、第２～第４のいずれかの態様において、第２軸は、第２駆動磁石と、第２磁気ヨークとの対向方向に直交する。 In the actuator (2) of the fifth aspect, in any one of the second to fourth aspects, the second axis is orthogonal to the facing direction of the second drive magnet and the second magnetic yoke.
　この構成によると、駆動磁石の対向方向に応じた軸（第２軸）に対するカメラモジュール（３）の傾きを調整することができる。 According to this configuration, it is possible to adjust the inclination of the camera module (3) with respect to the axis (second axis) according to the facing direction of the drive magnet.
　第６の態様のアクチュエータ（２）では、第１～第５のいずれかの態様において、第１軸は、第１磁気ヨークに第１駆動磁石が対向する方向に直交する。 In the actuator (2) of the sixth aspect, in any one of the first to fifth aspects, the first axis is orthogonal to the direction in which the first drive magnet faces the first magnetic yoke.
　この構成によると、駆動磁石の対向方向に応じた軸（第１軸）に対するカメラモジュール（３）の傾きを調整することができる。 According to this configuration, it is possible to adjust the inclination of the camera module (3) with respect to the axis (first axis) corresponding to the facing direction of the drive magnet.
　第７の態様のアクチュエータ（２）では、第１～第６のいずれかの態様において、部材は、スペーサ及びアジャスタのうち少なくとも一方を含む。 In the actuator (2) of the seventh aspect, in any one of the first to sixth aspects, the member includes at least one of a spacer and an adjuster.
　この構成によると、部材としてスペーサ及びアジャスタのうち少なくとも一方を用いた調整が可能となる。 This configuration enables adjustment using at least one of a spacer and an adjuster as a member.
　第８の態様のアクチュエータ（２）では、第１～第７のいずれかの態様において、少なくとも１つのホルダは、駆動対象の長手方向に平行な軸に対して互いに対象な第１部位（例えば、部位７４５）と第２部位（例えば、部位７５５）を含む。部材は、ベースと第１部位との間隔を維持する第１部材（調整部５ａ）と、ベースと第２部位との間隔を維持する第２部材（調整部５ａ）とを含む。第１部材の厚みと第２部材の厚みとは異なる。 In the actuator (2) of the eighth aspect, in any one of the first to seventh aspects, the at least one holder has a first portion (for example, a target) relative to an axis parallel to the longitudinal direction of the drive target (for example, Part 745) and a second part (eg part 755). The member includes a first member (adjustment unit 5a) that maintains the distance between the base and the first part, and a second member (adjustment part 5a) that maintains the distance between the base and the second part. The thickness of the first member is different from the thickness of the second member.
　この構成によると、第１部材の厚みと第２部材の厚みとを異ならせることで、より精度の高い調整が可能となる。 According to this configuration, by adjusting the thickness of the first member and the thickness of the second member, adjustment with higher accuracy becomes possible.
　第９の態様のカメラ装置は、第１～第８のいずれかの態様のアクチュエータ（２）と、駆動対象としてカメラモジュール（３）とを備える。 The camera device of the ninth aspect includes the actuator (2) of any one of the first to eighth aspects, and a camera module (3) as a drive target.
　この構成によると、無通電時にカメラモジュール（３）が所定方向に傾くこと可能性を低くすることができる。 According to this configuration, it is possible to reduce the possibility that the camera module (3) tilts in a predetermined direction when no power is supplied.
