WO2020202812A1 - Drive motor, image shake correction device, and imaging device - Google Patents

Abstract

The present invention comprises: a substrate having a coil arrangement part in which a circuit pattern is formed; a plurality of coils each having a winding part formed in an annular shape, and a pair of connection parts drawn out from the winding part, the plurality of coils being aligned in the circumferential direction when the winding part is arranged on the coil arrangement part; an annular magnet positioned facing the plurality of coils; a magnetic detection element that detects the relative position of the magnet in the rotation direction in relation to the coils; and a pivot used as a rotation pivot point, the two thickness-direction surfaces of the coil arrangement part being formed, respectively, as a first arrangement surface and a second arrangement surface, the winding parts being arranged on the first arrangement surface, and the magnetic detection element being arranged on the second arrangement surface.

Description

Drive motor, image blur correction device and image pickup device

This technology relates to the technical field of a drive motor, an image blur correction device, and an image pickup device that generate a driving force by a magnetic circuit having a coil and a magnet.

Electronic devices and electric motors such as various image pickup devices represented by video cameras and still cameras have a plurality of coils and magnets located opposite to each other as a drive unit, and when a current is supplied to the coils. In some cases, a drive motor that generates a driving force (thrust) in relation to a magnet is used.

Such a drive motor is provided, for example, as a drive unit of an image blur correction device that corrects image blur by moving a lens in a direction orthogonal to the optical axis direction in an image pickup device.

In the image blur correction device provided in the image pickup device, the lens unit having the lens has a first direction and an optical axis which are axial directions of a first fulcrum axis orthogonal to the optical axis of the lens with respect to the outer casing. Some lenses are rotatable in the second direction, which is the axial direction of the second fulcrum axis, which is orthogonal to the first fulcrum axis (see, for example, Patent Document 1).

The lens unit is rotated in the yawing direction with the first fulcrum axis as the fulcrum and is rotated in the pitching direction with the second fulcrum axis as the fulcrum to correct the image blur.

In the image blur correction device described in Patent Document 1, two drive motors (flat) each having a plurality of coils, magnets, and yokes as drive units for rotating the lens unit in the yawing direction and the pitching direction. Motor) is used. A plurality of coils are arranged side by side in the axial direction (circumferential direction) of the fulcrum axis, and the magnets are magnetized with magnetic poles of N pole and S pole alternately in the axial direction (circumferential direction) of the fulcrum axis. The axial direction of the output shaft of each drive motor coincides with the first fulcrum shaft and the second fulcrum shaft, respectively.

The drive motor is arranged so that the coil and the magnet face each other, and the lens unit is rotated in the yawing direction and the pitching direction by using the thrust generated in relation to the magnet when a current is supplied to the coil.

One drive motor is arranged on the upper surface side of the lens unit in a vertical direction, for example, so that when a current is supplied to the coil, the lens unit is rotated in the yawing direction according to the current supply direction. It is configured. The other drive motor is arranged, for example, on the side surface side of the lens unit so as to face the left-right direction, and when a current is supplied to the coil, the lens unit is rotated in the pitching direction according to the current supply direction. It is configured.

On the other hand, the drive motor is provided with a magnetic detection element that detects the position of the magnet relative to the coil in the rotation direction, for example, a Hall element, and each part is controlled according to the detection result by the magnetic detection element. There is something.

For example, in the image blur correction device described in Patent Document 1, a magnetic detection element is arranged on a substrate, and a plurality of coils are arranged in a circumferential direction on the same substrate.

Japanese Unexamined Patent Publication No. 2013-14284

By the way, in recent years, electronic devices such as image pickup devices have tended to be miniaturized in consideration of portability and the like, and the drive motors arranged inside have also been miniaturized accordingly. It is desirable that the driving force can be improved even in a miniaturized situation.

On the other hand, in the drive motor, it is also desired to secure an appropriate detection state regarding the rotation position of the magnet to ensure the reliability of operation.

Therefore, it is an object of the present technology drive motor, image blur correction device, and image pickup device to improve the driving force after ensuring an appropriate detection state regarding the rotation position of the magnet.

First, the drive motor according to the present technology has a substrate on which a circuit pattern is formed and has a coil arrangement portion, a winding portion formed in an annular shape, and a pair of connecting portions drawn out from the winding portion. A plurality of coils arranged in the circumferential direction with the winding portion arranged in the coil arrangement portion, an annular magnet located facing the plurality of coils, and a relative of the magnet in the rotation direction with respect to the coil. A magnetic detection element for detecting a specific position and a support shaft serving as a rotation fulcrum are provided, and both sides of the coil arrangement portion in the thickness direction are formed as a first arrangement surface and a second arrangement surface, respectively. The coil is arranged on the first arrangement surface, and the magnetic detection element is arranged on the second arrangement surface.

As a result, a plurality of coils and magnetic detection elements are arranged on the first arrangement surface and the second arrangement surface, which are both sides in the thickness direction of the coil arrangement portion, respectively, and the magnetic detection elements are arranged on the first arrangement surface. Space is not required.

Secondly, in the drive motor described above, it is desirable that a connection terminal portion is formed in the circuit pattern and the tip portion of the connection portion is connected to the connection terminal portion on the second arrangement surface.

As a result, since the tip end portion of the connecting portion does not exist on the first arrangement surface side of the coil arrangement portion, it is possible to increase the arrangement space of the first arrangement surface on the substrate by that amount.

Thirdly, in the above-mentioned drive motor, it is desirable that the connection portion passes through the outside of the outer peripheral surface of the coil arrangement portion and is folded back.

As a result, the connection portion is connected to the connection terminal portion through the outside of the outer peripheral surface of the coil arrangement portion, so that it is not necessary to form an insertion hole for inserting the connection portion in the substrate.

Fourth, in the drive motor described above, it is desirable that the magnetic detection element is located between the connecting portions adjacent to each other in the circumferential direction.

As a result, the connection part and the magnetic detection element are not aligned in the radial direction.

Fifth, in the above-mentioned drive motor, it is desirable that a bearing for rotatably supporting the support shaft is provided, and the bearing is formed by sintering.

This makes it possible to construct a structure that supports the shaft without using bearings.

Sixth, in the drive motor described above, a base yoke to which the magnet is attached and an arrangement hole in which the magnetic detection element is arranged are formed, and an opposing yoke located on the opposite side of the magnet with the coil arrangement portion interposed therebetween. It is desirable that an auxiliary yoke is provided which is attached to the facing yoke and covers the arrangement hole.

As a result, the placement hole is covered with the auxiliary yoke to form a closed magnetic path.

Seventh, in the above-mentioned drive motor, it is desirable to use a flexible printed wiring board as the substrate, which has a conductive portion derived from the coil arrangement portion and extending in a predetermined direction.

As a result, since the conductive portion is derived from the coil arrangement portion, the conductive portion can be positioned in a bendable state.

Eighth, the blur correction device according to the present technology includes a lens unit that is rotated in at least one direction orthogonal to the optical axis of the lens with respect to the outer casing, and a drive motor that rotates the lens unit. The drive motor has a substrate on which a circuit pattern is formed and has a coil arrangement portion, a winding portion formed in an annular shape, and a pair of connecting portions drawn out from the winding portion, and the winding portion is the coil. A plurality of coils arranged in the circumferential direction while being arranged in the arrangement portion, an annular magnet located facing the plurality of coils, and a magnet that detects the position of the magnet relative to the coil in the rotation direction. A detection element and a support shaft serving as a rotation fulcrum are provided, and both sides of the coil arrangement portion in the thickness direction are formed as a first arrangement surface and a second arrangement surface, respectively, and the winding portion is the first arrangement surface. It is arranged on the arrangement surface, and the magnetic detection element is arranged on the second arrangement surface.

As a result, in the drive motor, a plurality of coils and magnetic detection elements are arranged on the first arrangement surface and the second arrangement surface, which are both sides in the thickness direction of the coil arrangement portion, respectively, and the magnetic detection element is arranged on the first arrangement surface. No space is required to place the.

Ninth, the imaging apparatus according to the present technology includes a lens barrel that captures an optical image, an imaging element that converts the captured optical image into an electrical signal, and at least an imager orthogonal to the optical axis of the lens with respect to the outer casing. The drive motor includes a lens unit that is rotated in one direction and a drive motor that rotates the lens unit. The drive motor has a substrate on which a circuit pattern is formed and has a coil arrangement portion, and a winding portion formed in an annular shape. And a pair of connecting portions drawn out from the winding portion, and a plurality of coils arranged in the circumferential direction with the winding portion arranged in the coil arrangement portion, and positions facing the plurality of coils. An annular magnet, a magnetic detection element that detects the position of the magnet relative to the coil in the rotation direction, and a support shaft serving as a rotation fulcrum are provided, and both sides of the coil arrangement portion in the thickness direction are provided. It is formed as a first arrangement surface and a second arrangement surface, the winding portion is arranged on the first arrangement surface, and the magnetic detection element is arranged on the second arrangement surface.