　第１０の態様の製造方法は、カメラ装置（１）の製造方法である。カメラ装置（１）は、回転式の可動ユニット（１０）と、固定ユニット（２０）と、駆動部（３０）と、部材（例えば調整部５ａ，５ｂ）と、を備える。可動ユニット（１０）は、駆動対象を保持し、第１遊嵌面（６０５）を有する。固定ユニット（２０）は、第１遊嵌面（６０５）に嵌め合せる第２遊嵌面（５０５）とベース（本体部５１）とを有する。駆動部（３０）は、複数ペアと、複数のホルダ（磁気ヨークホルダ７４０，７４１，７５０，７５１）を有する。複数ペアの各々は、駆動磁石（第１駆動磁石６２０、第２駆動磁石６２１）と駆動磁石に対向して配置された磁気ヨーク（第１磁気ヨーク７１０、第２磁気ヨーク７１１）とからなる。駆動部（３０）は、固定ユニット（２０）に対して可動ユニット（１０）を回転可能とする。第１遊嵌面（６０５）及び第２遊嵌面（５０５）の一方が凹部を有し、他方が凸状球面を有する。製造方法は、予め設定された軸に対するカメラモジュール（３）の傾き角度を検出し、傾き角度に応じた厚みの部材を選択し、ベースと複数のホルダのうち少なくとも１つのホルダとの間に選択された部材を取り付ける。 The manufacturing method of the tenth aspect is a manufacturing method of the camera device (1). The camera device (1) includes a rotary movable unit (10), a fixed unit (20), a drive unit (30), and members (for example, adjustment units 5a and 5b). The movable unit (10) holds a drive target and has a first loose fitting surface (605). The fixed unit (20) has a second loose fitting surface (505) that fits into the first loose fitting surface (605) and a base (main body portion 51). The drive unit (30) includes a plurality of pairs and a plurality of holders ( magnetic yoke holders 740, 741, 750, 751). Each of the plurality of pairs includes a drive magnet (first drive magnet 620, second drive magnet 621) and a magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) arranged to face the drive magnet. The drive unit (30) allows the movable unit (10) to rotate with respect to the fixed unit (20). One of the first loose fitting surface (605) and the second loose fitting surface (505) has a concave portion, and the other has a convex spherical surface. The manufacturing method detects the tilt angle of the camera module (3) with respect to a preset axis, selects a member having a thickness corresponding to the tilt angle, and selects between the base and at least one holder among the plurality of holders. The attached member is attached.
　この製造方法によると、無通電時に可動ユニット（１０）が所定方向に傾く、つまり無通電時に可動ユニット（１０）が保持する駆動対象が所定方向に傾く可能性を低くすることができる。 According to this manufacturing method, it is possible to reduce the possibility that the movable unit (10) tilts in a predetermined direction when no power is supplied, that is, the drive target held by the movable unit (10) does not tilt in the predetermined direction when no power is supplied.
　第１１の態様の製造方法では、第１０の態様において、予め設定された軸は、第１軸（例えば、軸１ｂ）及び第２軸（例えば、軸１ｃ）を含む。可動ユニット（１０）は、第１軸及び第２軸を中心として回転可能である。傾き角度の検出においては、第１軸に対するカメラモジュール（３）の傾きである第１角度、第２軸に対するカメラモジュール（３）の傾きである第２角度を検出する。部材の選択においては、第１角度に応じた厚みの第１部材（例えば調整部５ａ）と、第２角度に応じた厚みの第２部材（例えば調整部５ｂ）とを選択する。部材の取り付けにおいては、第１部材をベースと第１軸に直交するホルダとの間に取り付け、第２部材をベースと第２軸に直交するホルダとの間に取り付ける。 In the manufacturing method of the eleventh aspect, in the tenth aspect, the preset axis includes a first axis (for example, the axis 1b) and a second axis (for example, the axis 1c). The movable unit (10) is rotatable about the first axis and the second axis. In the detection of the tilt angle, a first angle that is the tilt of the camera module (3) with respect to the first axis and a second angle that is the tilt of the camera module (3) with respect to the second axis are detected. In selecting the member, a first member (for example, the adjusting unit 5a) having a thickness corresponding to the first angle and a second member (for example, the adjusting unit 5b) having a thickness corresponding to the second angle are selected. In attaching the member, the first member is attached between the base and the holder orthogonal to the first axis, and the second member is attached between the base and the holder orthogonal to the second axis.
　この製造方法によると、第１軸及び第２軸のそれぞれの軸に応じた傾きを調整することができる。 According to this manufacturing method, the inclination according to each of the first axis and the second axis can be adjusted.