As a result, in the drive motor, a plurality of coils and magnetic detection elements are arranged on the first arrangement surface and the second arrangement surface, which are both sides in the thickness direction of the coil arrangement portion, respectively, and the magnetic detection element is arranged on the first arrangement surface. No space is required to place the.

Along with FIGS. 2 to 24, the drive motor, the blur correction device, and the image pickup device of the present technology are shown, and this figure is a perspective view of the image pickup device. It is a perspective view of the image pickup apparatus which shows the state seen from the direction different from FIG. It is a perspective view which shows the image blur correction apparatus. It is an exploded perspective view of the image blur correction apparatus which shows the outer frame, the inner frame, the holding frame and the lens unit separately. It is sectional drawing of the image blur correction apparatus. It is an exploded perspective view of a drive motor. It is a bottom view which shows the arrangement state of a coil. It is sectional drawing of the drive motor along the line VIII-VIII of FIG. It is sectional drawing of the drive motor along the IX-IX line of FIG. It is an enlarged perspective view which shows the state which the coil is arranged on the substrate. It is a top view which shows the arrangement state of a magnetic detection element. It is a schematic diagram which shows the positional relationship of a magnet and a coil. It is a schematic plan view which shows the state which the lens unit is rotated in the yawing direction. It is a schematic plan view which shows the state which the lens unit is rotated in a pitching direction. It is a top view of the drive motor which concerns on the modification which shows in the state which the auxiliary yoke is removed. It is a bottom view which shows the arrangement state of the coil in the drive motor which concerns on a modification. It is sectional drawing which shows the drive motor which concerns on the modification. It is a block diagram of an image pickup apparatus. It is a block diagram which shows an example of the schematic structure of a vehicle control system. It is explanatory drawing which shows an example of the installation position of the vehicle exterior information detection unit and the image pickup unit. It is a figure which shows the whole structure of the operating room system roughly. It is a figure which shows the display example of the operation screen in a centralized operation panel. It is a figure which shows an example of the state of the operation which applied the operating room system. It is a block diagram which shows an example of the functional structure of the camera head and CCU shown in FIG.

Hereinafter, modes for implementing the present technology drive motor, image blur correction device, and image pickup device will be described with reference to the attached drawings.

In the embodiment for carrying out the invention shown below, the present technology imaging device is applied to a video camera, the present technology image blur correction device is applied to the image blur correction device provided in this video camera, and the present technology drive motor. Is applied to the drive motor for driving this image blur correction device.

The applicable range of the image pickup device, the image blur correction device, and the drive motor of the present technology is limited to the drive motor for driving the image blur correction device and the image blur correction device provided in the video camera and the video camera, respectively. Absent. The image pickup device, image blur correction device, and drive motor of the present technology are, for example, an image pickup device incorporated in various electronic devices such as a still camera, a mobile phone, and a mobile information terminal, or an image blur correction device provided in these image pickup devices. Alternatively, it can be widely applied to drive motors used in these electronic devices.

Further, the applicable range of the drive motor according to the present technology is not limited. For example, a drive unit such as an openable mirror provided in a vehicle such as an automobile, a drive unit in a robot, a drive unit in a flying drone, and photography. It is also applied to the drive unit of a handy type device that is equipped with a mobile device with a function and has a movable part that can move in three axial directions, and the drive unit of a camera-integrated device that has a movable part that can move in three axial directions. It is possible.

In the following explanation, the direction as seen from the photographer at the time of shooting with the video camera shall be indicated in the front-back, up-down, left-right directions. Therefore, the subject side is the front side and the photographer side is the rear side.

The directions shown below are for convenience of explanation, and the implementation of the present technology is not limited to these directions.

In addition, the lens shown below is meant to include both a lens composed of a single lens and a lens group composed of a plurality of lenses.

<Overall configuration of imaging device>
The image pickup apparatus 1 is formed by arranging necessary parts inside and outside the outer casing 2 (see FIGS. 1 and 2). The outer housing 2 is formed, for example, in a case shape long in the front-rear direction, the front end portion is provided as the front panel portion 3, and the upper end portion at the rear end portion is provided as the storage case portion 4 opened rearward.

Microphones 5, 5 and interface covers 6 and operation switches 7 and 7 are arranged in order from the front side on the upper surface 2a of the outer casing 2. The operation switches 7 and 7 are, for example, a zoom lever and a shooting button.

Various operation buttons 8, 8, ... Such as a power button and an image reproduction button are arranged on one side surface 2b of the outer casing 2. A memory card 9 is mounted on one side surface 2b of the outer casing 2.

Operation buttons 10 and 10 such as a mode switching button and a recording button are arranged on the rear surface 2c of the outer casing 2.

A battery 11 is mounted on the rear surface 2c of the outer casing 2, and a part of the battery 11 projects rearward from the rear surface 2c of the outer casing 2.

A flash 12 is arranged at the upper end of the front panel portion 3. The flash 12 is used for nighttime shooting and the like, and auxiliary light is emitted from the flash 12 toward the front.

A display unit 13 is rotatably and rotatably connected to the side surface of the outer casing 2. The front end of the display 13 is connected to the outer casing 2 and has a display surface 13a.

A finder 14 is connected to the rear end of the image pickup device 1, and the finder 14 is slidable in the front-rear direction and rotatable in the tilt direction with respect to the storage case portion 4.

The finder 14 is slidable between a storage position in which the portion excluding the rear end is stored in the storage case 4 and a drawer position in which the finder 14 is pulled out from the storage case 4. Further, the finder 14 is rotatable in the tilt direction with the front end as a fulcrum at the drawer position.

<Configuration of image blur correction device>
An image blur correction device 15 is arranged inside the outer casing 2 (see FIGS. 3 to 5). The image blur correction device 15 has an outer frame 16, an inner frame 17, a holding frame 18, and a lens unit 19. The outer frame 16, the inner frame 17, and the holding frame 18 are formed in a frame shape as a whole.

The outer frame 16 is configured by connecting the first member 20 and the second member 21.

The first member 20 is composed of a first surface portion 22 facing in the vertical direction and a second surface portion 23 facing in the horizontal direction, and a right end portion of the first surface portion 22 and an upper end portion of the second surface portion 23 are continuous. ing. A through hole 22a is formed in the central portion of the first surface portion 22. The second surface portion 23 has a pair of pillar portions 24, 24 that are located in the front-rear direction and extend substantially vertically, and a continuous portion 25 that connects the lower end portions of the pillar portions 24, 24 and extends in the front-rear direction.

The second member 21 is composed of a first planar portion 26 facing in the vertical direction and a second planar portion 27 facing in the horizontal direction, and has a left end portion and a second planar portion of the first planar portion 26. The lower end of 27 is continuous. A mounting hole 26a is formed in the central portion of the first planar portion 26. An insertion arrangement hole 27a is formed in the central portion of the second planar portion 27.

The lower end of the second surface 23 of the first member 20 and the right end of the first surface 26 of the second member 21 are connected by screwing or the like, and the first surface of the first member 20 is connected. The left end portion of 22 and the upper end portion of the second planar portion 27 of the second member 21 are connected by screwing or the like.

The inner frame 17 is arranged inside the outer frame 16, and is configured by connecting the first support member 28 and the second support member 29.

The first support member 28 is composed of a top surface portion 30 facing in the vertical direction and a right side surface portion 31 facing in the left-right direction, and the right end portion of the top surface portion 30 and the upper end portion of the right side surface portion 31 are continuous. An insertion arrangement hole 30a is formed in the central portion of the top surface portion 30. A through hole 31a is formed in the central portion of the right side surface portion 31.

The second support member 29 is composed of a bottom surface portion 32 facing in the vertical direction and a left side surface portion 33 facing in the left-right direction, and the left end portion of the bottom surface portion 32 and the lower end portion of the left side surface portion 33 are continuous. A mounting hole 32a is formed in the central portion of the bottom surface portion 32. A mounting hole 33a is formed in the central portion of the left side surface portion 33.

The lower end of the right side surface 31 of the first support member 28 and the right end of the bottom surface 32 of the second support member 29 are connected by screwing or the like to the left end of the top surface 30 of the first support member 28. The second support member 29 is connected to the upper end of the left side surface 33 by screwing or the like.

The holding frame 18 is arranged inside the inner frame 17, and is configured by connecting the first mounting member 34 and the second mounting member 35.

The first mounting member 34 is composed of an upper surface portion 36 facing in the vertical direction and a right lateral surface portion 37 facing in the horizontal direction, and the right end portion of the upper surface portion 36 and the upper end portion of the right lateral surface portion 37 are continuous. An insertion arrangement hole 37a is formed in the central portion of the right lateral surface portion 37.