　第１２の態様のアクチュエータ（２）は、駆動対象を保持する回転式の可動ユニット（１０）と、駆動部（３０）と、調整機構（５）とを備える。駆動部（３０）は、可動ユニット（１０）を回転可能とするために複数の駆動磁石（第１駆動磁石６２０、第２駆動磁石６２１）、及び複数の駆動磁石と一対一に対向する複数の磁気ヨーク（第１磁気ヨーク７１０、第２磁気ヨーク７１１）を有する。調整機構（５）は、複数の駆動磁石のうち所定の軸（例えば、軸１ｂ）を中心として可動ユニット（１０）を回転させる駆動磁石（例えば、第１駆動磁石６２０）と、複数の磁気ヨークのうち当該駆動磁石に対向する磁気ヨーク（例えば、第１磁気ヨーク７１０）との間の隙間を調整する。 The actuator (2) of the twelfth aspect includes a rotary movable unit (10) that holds a drive target, a drive unit (30), and an adjustment mechanism (5). The drive unit (30) includes a plurality of drive magnets (first drive magnet 620, second drive magnet 621) and a plurality of drive magnets facing each other in a one-to-one relationship to enable the movable unit (10) to rotate. The magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) is included. The adjustment mechanism (5) includes a drive magnet (for example, the first drive magnet 620) that rotates the movable unit (10) around a predetermined axis (for example, the axis 1b) among the plurality of drive magnets, and a plurality of magnetic yokes. Among them, the gap between the magnetic yoke (for example, the first magnetic yoke 710) facing the drive magnet is adjusted.
　この構成によると、調整機構（５）を設けて、駆動磁石と磁気ヨークとの間の隙間を調整することで、可動ユニット（１０）の傾き（駆動対象の傾き）を調整することができる。その結果、無通電時に可動ユニット（１０）が所定方向に傾く、つまり無通電時に可動ユニット（１０）が保持する駆動対象が所定方向に傾く可能性を低くすることができる。 According to this configuration, it is possible to adjust the tilt of the movable unit (10) (the tilt of the drive target) by providing the adjusting mechanism (5) and adjusting the gap between the drive magnet and the magnetic yoke. As a result, it is possible to reduce the possibility that the movable unit (10) tilts in a predetermined direction when no power is supplied, that is, the drive target held by the movable unit (10) does not tilt in the predetermined direction when no power is supplied.
　第１３の態様のアクチュエータ（２）では、第１２の態様において、可動ユニット（１０）は、さらに、所定の軸としての第１軸とは異なる第２軸（例えば、軸１ｃ）を中心として回転可能である。調整機構（５）は、さらに、複数の駆動磁石のうち第２軸を中心として可動ユニット（１０）を回転させる駆動磁石（例えば、第２駆動磁石６２１）と、複数の磁気ヨークのうち第２軸を中心として可動ユニット（１０）を回転させる駆動磁石に対向する磁気ヨーク（例えば、第２磁気ヨーク７１１）との間の隙間を調整する。 In the actuator (2) of the thirteenth aspect, in the twelfth aspect, the movable unit (10) further rotates around a second axis (for example, the axis 1c) different from the first axis as the predetermined axis. Is possible. The adjustment mechanism (5) further includes a drive magnet (for example, the second drive magnet 621) that rotates the movable unit (10) around the second axis among the plurality of drive magnets, and a second of the plurality of magnetic yokes. The clearance between the magnetic yoke (for example, the second magnetic yoke 711) facing the drive magnet that rotates the movable unit (10) about the axis is adjusted.
　この構成によると、無通電時に可動ユニット（１０）が第２軸を中心として回転する方向に傾く、つまり無通電時に可動ユニット（１０）が保持する駆動対象が第２軸を中心として回転する方向に傾く可能性を低くすることができる。 According to this configuration, the movable unit (10) is tilted in the direction of rotation about the second axis when there is no current, that is, the drive target held by the movable unit (10) is rotated about the second axis when there is no current. It is possible to reduce the possibility of tilting.
　第１４の態様のアクチュエータ（２）では、第１３の態様において、第１軸と第２軸とは直交している。この構成によると、第１軸と第２軸とが直交していることで、それぞれの軸に対する傾きの誤差が等分されるため、傾きの調整が比較的容易に行うことができる。 In the actuator (2) of the fourteenth aspect, in the thirteenth aspect, the first axis and the second axis are orthogonal. According to this configuration, since the first axis and the second axis are orthogonal to each other, the tilt error with respect to each axis is equally divided, so that the tilt can be adjusted relatively easily.