The second mounting member 35 is composed of a lower surface portion 38 facing in the vertical direction and a left lateral surface portion 39 facing in the horizontal direction, and the left end portion of the lower surface portion 38 and the lower end portion of the left lateral surface portion 39 are continuous. A mounting hole 39a is formed in the central portion of the left lateral surface portion 39.

The lower end of the right lateral surface portion 37 of the first mounting member 34 and the right end portion of the lower surface portion 38 of the second mounting member 35 are connected by screwing or the like, and the left end portion of the upper surface portion 36 of the first mounting member 34. And the upper end portion of the left lateral surface portion 39 of the second mounting member 35 are connected by screwing or the like.

In the above, an example in which the outer frame 16, the inner frame 17, and the holding frame 18 are formed by connecting two members to each other is shown, but the outer frame 16, the inner frame 17, and the holding frame 18 are one or more. Each of the three or more members may be formed in a frame shape.

The lens unit 19 is arranged inside the holding frame 18, and is attached to the rear end of the lens barrel 40 with a plurality of lenses 41, 41, ... Arranged side by side inside the lens barrel 40 and the lens barrel 40. It has a lens imaging unit 42.

The lens barrel 40 is formed in a long tubular shape in the front-rear direction. The image pickup unit 42 has an image pickup device (not shown) such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor).

A cover member 43 is attached to the outer peripheral side of the lens 41 located on the frontmost side of the front surface of the lens barrel 40. The cover member 43 is formed in an annular shape, and the front surface is formed in a spherical shape that is convex forward.

Drive motors 44 and 44 are arranged above and to the side of the lens unit 19, respectively (see FIGS. 4 and 5). The drive motor 44 arranged above the lens unit 19 is provided as the first drive motor 44A, and the drive motor 44 arranged on the side of the lens unit 19 is provided as the second drive motor 44B. .. The first drive motor 44A and the second drive motor 44B are arranged in different directions but have the same configuration. In the following description, one drive motor 44 is referred to as the first drive motor 44A, depending on the case. The other drive motor 44 is shown as the second drive motor 44B.

The drive motor 44 is, for example, a flat motor, and has a base yoke 45, a magnet 46, coils 47, 47, ..., An opposing yoke 48, a bearing holder 49, a bearing 50, and a support shaft 51 (FIG. 6). To FIG. 9). The following configuration of the drive motor 44 will be described with the orientation of the first drive motor 44A.

The base yoke 45 is formed in a substantially annular shape of a flat plate facing in the vertical direction.

The magnet 46 is formed in an annular shape, is attached to the upper surface of the base yoke 45, is positioned so as to face the winding portions 52, 52, ... Of the coils 47, 47, ..., And is arranged in the circumferential direction. The poles and the poles 46a, 46a, ... Of the S pole are alternately magnetized. The magnet 46 is magnetized to eight poles at equal intervals of 45 °, for example, and the boundaries of the magnetic poles 46a, 46a, ... Are formed as polar boundaries 46b, 46b, ....

The coil 47 has a winding portion 52 formed in an annular shape and a pair of connecting portions 53, 53 drawn from the winding portion 52 (see FIGS. 7 and 10). The winding portion 52 includes an outer peripheral portion 52a formed in a gentle arc shape, an inner peripheral portion 52b located inside the outer peripheral portion 52a and formed in a gentle arc shape, and both ends and inner circumferences of the outer peripheral portion 52a. It is composed of linear thrust generating portions 52c and 52c connecting both ends of the portion 52b, respectively. The connecting portions 53 and 53 are portions corresponding to both ends of the coil 47 and are portions drawn out from the winding portion 52.

The coils 47, 47, ... Are attached to and arranged on the substrate 54 (see FIGS. 6 to 10). The substrate 54 is, for example, a flexible printed wiring board, and has a coil arranging portion 55 formed in an annular shape and a conductive portion 56 derived from the coil arranging portion 55 and extending in a predetermined direction. A circuit pattern (not shown) is formed on both sides of the substrate 54 in the thickness direction. One surface of the coil arrangement portion 55 in the thickness direction is formed as the first arrangement surface 57, and the other surface in the thickness direction is formed as the second arrangement surface 58.

As described above, a flexible printed wiring board having a coil arranging portion 55 on which the coil 47 is arranged and a conductive portion 56 led out from the coil arranging portion 55 and extending in a predetermined direction is used as the substrate 54.

Therefore, since the conductive portion 56 is derived from the coil arranging portion 55, the conductive portion 56 can be positioned in a bendable state, the degree of freedom regarding the arrangement of the substrate 54 is high, and the image pickup apparatus. It is possible to improve the degree of freedom in design in 1.

Six winding portions 52, 52, ... Of the coils 47, 47, ... Are arranged on the first arrangement surface 57 at intervals of 60 degrees, and are arranged at equal intervals in the circumferential direction. (See FIGS. 6 and 7). For example, two coils 47, 47, ... Are connected to each other to form a three-phase structure.

The connection portions 53, 53 of the coil 47 are folded back through the outside of the outer peripheral surface 55a of the coil arrangement portion 55, and the tip portions 53a, 53a are formed as one end of the circuit pattern on the second arrangement surface 56. It is connected to the connection terminal portion 59 (see FIGS. 7, 10 and 11). In the drive motor 44, the connection terminal portions 59 and 59 are adjacent to each other with the tip portions 53a and 53a of the respective connection portions 53 and 53 drawn out from the two winding portions 52 and 52 located adjacent to each other. It is connected to the.

In the drive motor 44, the tip end portion 53a of the connection portion 53 of the coil 47 is connected to the connection terminal portion 59 on the second arrangement surface 58, and the connection portion 53 is connected to the first arrangement surface 57 side of the coil arrangement portion 55. Since the tip portion 53a of the first portion 53a does not exist, the arrangement space for the winding portion 52 of the first arrangement surface 57 on the substrate 54 can be increased accordingly.

Since it is possible to increase the arrangement space for the winding portion 52 of the first arrangement surface 57 in this way, the first arrangement surface 57 has six winding portions 52, 52 in the circumferential direction. , ... Are arranged side by side at equal intervals (see FIG. 7). Further, the distance H between the thrust generating portions 52c and 52c arranged in the adjacent winding portions 52 and 52 is reduced. Therefore, it is possible to increase the number of turns of the winding portion 52, and the driving force generated when the winding portion 52 is energized is increased.

Magnetic detection elements 60, 60, 60 are arranged and arranged apart from each other in the circumferential direction on the second arrangement surface 58 of the substrate 54 (see FIGS. 6 and 11). The magnetic detection elements 60, 60, 60 have a function of detecting the position of the magnet 46 relative to the coils 47, 47, ... In the rotation direction, and are positioned at intervals of, for example, 60 degrees. The magnetic detection element 60 is arranged at a position corresponding to the connection portions 53, 53 of one coil 47.

As described above, the magnetic detection element 60 is located between the connecting portions 53 and 53 adjacent to each other in the circumferential direction, and the connection portion 53 and the magnetic detection element 60 are not arranged in a radial direction. Therefore, the magnetic detection element 60 It is possible to improve the degree of freedom of the arrangement position with respect to the substrate 54.

An annular reinforcing sheet 61 for reinforcing the coil arranging portion 55 is attached to the second arranging surface 58 of the coil arranging portion 55. Relief cutouts 61a, 61a, ... Are formed on the outer peripheral portion of the reinforcing sheet 61 at equal intervals in the circumferential direction. Relief holes 61b, 61b, 61b are formed in the reinforcing sheet 61 at equal intervals in the circumferential direction.

In the state where the reinforcing sheet 61 is attached to the second arrangement surface 58, the connection portions 53, 53, ... Of the coil 47 are located in the escape cutouts 61a, 61a, ..., Respective holes 61b, respectively. Magnetic detection elements 60, 60, and 60 are located at 61b and 61b, respectively. Therefore, the coil arranging portion 55 is reinforced by the reinforcing sheet 61, and interference between the reinforcing sheet 61 and the connecting portions 53, 53, ... And the magnetic detection elements 60, 60, 60 is avoided.

The facing yoke 48 is formed in a plate-shaped annular shape facing in the vertical direction, and is attached to the reinforcing sheet 61. Notches 48a, 48a, ... Are formed on the outer peripheral portion of the facing yoke 48 at equal intervals in the circumferential direction. Arrangement holes 48b, 48b, 48b are formed in the facing yoke 48 at equal intervals in the circumferential direction.

The facing yoke 48 is attached to the reinforcing sheet 61 in a state where the notches 48a, 48a, ... And the arrangement holes 48b, 48b, 48b overlap the relief cutouts 61a, 61a, ... And the relief holes 61b, 61b, 61b, respectively. ing. Therefore, interference between the facing yoke 48 and the connecting portions 53, 53, ... And the magnetic detection elements 60, 60, 60 is avoided.

An auxiliary yoke 62 is attached to the facing yoke 48 from the opposite side of the reinforcing sheet 61. The auxiliary yoke 62 is formed in an annular shape of a flat plate, and is attached to the facing yoke 48 in a state of covering the notches 48a, 48a, ... And the arrangement holes 48b, 48b, 48b.

As described above, in the drive motor 44, a base yoke 45 to which the magnet 46 is attached and an opposing yoke 48 in which an arrangement hole 48b in which the magnetic detection element 60 is arranged are formed are provided, and the facing yoke 48 is attached to the arrangement hole 48. An auxiliary yoke 62 is provided to cover the 48b.

Therefore, since the arrangement hole 48b is covered with the auxiliary yoke 62 to form a closed magnetic path, the sensitivity of the magnetic detection element 60 can be improved.

The bearing holder 49 projects outward from the middle portion in the vertical direction of the tubular portion 49a whose vertical direction is axial and the bottom surface portion 49b that closes the lower opening of the tubular portion 49a and the tubular portion 49a. It has a flange portion 49c (see FIGS. 6, 8 and 9). The bearing holder 49 has a flange portion 49c attached to the inner peripheral portion on the upper surface of the base yoke 45 in a state where a part of the tubular portion 49a is inserted into the central portion of the base yoke 45. A thrust receiver 63 is arranged on the inner surface of the bottom surface portion 49b of the bearing holder 49.

The bearing 50 is formed into a cylindrical shape by, for example, sintering. The bearing 50 is inserted inside the tubular portion 49a of the bearing holder 49.

Since sintering is a method of molding without using a molding die, it is possible to produce a part having a predetermined shape even with a material having a high melting point or a material that easily reacts, and the bearing 50 is formed by sintering. As a result, it is possible to improve the choice of the material of the bearing 50.

As described above, in the drive motor 44, since the bearing 50 that rotatably supports the support shaft 51 is formed by sintering, a structure that supports the shaft without using a bearing (ball bearing) is configured. This makes it possible to reduce the diameter of the bearing 50 by that amount, and the drive motor 44 can be downsized.

The support shaft 51 is composed of a shaft portion 51a extending vertically, a flange-shaped attached portion 51b protruding from the upper end portion of the shaft portion 51a, and a head portion 51c located above the attached portion 51b. The support shaft 51 is used as a rotation fulcrum in the drive motor 44, and the mounted portion 51b is the inner circumference of the lower surface of the facing yoke 48 with the head portion 51c inserted into the central portion of the opposing yoke 48 and the central portion of the auxiliary yoke 62. It is attached to the part.

The support shaft 51 has a shaft portion 51a inserted into the bearing 50 from above and rotatably supported by the bearing 50. At this time, the tip surface of the shaft portion 51a comes into contact with the thrust receiver 63, and the load in the axial direction of the support shaft 51 is received by the thrust receiver 63.

In the drive motor 44 configured as described above, current is supplied to the coil 47 and the magnetic detection element 60 from a power supply circuit (not shown) via the substrate 54.

The first auxiliary shaft 64 is attached to the bottom surface 32 of the inner frame 17 in a state of being inserted into the attachment hole 32a (see FIG. 5). The upper end of the first sub-shaft 64 is inserted into the mounting hole 32a, and the portion other than the upper end protrudes downward from the bottom surface 32.

The second auxiliary shaft 65 is attached to the left lateral surface portion 39 of the holding frame 18 in a state of being inserted into the mounting hole 39a. The right end of the second auxiliary shaft 65 is inserted into the mounting hole 39a, and the portion other than the right end protrudes to the left from the left lateral surface portion 39.

The first bearing body 66 is attached to the first planar portion 26 of the outer frame 16 with the mounting holes 26a inserted, and the second bearing body 67 is attached to the left side surface portion 33 of the inner frame 17 with the mounting holes 33a inserted. It is installed in the state of being inserted in.

<Mounting structure between each part>
A holding frame 18 is attached to the outer peripheral surface of the lens unit 19 by screwing or the like (see FIGS. 3 and 5). When the holding frame 18 is attached to the lens unit 19, both front and rear ends of the lens unit 19 are projected to the front and back of the holding frame 18, respectively.

The base yoke 45 of the second drive motor 44B is attached to the outer surface of the right lateral surface portion 37 of the holding frame 18 by screwing or the like, and the second drive motor 44B is arranged on the right side of the lens unit 19.

An inner frame 17 is arranged on the outer peripheral side of the holding frame 18. In the state where the inner frame 17 is arranged on the outer peripheral side of the holding frame 18, the second auxiliary shaft 65 attached to the left lateral surface portion 39 of the holding frame 18 is attached to the left side surface portion 33 of the inner frame 17. It is rotatably supported by the bearing body 67 of the above.

The auxiliary yoke 62 of the second drive motor 44B is attached to the inner surface of the right side surface portion 31 of the inner frame 17 by screwing or the like.

A part of the bearing holder 49 in the second drive motor 44B is inserted into the insertion arrangement hole 37a formed in the right lateral surface portion 37 of the holding frame 18, and a part of the support shaft 51 in the second drive motor 44B is an inner frame. It is inserted into the through hole 31a formed in the right side surface portion 31 of 17.

The base yoke 45 of the first drive motor 44A is attached to the upper surface of the top surface portion 30 of the inner frame 17 by screwing or the like, and the first drive motor 44A is arranged above the lens unit 19 and the holding frame 18.

The outer frame 16 is arranged on the outer peripheral side of the inner frame 17. In the state where the outer frame 16 is arranged on the outer peripheral side of the inner frame 17, the first auxiliary shaft 64 attached to the bottom surface portion 32 of the inner frame 17 is attached to the first planar portion 26 of the outer frame 16. It is rotatably supported by the first bearing body 66.

The auxiliary yoke 62 of the first drive motor 44A is attached to the lower surface of the first surface portion 22 of the outer frame 16 by screwing or the like.

A part of the bearing holder 49 in the first drive motor 44A is inserted into the insertion arrangement hole 30a formed in the top surface portion 30 of the inner frame 17, and a part of the support shaft 51 in the first drive motor 44A is the outer frame 16. It is inserted into the through hole 22a formed in the first surface portion 22 of the above.

In the image blur correction device 15 configured as described above, the axis connecting the central axis of the support shaft 51 of the drive motor 44 and the central axis of the first sub-axis 64 is set as the first fulcrum axis 68, and the first fulcrum axis 68 is used. The axis connecting the central axis of the support shaft 51 of the drive motor 44B and the central axis of the second sub-axis 65 is referred to as the second fulcrum axis 69 (see FIG. 5).

As described above, in the first drive motor 44A, the base yoke 45 is attached to the inner frame 17 and the auxiliary yoke 62 is attached to the outer frame 16 in a state where the axial direction is up and down. Therefore, in the first drive motor 44A, when a current is supplied to the coil 47 and thrust is generated in the thrust generating portions 52c and 52c, a rotational force is generated in the magnet 46 with the support shaft 51 as the rotation fulcrum, and the outer frame 16 is generated. On the other hand, the inner frame 17 is rotated.

Further, in the second drive motor 44B, the base yoke 45 is attached to the holding frame 18 and the auxiliary yoke 62 is attached to the inner frame 17 in a state where the axial direction is in the left-right direction. Therefore, in the second drive motor 44B, when a current is supplied to the coil 47 and thrust is generated in the thrust generating portions 52c and 52c, a rotational force is generated in the magnet 46 with the support shaft 51 as the rotation fulcrum, and the inner frame 17 is generated. On the other hand, the holding frame 18 is rotated.

<Operation of image blur correction device>
The blur correction operation in the image blur correction device 15 will be described below (see FIGS. 12 to 14).

As described above, in the first drive motor 44A, the magnet 46 is positioned so as to face the winding portions 52, 52, ... Of the coils 47, 47, ... (See FIG. 12). Therefore, when a current is supplied to the coil 47 of the first drive motor 44A and thrust is generated in the thrust generating portions 52c and 52c, the central axis of the support shaft 51 and the central axis of the first auxiliary shaft 64 are connected to the magnet 46. A rotational force is generated with the first fulcrum shaft 68 as the fulcrum.

Further, in the second drive motor 44B, the magnet 46 is positioned so as to face the winding portions 52, 52, ... Of the coils 47, 47, .... Therefore, when a current is supplied to the coil 47 of the second drive motor 44B and thrust is generated in the thrust generating portions 52c and 52c, the central axis of the support shaft 51 and the central axis of the second auxiliary shaft 65 are connected to the magnet 46. A rotational force is generated with the second fulcrum shaft 69 as the fulcrum.