　第１５の態様のアクチュエータ（２）では、第１３の態様において、第１軸と第２軸とは、複数の駆動磁石の対向方向に応じてそれぞれ決定される軸である。 In the actuator (2) of the fifteenth aspect, in the thirteenth aspect, the first axis and the second axis are axes determined according to the facing directions of the plurality of drive magnets.
　この構成によると、複数の駆動磁石の対向方向に応じた軸に対するカメラモジュール（３）の傾きを調整することができる。 According to this configuration, it is possible to adjust the inclination of the camera module (3) with respect to the axis according to the facing direction of the plurality of drive magnets.
　第１６の態様のアクチュエータ（２）では、第１３～第１５のいずれかの態様において、可動ユニット（１０）は、さらに、可動ユニット（１０）が中立状態である場合には第１軸と第２軸との双方に対して直交する第３軸（例えば、光軸１ａ）を中心として回転可能である。調整機構（５）は、さらに、複数の駆動磁石のうち第３軸を中心として可動ユニット（１０）を回転させる駆動磁石と、複数の磁気ヨークのうち第３軸を中心として可動ユニット（１０）を回転させる駆動磁石に対向する磁気ヨークとの間の隙間を調整する。 In the actuator (2) of the sixteenth aspect, in any of the thirteenth to fifteenth aspects, the movable unit (10) further includes the first shaft and the first shaft when the movable unit (10) is in a neutral state. It can rotate around a third axis (for example, the optical axis 1a) orthogonal to both of the two axes. The adjusting mechanism (5) further includes a drive magnet that rotates the movable unit (10) around the third axis among the plurality of drive magnets, and a movable unit (10) around the third axis among the plurality of magnetic yokes. The gap between the magnetic yoke facing the drive magnet that rotates the motor is adjusted.
　この構成によると、無通電時に可動ユニットが第３軸を中心として回転する方向に傾くこと可能性を低くすることができる。 According to this configuration, it is possible to reduce the possibility that the movable unit tilts in the direction of rotation about the third axis when no power is supplied.
　第１７の態様のアクチュエータ（２）では、第１２～第１６のいずれかの態様において、調整機構（５）は、複数の磁気ヨークのうち調整対象となる磁気ヨークを固定するための第１部材（例えば、磁気ヨークホルダ７４０，７５０）と第２部材（本体部５１）との間に挟まれるスペーサである。この構成によると、調整機構（５）としてスペーサを用いた調整が可能となる。 In the actuator (2) of the seventeenth aspect, in any one of the twelfth to sixteenth aspects, the adjustment mechanism (5) is a first member for fixing the magnetic yoke to be adjusted among the plurality of magnetic yokes. It is a spacer that is sandwiched between (for example, the magnetic yoke holder 740, 750) and the second member (main body 51). According to this configuration, adjustment using a spacer as the adjustment mechanism (5) is possible.
　第１８の態様のアクチュエータ（２）では、第１２～第１６のいずれかの態様において、調整機構（５）は、複数の磁気ヨークのうち調整対象となる磁気ヨークを固定するための第１部材（例えば、磁気ヨークホルダ７４０，７５０）と第２部材（本体部５１）との間に設けられたアジャスタである。この構成によると、調整機構（５）としてアジャスタを用いた調整が可能となる。 In the actuator (2) of the eighteenth aspect, in any one of the twelfth to sixteenth aspects, the adjustment mechanism (5) is a first member for fixing the magnetic yoke to be adjusted among the plurality of magnetic yokes. It is an adjuster provided between (for example, the magnetic yoke holders 740 and 750) and the second member (main body 51). According to this configuration, adjustment using an adjuster as the adjustment mechanism (5) becomes possible.
　第１９の態様のアクチュエータ（２）では、第１７又は第１８の態様において、複数の磁気ヨークの各々は、第１部材に設けられている。調整機構（５）は、調整対象となる磁気ヨークを設けた第１部材において対称となる２つの部位（例えば、部位７４５，７５５又は部位６４６，７５６）と第２部材とのそれぞれの間の隙間を調整している。２つの部位のうち一方の部位（例えば、部位７４５又は部位７４６）における調整機構（５）における調整量と、他方の部位（例えば、部位７５５又は部位７５６）における調整機構（５）における調整量とは異なる。 In the actuator (2) of the nineteenth aspect, in each of the seventeenth and eighteenth aspects, each of the plurality of magnetic yokes is provided on the first member. The adjustment mechanism (5) includes a gap between each of two parts (for example, parts 745, 755 or parts 646, 756) that are symmetrical in the first member provided with the magnetic yoke to be adjusted and the second member. Is adjusted. The adjustment amount in the adjustment mechanism (5) in one of the two parts (eg, part 745 or part 746) and the adjustment amount in the adjustment mechanism (5) in the other part (eg, part 755 or part 756) Is different.