As described above, in the first drive motor 44A, a rotational force is generated on the magnet 46 with the first fulcrum shaft 68 as the fulcrum, and in the second drive motor 44B, the magnet 46 has the second fulcrum shaft 69 as the fulcrum. A rotational force is generated. Therefore, the lens unit 19 is rotated in the yawing direction (first direction) by the driving force (thrust) of the first drive motor 44A with the first fulcrum shaft 68 as the fulcrum, and the second fulcrum shaft 69 is the fulcrum. As a result, it is rotated in the pitching direction (second direction) by the driving force (thrust) of the second driving motor 44B.

When the lens unit 19 rotates in the yawing direction, the rotation position of the magnet 46 is detected by the magnetic detection element 60 of the first drive motor 44A. The rotation position of the magnet 46 is detected by detecting the change in the magnetic flux accompanying the rotation of the magnet 46 by the magnetic detection element 60, and the yawing direction of the lens unit 19 is based on the detection result of the rotation position of the magnet 46. The rotation position is detected. In the winding portions 52, 52, ... Of the first drive motor 44A, as described above, the thrust generating portions 52c, 52c, ... Are corrected for blurring according to the detection result of the rotation position of the magnet 46. The current is supplied so that thrust is generated in the direction of the magnet.

On the other hand, the rotation of the lens unit 19 in the pitching direction is such that the thrust generating portions 52c, 52c, ... Of the second drive motor 44B generate a thrust in the direction for correcting the blurring. This is done by supplying an electric current to 52, ... At this time, the lens unit 19 rotates integrally with the holding frame 18 with respect to the outer frame 16 and the inner frame 17 with the second fulcrum shaft 69 as the fulcrum as the base yoke 45, the magnet 46, and the support shaft 51 rotate. It is moved (see FIG. 14).

When the lens unit 19 rotates in the pitching direction, the rotation position of the magnet 46 is detected by the magnetic detection element 60 of the second drive motor 44B. The rotation position of the magnet 46 is detected by detecting the change in the magnetic flux accompanying the rotation of the magnet 46 by the magnetic detection element 60, and the rotation position of the magnet 46 is detected in the pitching direction of the lens unit 19 based on the detection result. The rotation position is detected. In the winding portions 52, 52, ... Of the second drive motor 44B, as described above, the thrust generating portions 52c, 52c, ... Are corrected for blurring according to the detection result of the rotation position of the magnet 46. The current is supplied so that thrust is generated in the direction of the magnet.

In the above, the lens unit 19 is rotatably supported on the inner frame 17 with the second fulcrum shaft 69 as the fulcrum, and the lens unit 19 and the inner frame 17 with the first fulcrum shaft 68 as the fulcrum on the outer frame 16. An example was shown in which the lenses were integrally supported so as to be rotatably supported.

However, in the image blur correction device 15, conversely, the lens unit 19 is rotatably supported on the inner frame 17 with the first fulcrum shaft 68 as the fulcrum, and the second fulcrum shaft 69 is provided on the outer frame 16. As a fulcrum, the lens unit 19 and the inner frame 17 may be integrally supported so as to be rotatable.

Further, in the drive motor 44, the coil 47 has a three-phase configuration, and three magnetic detection elements 60, 60, 60 are arranged side by side in the circumferential direction on the coil arrangement portion 55 on the substrate 54, and the magnetism It is possible to set different drive states in the blur correction device 15 by switching the energization state for each of the coils 47, 47 constituting each phase according to the detection state by the detection elements 60, 60, 60.

<Modification example of magnet>
Next, a modified example of the magnet will be described (see FIGS. 15 to 17).

The magnet 44X according to the modification shown below is different from the magnet 44 because it differs from the magnet 44 only in that the number of coils and magnetic detection elements is different and the structure related to the bearing is different. Only the part will be described in detail, and the other parts will be given the same reference numerals as those given to the same parts in the magnet 44, and the description thereof will be omitted.

Some magnets 44X have different shapes with respect to the corresponding parts of the magnet 44, but the structure is different except that the number of coils and magnetic detection elements is different and the structure related to the bearing is different. Since it is the same as the magnet 44, the description of the difference in shape between the magnet 44X and the magnet 44 will be omitted.

The drive motor 44X is, for example, a flat motor, and has a base yoke 45, a magnet 46, coils 47X, 47X, ..., Opposing yoke 48, a bearing holder 49X, a bearing 50X, and a support shaft 51X. The configuration of the drive motor 44X below will be described in the same direction as that of the first drive motor 44A.

The coil 47X has a winding portion 52X and a pair of connecting portions 53 and 53. The winding portion 52X is formed in a shape longer in the circumferential direction with respect to the winding portion 52. The number of coils 47X is smaller than that of the coils 47. For example, four coils 47X are provided at intervals of 90 ° and are arranged side by side at equal intervals in the circumferential direction. The coils 47X, 47X, ... Are formed in, for example, one phase.

Similar to the coil 47, the connection portions 53 and 53 of the coil 47X are folded back through the outside of the outer peripheral surface 55a of the coil arrangement portion 55, and the tip portions 53a and 53a are at one end of the circuit pattern on the second arrangement surface 56. It is connected to the connection terminal portions 59 and 59 formed in the portions, respectively. In the drive motor 44X, the number of coils 47X arranged on the first arrangement surface 57 of the substrate 54 is smaller than that of the drive motor 44, and there are many arrangement spaces other than the coils 47X on the first arrangement surface 57. Therefore, even if the connection terminal portion 59 is formed on the first arrangement surface 57 and the tip end portion 53a of the connection portion 53 in the coil 47X is connected to the connection terminal portion 59 on the first arrangement surface 57. Good.

A magnetic detection element 60 is attached and arranged on the second arrangement surface 58 of the substrate 54. The magnetic detection element 60 has a function of detecting the position of the magnet 46 relative to the coils 47X, 47X, ... In the rotation direction.

The bearing holder 49X is projected outward from the middle portion in the vertical direction of the top surface portion 49e and the tubular portion 49d that close the upper openings of the tubular portion 49d and the tubular portion 49d whose vertical direction is axial. It has a flange portion 49f. The bearing holder 49X has a flange portion 49f attached to an inner peripheral portion on the lower surface of the facing yoke 48 in a state where a part of the tubular portion 49d is inserted into the central portion of the facing yoke 48.

The bearing 50X is, for example, a ball bearing having outer rings 50a, 50a, inner rings 50b, 50b, bearing balls 50c, 50c, ..., And a tubular portion of the bearing holder 49X with the outer rings 50a, 50a separated vertically. It is fixed to 49a, and the inner rings 50b and 50b are fixed to the support shaft 51X of the shaft member 70 in a state of being separated from each other in the vertical direction. Spacers 50d are arranged between the outer rings 50a and 50a and the inner rings 50b and 50b.

The support shaft 51X is provided as a part of the shaft member 70, for example, and is used as a rotation fulcrum in the drive motor 44X. The shaft member 70 is projected outward from the cylindrical portion 71 whose vertical direction is axial and the upper end portion of the substantially flat shaft forming portion 72 and the cylindrical portion 71 that close the lower opening of the cylindrical portion 71. It has an overhanging portion 73 and a support shaft 51X protruding upward from the central portion of the shaft forming portion 72.

In the shaft member 70, the overhanging portion 73 is the upper surface of the base yoke 45 with the cylindrical portion 71 inserted into the central portion of the base yoke 45 from above and the support shaft 51X inserted into the tubular portion 49a of the bearing holder 49X from below. It is attached to the inner circumference of. The shaft member 70 is rotatably supported by the bearing holder 49X via the bearing 50X.

In the drive motor 44X configured as described above, a current is supplied to the coil 47X and the magnetic detection element 60 from a power supply circuit (not shown) via the substrate 54.

<One Embodiment of the Imaging Device>
FIG. 18 shows a block diagram of a video camera according to an embodiment of the imaging device of the present technology.

The image pickup device (video camera) 100 (corresponding to the image pickup device 1) includes a lens unit 101 (corresponding to the lens unit 19) responsible for the image pickup function and a camera signal that performs signal processing such as analog-digital conversion of the captured image signal. It has a processing unit 102 and an image processing unit 103 that performs recording / reproduction processing of an image signal.

Further, the image pickup apparatus 100 writes an image signal to an image display unit 104 (corresponding to the display unit 13) of a liquid crystal panel or the like for displaying a captured image or the like and a memory 1000 (corresponding to a memory card 9 and an internal memory). An input unit 107 consisting of an R / W (reader / writer) 105 for reading and reading, a CPU (Central Processing Unit) 106 for controlling the entire image pickup device 100, and various switches for performing required operations by the user. It includes (corresponding to an operation switch 7, an operation button 8, an operation button 10, and an operation unit 17) and a lens drive control unit 108 that controls the drive of a lens arranged in the lens unit 101.

The lens unit 101 includes an optical system including a lens group 109 (corresponding to a lens 41) and an image sensor 110 (an image sensor provided in the image sensor 42) such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor). Equivalent to) etc.

The camera signal processing unit 102 performs various signal processing such as conversion of the output signal from the image pickup element 110 into a digital signal, noise removal, image quality correction, and conversion into a luminance / color difference signal.