　この構成によると、各部位の調整量を異ならせることで、より精度の高い調整が可能となる。 According to this configuration, it is possible to adjust with higher accuracy by changing the adjustment amount of each part.
　第２０の態様のカメラ装置（１）は、第１２～第１９のいずれかの態様のアクチュエータ（２）と、駆動対象としてカメラモジュール（３）とを備える。 The camera device (1) according to the twentieth aspect includes the actuator (2) according to any one of the twelfth to nineteenth aspects, and a camera module (3) as a drive target.
　この構成によると、無通電時にカメラモジュール（３）が所定方向に傾くこと可能性を低くすることができる。 According to this configuration, it is possible to reduce the possibility that the camera module (3) tilts in a predetermined direction when no power is supplied.
　第２１の態様の製造方法は、カメラ装置（１）の製造方法である。カメラ装置（１）は、駆動対象としてカメラモジュール（３）を保持し、回転式の可動ユニット（１０）と、駆動部（３０）とを備える。駆動部（３０）は、可動ユニット（１０）を回転可能とするために複数の駆動磁石（第１駆動磁石６２０、第２駆動磁石６２１）、及び複数の駆動磁石と一対一に対向する複数の磁気ヨーク（第１磁気ヨーク７１０、第２磁気ヨーク７１１）を有する。製造方法は、予め設定された設定軸（例えば、鉛直方向Ｇ）に対する駆動対象の傾きを検出する検出処理と、検出処理が検出した駆動対象の傾きを調整する調整機構（５）を設ける調整処理とを含む。 The manufacturing method of the twenty-first aspect is a manufacturing method of the camera device (1). The camera device (1) holds a camera module (3) as a drive target, and includes a rotary movable unit (10) and a drive unit (30). The drive unit (30) includes a plurality of drive magnets (first drive magnet 620, second drive magnet 621) and a plurality of drive magnets facing each other in a one-to-one relationship to enable the movable unit (10) to rotate. The magnetic yoke (first magnetic yoke 710, second magnetic yoke 711) is included. The manufacturing method includes a detection process for detecting the tilt of the drive target with respect to a preset setting axis (for example, the vertical direction G), and an adjustment process for providing an adjustment mechanism (5) for adjusting the tilt of the drive target detected by the detection process. Including.
　この製造方法によると、調整処理を行うことで駆動磁石と磁気ヨークとの間の隙間を調整するので、その結果、可動ユニット（１０）の傾き（駆動対象の傾き）を調整することができる。これにより、無通電時に可動ユニット（１０）が所定方向に傾く、つまり無通電時に可動ユニット（１０）が保持する駆動対象が所定方向に傾く可能性を低くすることができる。 According to this manufacturing method, the gap between the drive magnet and the magnetic yoke is adjusted by performing the adjustment process. As a result, the tilt of the movable unit (10) (the tilt of the drive target) can be adjusted. Accordingly, it is possible to reduce the possibility that the movable unit (10) tilts in a predetermined direction when no power is supplied, that is, the drive target held by the movable unit (10) does not tilt in the predetermined direction when no power is supplied.
　第２２の態様の製造方法では、第２１の態様において、調整処理は、駆動対象の向きが所定方向と一致するように、駆動対象の傾きを調整する。この製造方法によると、所定方向に対する傾きが生じる可能性を低くすることができる。 In the manufacturing method of the twenty-second aspect, in the twenty-first aspect, the adjustment process adjusts the inclination of the drive target so that the direction of the drive target matches a predetermined direction. According to this manufacturing method, the possibility that an inclination with respect to a predetermined direction occurs can be reduced.
　第２３の態様の製造方法では、第２１又は第２２の態様において、可動ユニット（１０）は、第１軸（例えば、軸１ｂ）及び第２軸（例えば、軸１ｃ）のそれぞれを中心として回転可能である。検出処理は、第１軸を中心とした第１回転方向における駆動対象の傾き、及び第２軸を中心とした第２回転方向における駆動対象の傾きを検出する。調整処理は、第１回転方向における駆動対象の傾き、及び第２回転方向における駆動対象の傾きのそれぞれを調整する。 In the manufacturing method of the twenty-third aspect, in the twenty-first or twenty-second aspect, the movable unit (10) rotates about each of the first axis (for example, the axis 1b) and the second axis (for example, the axis 1c). Is possible. In the detection process, the inclination of the drive target in the first rotation direction around the first axis and the tilt of the drive target in the second rotation direction around the second axis are detected. The adjustment process adjusts each of the tilt of the drive target in the first rotation direction and the tilt of the drive target in the second rotation direction.
　この製造方法によると、第１軸及び第２軸のそれぞれの軸に応じた傾きを調整することができる。 According to this manufacturing method, the inclination according to each of the first axis and the second axis can be adjusted.
　　１　　カメラ装置
　　２　　アクチュエータ
　　３　　カメラモジュール
　　５　　調整機構
　　１０　　可動ユニット
　　３０　　駆動部
　　５１　　本体部（ベース）
　　５０５　　第２遊嵌面
　　６０５　　第１遊嵌面
　　６２０　　第１駆動磁石（駆動磁石）
　　６２１　　第２駆動磁石（駆動磁石）
　　７１０　　第１磁気ヨーク（磁気ヨーク）
　　７１１　　第２磁気ヨーク（磁気ヨーク）
　　７４０，７４１，７５０，７５１　磁気ヨークホルダ
　　７４５，７４６　部位（第１部位）
　　７５５，７５６　部位（第２部位）
　　１ａ　光軸（第３軸）
　　１ｂ　軸（所定の軸、第１軸）
　　１ｃ　軸（第２軸） DESCRIPTION OF SYMBOLS 1 Camera apparatus 2 Actuator 3 Camera module 5 Adjustment mechanism 10 Movable unit 30 Drive part 51 Main part (base)
505 Second loose fitting surface 605 First loose fitting surface 620 First driving magnet (driving magnet)
621 Second drive magnet (drive magnet)
710 First magnetic yoke (magnetic yoke)
711 Second magnetic yoke (magnetic yoke)
740, 741, 750, 751 Magnetic yoke holder 745, 746 part (first part)
755, 756 site (second site)
1a Optical axis (third axis)
1b axis (predetermined axis, first axis)
1c axis (second axis)

Claims (11)

  1. 　駆動対象を保持し、第１遊嵌面を有する回転式の可動ユニットと、
    　前記第１遊嵌面に嵌め合せる第２遊嵌面とベースを有する固定ユニットと、
    　各々が駆動磁石と前記駆動磁石に対向して配置された磁気ヨークとからなる複数ペアと、複数のホルダを有し、前記固定ユニットに対して前記可動ユニットを回転可能とする駆動部と、
    　部材と、を備え、
    　前記第１遊嵌面及び前記第２遊嵌面の一方が凹部を有し、他方が凸状球面を有し、
    　前記複数のホルダは、第１ホルダを含み、
    　前記複数ペアは、第１ペアを含み、
    　前記第１ペアは、第１駆動磁石と第１磁気ヨークとを含み、
    　前記第１磁気ヨークは、前記第１ホルダによって前記ベースに固定され、
    　前記第１駆動磁石は、第１軸を中心として前記可動ユニットを回転させ、
    　前記部材は、前記第１ホルダと前記ベースとの間に挟まれている、
    　ことを特徴とするアクチュエータ。     A rotary movable unit that holds a drive target and has a first loose-fitting surface;
    A fixing unit having a second loose fitting surface and a base to be fitted to the first loose fitting surface;
    A plurality of pairs each consisting of a drive magnet and a magnetic yoke disposed opposite to the drive magnet, a plurality of holders, and a drive unit capable of rotating the movable unit relative to the fixed unit;
    A member, and
    One of the first loose fitting surface and the second loose fitting surface has a recess, and the other has a convex spherical surface,
    The plurality of holders include a first holder;
    The plurality of pairs includes a first pair;
    The first pair includes a first drive magnet and a first magnetic yoke,
    The first magnetic yoke is fixed to the base by the first holder;
    The first drive magnet rotates the movable unit around a first axis,
    The member is sandwiched between the first holder and the base;
    An actuator characterized by that.