The image processing unit 103 performs compression coding / decompression decoding processing of an image signal based on a predetermined image data format, conversion processing of data specifications such as resolution, and the like.

The image display unit 104 has a function of displaying various data such as an operation state of the user's input unit 107 and a captured image.

The R / W 105 writes the image data encoded by the image processing unit 103 to the memory 1000 and reads the image data recorded in the memory 1000.

The CPU 106 functions as a control processing unit that controls each circuit block provided in the image pickup apparatus 100, and controls each circuit block based on an instruction input signal or the like from the input unit 107.

The input unit 107 is composed of, for example, a shutter release button for performing a shutter operation, a selection switch for selecting an operation mode, and the like, and outputs an instruction input signal according to the operation by the user to the CPU 106.

The lens drive control unit 108 controls a motor or the like (not shown) that drives each lens of the lens group 109 based on a control signal from the CPU 106.

The memory 1000 is, for example, a semiconductor memory (memory card) that can be attached to and detached from a slot connected to the R / W 105, or an internal memory that is arranged inside the image pickup apparatus 100.

The operation of the image pickup apparatus 100 will be described below.

In the shooting standby state, the image signal shot by the lens unit 101 is output to the image display unit 104 via the camera signal processing unit 102 under the control of the CPU 106, and is displayed as a camera-through image. Further, when an instruction input signal for zooming is input from the input unit 107, the CPU 106 outputs a control signal to the lens drive control unit 108, and a predetermined lens group 109 is determined based on the control of the lens drive control unit 108. The lens is moved.

When a shutter (not shown) of the lens unit 101 is operated by the instruction input signal from the input unit 107, the captured image signal is output from the camera signal processing unit 102 to the image processing unit 103 for compression coding processing, and a predetermined image signal is processed. Converted to digital data in data format. The converted data is output to R / W 105 and written to memory 1000.

Focusing and zooming are performed by the lens drive control unit 108 moving a predetermined lens of the lens group 109 based on a control signal from the CPU 106.

When reproducing the image data recorded in the memory 1000, the R / W 105 reads out the predetermined image data from the memory 1000 in response to the operation on the input unit 107, and the image processing unit 103 performs the decompression / decoding process. After that, the reproduced image signal is output to the image display unit 104 and the reproduced image is displayed.

In the present technology, "imaging" means conversion from photoelectric conversion processing for converting light captured by the imaging element 110 into an electric signal to digital signal for an output signal from the imaging element 110 by the camera signal processing unit 102. , Noise removal, image quality correction, conversion to brightness / color difference signals, etc., compression coding / decompression decoding processing of image signals based on a predetermined image data format by the image processing unit 103, conversion processing of data specifications such as resolution, etc. , Refers to a process including only a part or all of a series of processes up to the process of writing an image signal to the memory 1000 by the R / W 105.

That is, "imaging" may refer only to the photoelectric conversion process for converting the light captured by the imaging element 110 into an electric signal, and from the photoelectric conversion process for converting the light captured by the imaging element 110 into an electric signal. It may also refer to processing such as conversion of the output signal from the image pickup element 110 by the camera signal processing unit 102 into a digital signal, noise removal, image quality correction, and conversion into a brightness / color difference signal, and is captured by the image pickup element 110. After the photoelectric conversion process for converting light into an electric signal, the camera signal processing unit 102 converts the output signal from the image pickup element 110 into a digital signal, noise removal, image quality correction, conversion into a brightness / color difference signal, and the like. It may also refer to compression coding / decompression decoding processing of an image signal based on a predetermined image data format by the image processing unit 103 and conversion processing of data specifications such as resolution, and the light captured by the image pickup element 110 is an electric signal. The photoelectric conversion process to convert to digital signal by the camera signal processing unit 102 to a digital signal for the output signal from the image pickup element 110, noise removal, image quality correction, conversion to a brightness / color difference signal, etc., and the image processing unit 103. It may be pointed out through compression coding / decompression decoding processing of an image signal based on a predetermined image data format and conversion processing of data specifications such as resolution, up to writing processing of an image signal to the memory 1000 by R / W 105. You may point. In the above processing, the order of each processing may be changed as appropriate.

Further, in the present technology, the photographing apparatus 100 may be configured to include only a part or all of the image pickup element 110, the camera signal processing unit 102, the image processing unit 103, and the R / W 105 that perform the above processing. ..

<Summary>
As described above, in the drive motors 44, 44X, the blur correction device 15, and the image pickup device 1, both sides of the coil arrangement portion 55 on the substrate 54 in the thickness direction are the first arrangement surface 57 and the second arrangement, respectively. Formed as a surface 58, the winding portions 52 of the plurality of coils 47 are arranged on the first arrangement surface 57, and the magnetic detection element 60 is arranged on the second arrangement surface 58.

Therefore, a plurality of winding portions 52 and magnetic detection elements 60 are arranged on the first arrangement surface 57 and the second arrangement surface 58, which are both sides in the thickness direction of the substrate 54, respectively, and magnetic detection is performed on the first arrangement surface 57. Space for arranging the element 60 is not required. This makes it possible to increase the number of winding portions 52 and the number of windings of the winding portion 52 arranged on the first arrangement surface 57, so that the magnetic detection element 60 ensures an appropriate detection state before driving. The driving force (thrust) of the motors 44 and 44X can be improved.

Further, a connection terminal portion 59 is formed on the substrate 54 to which both ends of the coil 47 are connected, and the tip end portion 53a of the connection portion 53 in the coil 47 is connected to the connection terminal portion 59 on the second arrangement surface 58.

Therefore, since the tip end portion 53a of the connection portion 53 does not exist on the first arrangement surface 57 side of the coil arrangement portion 55, it is possible to increase the arrangement space of the first arrangement surface 57 on the substrate 54 by that amount. The thrust efficiency of the drive motors 44 and 44X can be improved by further increasing the number of winding portions 52 and further increasing the number of windings of the winding portion 52.

Further, the connecting portion 53 of the coil 47 passes through the outside of the outer peripheral surface 55a of the coil arranging portion 55 and is folded back.

Therefore, since the connecting portion 53 is connected to the connecting terminal portion 59 through the outside of the outer peripheral surface 55a of the coil arranging portion 55, it is not necessary to form an insertion hole for inserting the connecting portion 53 in the substrate 54, and the substrate 54 The formation region of the circuit pattern can be increased, and the connection portion 53 can be connected to the connection terminal portion 59 by a simple structure.

<Others>
Although the example of the drive motor 44 in which the bearing 50 formed by sintering is used is shown above, in the drive motor 44, for example, a ball bearing may be used to support the support shaft. ..

On the other hand, in the above, an example of the drive motor 44X in which a ball bearing is used to support the support shaft 51X has been shown, but in the drive motor 44X, for example, a bearing formed by sintering is used. May be made.

Further, although the example of the drive motor 44 having the configuration of the coil 47 having three phases and the drive motor 44X having the configuration of one phase is shown above, the phase state of the coil 47 is 1 in the drive motor 44 and the drive motor 44X. It is not limited to phase or three phases.

<Application example 1>
The technology according to the present disclosure can be applied to various products. For example, the technology according to the present disclosure includes any type of movement such as automobiles, electric vehicles, hybrid electric vehicles, motorcycles, bicycles, personal mobility, airplanes, drones, ships, robots, construction machines, agricultural machines (tractors), and the like. It may be realized as a device mounted on the body. In particular, the drive motors 44 and 44X may be used as, for example, a drive unit such as an openable mirror provided in a vehicle such as an automobile.

FIG. 19 is a block diagram showing a schematic configuration example of a vehicle control system 7000, which is an example of a mobile control system to which the technique according to the present disclosure can be applied. The vehicle control system 7000 includes a plurality of electronic control units connected via the communication network 7010. In the example shown in FIG. 19, the vehicle control system 7000 includes a drive system control unit 7100, a body system control unit 7200, a battery control unit 7300, an external information detection unit 7400, an in-vehicle information detection unit 7500, and an integrated control unit 7600. .. The communication network 7010 connecting these plurality of control units conforms to any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network) or FlexRay (registered trademark). It may be an in-vehicle communication network.

Each control unit includes a microcomputer that performs arithmetic processing according to various programs, a storage unit that stores a program executed by the microcomputer or parameters used for various arithmetics, and a drive circuit that drives various control target devices. To be equipped. Each control unit is provided with a network I / F for communicating with other control units via the communication network 7010, and is connected to devices or sensors inside or outside the vehicle by wired communication or wireless communication. A communication I / F for performing communication is provided. In FIG. 19, as the functional configuration of the integrated control unit 7600, the microcomputer 7610, the general-purpose communication I / F 7620, the dedicated communication I / F 7630, the positioning unit 7640, the beacon receiving unit 7650, the in-vehicle device I / F 7660, the audio image output unit 7670, The vehicle-mounted network I / F 7680 and the storage unit 7690 are shown. Other control units also include a microcomputer, a communication I / F, a storage unit, and the like.