  2. 　前記複数のホルダは、第２ホルダを含み、
    　前記複数ペアは、第２ペアを含み、
    　前記第２ペアは、第２駆動磁石と第２磁気ヨークとを含み、
    　前記第２駆動磁石は、前記第１軸とは異なる第２軸を中心として前記可動ユニットを回転させ、
    　前記部材は、前記第２ホルダと前記ベースとの間に挟まれている、
    　ことを特徴とする請求項１に記載のアクチュエータ。     The plurality of holders include a second holder;
    The plurality of pairs includes a second pair;
    The second pair includes a second drive magnet and a second magnetic yoke,
    The second driving magnet rotates the movable unit around a second axis different from the first axis;
    The member is sandwiched between the second holder and the base;
    The actuator according to claim 1.
  3. 　前記第１軸と前記第２軸とは直交している
    　ことを特徴とする請求項２に記載のアクチュエータ。     The actuator according to claim 2, wherein the first axis and the second axis are orthogonal to each other.
  4. 　前記複数のホルダは第３ホルダを含み、
    　前記複数ペアは第３ペアを含み、
    　前記第３ペアは、第３駆動磁石と第３磁気ヨークを含み、
    　前記部材は、前記第３ホルダと前記ベースとの間に挟まれており、
    　前記第３駆動磁石は、前記可動ユニットが中立状態である場合には、前記第１軸と前記第２軸とに対して直交する第３軸を中心として前記可動ユニットを回転させる、
    　ことを特徴とする請求項３に記載のアクチュエータ。     The plurality of holders include a third holder;
    The plurality of pairs includes a third pair;
    The third pair includes a third drive magnet and a third magnetic yoke,
    The member is sandwiched between the third holder and the base;
    The third drive magnet rotates the movable unit around a third axis orthogonal to the first axis and the second axis when the movable unit is in a neutral state.
    The actuator according to claim 3.
  5. 　前記第２軸は、前記第２駆動磁石と、前記第２磁気ヨークとの対向方向に直交する、
    　ことを特徴とする請求項２～４のいずれか一項に記載のアクチュエータ。     The second axis is orthogonal to the facing direction of the second drive magnet and the second magnetic yoke,
    The actuator according to any one of claims 2 to 4, wherein:
  6. 　前記第１軸は、前記第１磁気ヨークに前記第１駆動磁石が対向する方向に直交する、
    　ことを特徴とする請求項１～５のいずれか一項に記載のアクチュエータ。     The first axis is orthogonal to a direction in which the first drive magnet faces the first magnetic yoke;
    The actuator according to any one of claims 1 to 5, wherein:
  7. 　前記部材は、スペーサ及びアジャスタのうち少なくとも一方を含む、
    　請求項１～６のいずれか一項に記載のアクチュエータ。     The member includes at least one of a spacer and an adjuster.
    The actuator according to any one of claims 1 to 6.
  8. 　前記少なくとも１つのホルダは、前記駆動対象の長手方向に平行な軸に対して互いに対象な第１部位と第２部位を含み、
    　前記部材は、前記ベースと前記第１部位との間隔を維持する第１部材と、前記ベースと前記第２部位との間隔を維持する第２部材とを含み、
    前記第１部材の厚みと前記第２部材の厚みとは異なる、
    　ことを特徴とする請求項１～７のいずれか一項に記載のアクチュエータ。     The at least one holder includes a first part and a second part that are mutually targeted with respect to an axis parallel to a longitudinal direction of the drive target;
    The member includes a first member that maintains a gap between the base and the first part, and a second member that maintains a gap between the base and the second part,
    The thickness of the first member is different from the thickness of the second member.
    The actuator according to any one of claims 1 to 7, wherein:
  9. 　請求項１～８のいずれか一項に記載のアクチュエータと、
    　前記駆動対象としてカメラモジュールとを備える
    　ことを特徴とするカメラ装置。     The actuator according to any one of claims 1 to 8,
    A camera device comprising a camera module as the drive target.