The drive system control unit 7100 controls the operation of the device related to the drive system of the vehicle according to various programs. For example, the drive system control unit 7100 provides a driving force generator for generating the driving force of the vehicle such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to the wheels, and a steering angle of the vehicle. It functions as a control device such as a steering mechanism for adjusting and a braking device for generating a braking force of a vehicle. The drive system control unit 7100 may have a function as a control device such as ABS (Antilock Brake System) or ESC (Electronic Stability Control).

The vehicle condition detection unit 7110 is connected to the drive system control unit 7100. The vehicle state detection unit 7110 may include, for example, a gyro sensor that detects the angular velocity of the rotational movement of the vehicle body, an acceleration sensor that detects the acceleration of the vehicle, an accelerator pedal operation amount, a brake pedal operation amount, or steering wheel steering. It includes at least one of sensors for detecting an angle, engine speed, wheel speed, and the like. The drive system control unit 7100 performs arithmetic processing using a signal input from the vehicle state detection unit 7110 to control an internal combustion engine, a drive motor, an electric power steering device, a brake device, and the like.

The body system control unit 7200 controls the operation of various devices mounted on the vehicle body according to various programs. For example, the body system control unit 7200 functions as a keyless entry system, a smart key system, a power window device, or a control device for various lamps such as headlamps, back lamps, brake lamps, blinkers or fog lamps. In this case, the body system control unit 7200 may be input with radio waves transmitted from a portable device that substitutes for the key or signals of various switches. The body system control unit 7200 receives inputs of these radio waves or signals and controls a vehicle door lock device, a power window device, a lamp, and the like.

The battery control unit 7300 controls the secondary battery 7310, which is the power supply source of the drive motor, according to various programs. For example, information such as the battery temperature, the battery output voltage, or the remaining capacity of the battery is input to the battery control unit 7300 from the battery device including the secondary battery 7310. The battery control unit 7300 performs arithmetic processing using these signals, and controls the temperature control of the secondary battery 7310 or the cooling device provided in the battery device.

The vehicle exterior information detection unit 7400 detects information outside the vehicle equipped with the vehicle control system 7000. For example, at least one of the image pickup unit 7410 and the vehicle exterior information detection unit 7420 is connected to the vehicle exterior information detection unit 7400. The imaging unit 7410 includes at least one of a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras. The vehicle exterior information detection unit 7420 is used to detect, for example, the current weather or an environmental sensor for detecting the weather, or other vehicles, obstacles, pedestrians, etc. around the vehicle equipped with the vehicle control system 7000. At least one of the ambient information detection sensors is included.

The environmental sensor may be, for example, at least one of a raindrop sensor that detects rainy weather, a fog sensor that detects fog, a sunshine sensor that detects the degree of sunshine, and a snow sensor that detects snowfall. The ambient information detection sensor may be at least one of an ultrasonic sensor, a radar device, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) device. The imaging unit 7410 and the vehicle exterior information detection unit 7420 may be provided as independent sensors or devices, or may be provided as a device in which a plurality of sensors or devices are integrated.

Here, FIG. 20 shows an example of the installation positions of the imaging unit 7410 and the vehicle exterior information detection unit 7420. The imaging units 7910, 7912, 7914, 7916, 7918 are provided, for example, at at least one of the front nose, side mirrors, rear bumpers, back door, and upper part of the windshield of the vehicle interior of the vehicle 7900. The image pickup unit 7910 provided on the front nose and the image pickup section 7918 provided on the upper part of the windshield in the vehicle interior mainly acquire an image in front of the vehicle 7900. The imaging units 7912 and 7914 provided in the side mirrors mainly acquire images of the side of the vehicle 7900. The image pickup unit 7916 provided on the rear bumper or the back door mainly acquires an image of the rear of the vehicle 7900. The imaging unit 7918 provided on the upper part of the windshield in the vehicle interior is mainly used for detecting a preceding vehicle, a pedestrian, an obstacle, a traffic light, a traffic sign, a lane, or the like.

Note that FIG. 20 shows an example of the photographing range of each of the imaging units 7910, 7912, 7914, and 7916. The imaging range a indicates the imaging range of the imaging unit 7910 provided on the front nose, the imaging ranges b and c indicate the imaging ranges of the imaging units 7912 and 7914 provided on the side mirrors, respectively, and the imaging range d indicates the imaging range d. The imaging range of the imaging unit 7916 provided on the rear bumper or the back door is shown. For example, by superimposing the image data captured by the imaging units 7910, 7912, 7914, and 7916, a bird's-eye view image of the vehicle 7900 as viewed from above can be obtained.

The vehicle exterior information detection units 7920, 7922, 7924, 7926, 7928, 7930 provided on the front, rear, side, corners and the upper part of the windshield in the vehicle interior of the vehicle 7900 may be, for example, an ultrasonic sensor or a radar device. The vehicle exterior information detection units 7920, 7926, 7930 provided on the front nose, rear bumper, back door, and upper part of the windshield in the vehicle interior of the vehicle 7900 may be, for example, a lidar device. These out-of-vehicle information detection units 7920 to 7930 are mainly used for detecting a preceding vehicle, a pedestrian, an obstacle, or the like.

Return to Fig. 19 and continue the explanation. The vehicle exterior information detection unit 7400 causes the image pickup unit 7410 to capture an image of the vehicle exterior and receives the captured image data. Further, the vehicle exterior information detection unit 7400 receives detection information from the connected vehicle exterior information detection unit 7420. When the vehicle exterior information detection unit 7420 is an ultrasonic sensor, a radar device, or a LIDAR device, the vehicle exterior information detection unit 7400 transmits ultrasonic waves, electromagnetic waves, or the like, and receives the received reflected wave information. The vehicle exterior information detection unit 7400 may perform object detection processing or distance detection processing such as a person, a vehicle, an obstacle, a sign, or a character on a road surface based on the received information. The vehicle exterior information detection unit 7400 may perform an environment recognition process for recognizing rainfall, fog, road surface conditions, etc., based on the received information. The vehicle exterior information detection unit 7400 may calculate the distance to an object outside the vehicle based on the received information.

Further, the vehicle exterior information detection unit 7400 may perform image recognition processing or distance detection processing for recognizing a person, a vehicle, an obstacle, a sign, a character on the road surface, or the like based on the received image data. The vehicle exterior information detection unit 7400 performs processing such as distortion correction or alignment on the received image data, and synthesizes the image data captured by different imaging units 7410 to generate a bird's-eye view image or a panoramic image. May be good. The vehicle exterior information detection unit 7400 may perform the viewpoint conversion process using the image data captured by different imaging units 7410.

The in-vehicle information detection unit 7500 detects the in-vehicle information. For example, a driver state detection unit 7510 that detects the driver's state is connected to the in-vehicle information detection unit 7500. The driver state detection unit 7510 may include a camera that captures the driver, a biosensor that detects the driver's biological information, a microphone that collects sound in the vehicle interior, and the like. The biosensor is provided on, for example, the seat surface or the steering wheel, and detects the biometric information of the passenger sitting on the seat or the driver holding the steering wheel. The in-vehicle information detection unit 7500 may calculate the degree of fatigue or concentration of the driver based on the detection information input from the driver state detection unit 7510, and may determine whether the driver is dozing or not. You may. The in-vehicle information detection unit 7500 may perform processing such as noise canceling processing on the collected audio signal.

The integrated control unit 7600 controls the overall operation in the vehicle control system 7000 according to various programs. An input unit 7800 is connected to the integrated control unit 7600. The input unit 7800 is realized by a device such as a touch panel, a button, a microphone, a switch or a lever, which can be input-operated by a passenger. Data obtained by recognizing the voice input by the microphone may be input to the integrated control unit 7600. The input unit 7800 may be, for example, a remote control device using infrared rays or other radio waves, or an externally connected device such as a mobile phone or a PDA (Personal Digital Assistant) that supports the operation of the vehicle control system 7000. You may. The input unit 7800 may be, for example, a camera, in which case the passenger can input information by gesture. Alternatively, data obtained by detecting the movement of the wearable device worn by the passenger may be input. Further, the input unit 7800 may include, for example, an input control circuit that generates an input signal based on the information input by the passenger or the like using the input unit 7800 and outputs the input signal to the integrated control unit 7600. By operating the input unit 7800, the passenger or the like inputs various data to the vehicle control system 7000 and instructs the processing operation.

The storage unit 7690 may include a ROM (Read Only Memory) for storing various programs executed by the microcomputer, and a RAM (Random Access Memory) for storing various parameters, calculation results, sensor values, and the like. Further, the storage unit 7690 may be realized by a magnetic storage device such as an H drive motor (Hard Disc Drive), a semiconductor storage device, an optical storage device, an optical magnetic storage device, or the like.