  10. 　カメラ装置の製造方法であって、
    　前記カメラ装置は、
    　カメラモジュールと、
    　前記カメラモジュールを保持し、第１遊嵌面を有する回転式の可動ユニットと、
    　前記第１遊嵌面に嵌め合せる第２遊嵌面とベースとを有する固定ユニットと、
    　各々が駆動磁石と前記駆動磁石に対向して配置された磁気ヨークとからなる複数ペアと、複数のホルダを有し、前記固定ユニットに対して前記可動ユニットを回転可能とする駆動部と、
    　部材と、を備え、
    　前記第１遊嵌面及び前記第２遊嵌面の一方が凹部を有し、他方が凸状球面を有し、
    　前記製造方法は、
    　予め設定された軸に対する前記カメラモジュールの傾き角度を検出し、
    　前記傾き角度に応じた厚みの前記部材を選択し、
    　前記ベースと前記複数のホルダのうち少なくとも１つのホルダとの間に前記選択された前記部材を取り付ける、
    　ことを特徴とする製造方法。     A method for manufacturing a camera device, comprising:
    The camera device is
    A camera module;
    A rotary movable unit holding the camera module and having a first loose-fit surface;
    A fixing unit having a second loose fitting surface and a base to be fitted to the first loose fitting surface;
    A plurality of pairs each consisting of a drive magnet and a magnetic yoke disposed opposite to the drive magnet, a plurality of holders, and a drive unit capable of rotating the movable unit relative to the fixed unit;
    A member, and
    One of the first loose fitting surface and the second loose fitting surface has a recess, and the other has a convex spherical surface,
    The manufacturing method includes:
    Detecting the tilt angle of the camera module with respect to a preset axis;
    Select the member having a thickness according to the tilt angle,
    Attaching the selected member between the base and at least one of the plurality of holders;
    The manufacturing method characterized by the above-mentioned.
  11. 　前記予め設定された軸は、第１軸及び第２軸を含み、
    　前記可動ユニットは、前記第１軸及び前記第２軸を中心として回転可能であり、
    　前記傾き角度の検出においては、前記第１軸に対する前記カメラモジュールの傾きである第１角度、前記第２軸に対する前記カメラモジュールの傾きである第２角度を検出し、
    　前記部材の選択においては、前記第１角度に応じた厚みの第１部材と、前記第２角度に応じた厚みの第２部材とを選択し、
    　前記部材の取り付けにおいては、前記第１部材を前記ベースと前記第１軸に直交するホルダとの間に取り付け、前記第２部材を前記ベースと前記第２軸に直交するホルダとの間に取り付ける、
    　ことを特徴とする請求項１０に記載の製造方法。     The preset axis includes a first axis and a second axis,
    The movable unit is rotatable about the first axis and the second axis;
    In the detection of the tilt angle, a first angle that is the tilt of the camera module with respect to the first axis and a second angle that is the tilt of the camera module with respect to the second axis are detected,
    In selecting the member, a first member having a thickness corresponding to the first angle and a second member having a thickness corresponding to the second angle are selected.
    In attaching the member, the first member is attached between the base and the holder orthogonal to the first axis, and the second member is attached between the base and the holder orthogonal to the second axis. ,
    The manufacturing method according to claim 10.
PCT/JP2019/020985 2018-05-30 2019-05-28 Actuator, camera device, and manufacturing method WO2019230674A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57197756U (en) * 1981-06-10 1982-12-15
JP2010026052A (en) * 2008-07-16 2010-02-04 Konica Minolta Opto Inc Camera module and portable terminal
JP2011013255A (en) * 2009-06-30 2011-01-20 Nikon Corp Lens barrel
WO2017169979A1 (en) * 2016-03-30 2017-10-05 パナソニックＩｐマネジメント株式会社 Actuator and coil unit

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57197756U (en) * 1981-06-10 1982-12-15
JP2010026052A (en) * 2008-07-16 2010-02-04 Konica Minolta Opto Inc Camera module and portable terminal
JP2011013255A (en) * 2009-06-30 2011-01-20 Nikon Corp Lens barrel
WO2017169979A1 (en) * 2016-03-30 2017-10-05 パナソニックＩｐマネジメント株式会社 Actuator and coil unit

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