The general-purpose communication I / F 7620 is a general-purpose communication I / F that mediates communication with various devices existing in the external environment 7750. General-purpose communication I / F7620 is a cellular communication protocol such as GSM (registered trademark) (Global System of Mobile communications), WiMAX (registered trademark), LTE (registered trademark) (Long Term Evolution) or LTE-A (LTE-Advanced). , Or other wireless communication protocols such as wireless LAN (also referred to as Wi-Fi®), Bluetooth® may be implemented. The general-purpose communication I / F7620 connects to a device (for example, an application server or a control server) existing on an external network (for example, the Internet, a cloud network, or a business-specific network) via a base station or an access point, for example. You may. Further, the general-purpose communication I / F7620 uses, for example, P2P (Peer To Peer) technology, and is a terminal existing in the vicinity of the vehicle (for example, a terminal of a driver, a pedestrian or a store, or an MTC (Machine Type Communication) terminal). You may connect with.

The dedicated communication I / F 7630 is a communication I / F that supports a communication protocol formulated for use in a vehicle. The dedicated communication I / F7630 uses a standard protocol such as WAVE (Wireless Access in Vehicle Environment), DSRC (Dedicated Short Range Communications), or cellular communication protocol, which is a combination of IEEE802.11p in the lower layer and IEEE1609 in the upper layer. May be implemented. The dedicated communication I / F7630 typically includes vehicle-to-vehicle (Vehicle to Vehicle) communication, road-to-vehicle (Vehicle to Infrastructure) communication, vehicle-to-home (Vehicle to Home) communication, and pedestrian-to-pedestrian (Vehicle to Pedertian) communication. ) Carry out V2X communication, a concept that includes one or more of the communications.

For example, the positioning unit 7640 receives signals from each GN (Global Navigation Satellite System) satellite (for example, GPS signals from a GPS (Global Positioning System) satellite), executes positioning, and executes positioning, and the latitude and longitude of the vehicle. And generate location information including altitude. The positioning unit 7640 may specify the current position by exchanging signals with the wireless access point, or may acquire position information from a terminal such as a mobile phone, PHS, or smartphone having a positioning function.

The beacon receiving unit 7650 receives radio waves or electromagnetic waves transmitted from a radio station or the like installed on the road, and acquires information such as the current position, traffic jam, road closure, or required time. The function of the beacon receiving unit 7650 may be included in the above-mentioned dedicated communication I / F 7630.

The in-vehicle device I / F 7660 is a communication interface that mediates the connection between the microcomputer 7610 and various in-vehicle devices 7760 existing in the vehicle. The in-vehicle device I / F7660 may establish a wireless connection using a wireless communication protocol such as wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication) or WUSB (Wireless USB). In addition, the in-vehicle device I / F7660 is connected via a connection terminal (and a cable if necessary) (not shown), USB (Universal Serial Bus), HDMI (registered trademark) (High-Definition Multimedia Interface, or MHL (Mobile High)). A wired connection such as -definition Link) may be established. The in-vehicle device 7760 includes, for example, at least one of a mobile device or a wearable device owned by a passenger, or an information device carried in or attached to a vehicle. Further, the in-vehicle device 7760 may include a navigation device that searches for a route to an arbitrary destination. The in-vehicle device I / F 7660 is a control signal to and from these in-vehicle devices 7760. Or exchange the data signal.

The in-vehicle network I / F7680 is an interface that mediates communication between the microcomputer 7610 and the communication network 7010. The vehicle-mounted network I / F7680 transmits / receives signals and the like according to a predetermined protocol supported by the communication network 7010.

The microcomputer 7610 of the integrated control unit 7600 is via at least one of general-purpose communication I / F7620, dedicated communication I / F7630, positioning unit 7640, beacon receiving unit 7650, in-vehicle device I / F7660, and in-vehicle network I / F7680. The vehicle control system 7000 is controlled according to various programs based on the information acquired. For example, the microcomputer 7610 calculates the control target value of the driving force generator, the steering mechanism, or the braking device based on the acquired information inside and outside the vehicle, and outputs a control command to the drive system control unit 7100. May be good. For example, the microcomputer 7610 realizes ADAS (Advanced Driver Assistance System) functions including vehicle collision avoidance or impact mitigation, follow-up driving based on inter-vehicle distance, vehicle speed maintenance driving, vehicle collision warning, vehicle lane deviation warning, and the like. Cooperative control may be performed for the purpose of. Further, the microcomputer 7610 automatically travels autonomously without relying on the driver's operation by controlling the driving force generator, the steering mechanism, the braking device, etc. based on the acquired information on the surroundings of the vehicle. Coordinated control for the purpose of driving or the like may be performed.

The microcomputer 7610 has information acquired via at least one of general-purpose communication I / F7620, dedicated communication I / F7630, positioning unit 7640, beacon receiving unit 7650, in-vehicle device I / F7660, and in-vehicle network I / F7680. Based on the above, three-dimensional distance information between the vehicle and an object such as a surrounding structure or a person may be generated, and local map information including the peripheral information of the current position of the vehicle may be created. Further, the microcomputer 7610 may predict the danger of a vehicle collision, a pedestrian or the like approaching or entering a closed road based on the acquired information, and generate a warning signal. The warning signal may be, for example, a signal for generating a warning sound or turning on a warning lamp.

The audio / image output unit 7670 transmits an output signal of at least one of audio and an image to an output device capable of visually or audibly notifying the passenger of the vehicle or the outside of the vehicle. In the example of FIG. 19, an audio speaker 7710, a display unit 7720, and an instrument panel 7730 are exemplified as output devices. The display unit 7720 may include, for example, at least one of an onboard display and a head-up display. The display unit 7720 may have an AR (Augmented Reality) display function. The output device may be other devices such as headphones, wearable devices such as eyeglass-type displays worn by passengers, projectors or lamps other than these devices. When the output device is a display device, the display device displays the results obtained by various processes performed by the microcomputer 7610 or the information received from other control units in various formats such as texts, images, tables, and graphs. Display visually. When the output device is an audio output device, the audio output device converts an audio signal composed of reproduced audio data or acoustic data into an analog signal and outputs the audio signal audibly.

In the example shown in FIG. 19, at least two control units connected via the communication network 7010 may be integrated as one control unit. Alternatively, each control unit may be composed of a plurality of control units. In addition, the vehicle control system 7000 may include another control unit (not shown). Further, in the above description, the other control unit may have a part or all of the functions carried out by any of the control units. That is, as long as information is transmitted and received via the communication network 7010, predetermined arithmetic processing may be performed by any control unit. Similarly, a sensor or device connected to any control unit may be connected to another control unit, and a plurality of control units may send and receive detection information to and from each other via the communication network 7010. ..

It should be noted that a computer program for realizing each function of the information processing apparatus 100 according to the present embodiment described with reference to FIG. Z can be implemented in any control unit or the like. It is also possible to provide a computer-readable recording medium in which such a computer program is stored. The recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. Further, the above computer program may be distributed via, for example, a network without using a recording medium.

<Application example 2>
The technology according to the present disclosure can be applied to various products. For example, the techniques according to the present disclosure may be applied to operating room systems. In particular, the drive motors 44, 44X may be used, for example, as a drive unit for operating each instrument in the operating room system.

FIG. 21 is a diagram schematically showing the overall configuration of the operating room system 5100 to which the technique according to the present disclosure can be applied. Referring to FIG. 21, the operating room system 5100 is configured by connecting a group of devices installed in the operating room in a coordinated manner via an audiovisual controller (AV Controller) 5107 and an operating room control device 5109.

Various devices can be installed in the operating room. In FIG. 21, as an example, various device groups 5101 for endoscopic surgery, a ceiling camera 5187 provided on the ceiling of the operating room to capture the operator's hand, and an operating room provided on the ceiling of the operating room. An operating room camera 5189 that captures the entire state, a plurality of display devices 5103A to 5103D, a recorder 5105, a patient bed 5183, and an illumination 5191 are illustrated.

Here, among these devices, the device group 5101 belongs to the endoscopic surgery system 5113 described later, and includes an endoscope, a display device that displays an image captured by the endoscope, and the like. Each device belonging to the endoscopic surgery system 5113 is also referred to as a medical device. On the other hand, the display devices 5103A to 5103D, the recorder 5105, the patient bed 5183, and the lighting 5191 are devices provided in the operating room, for example, separately from the endoscopic surgery system 5113. Each of these devices that does not belong to the endoscopic surgery system 5113 is also referred to as a non-medical device. The audiovisual controller 5107 and / or the operating room controller 5109 controls the operations of these medical devices and non-medical devices in cooperation with each other.

The audiovisual controller 5107 comprehensively controls processing related to image display in medical devices and non-medical devices. Specifically, among the devices included in the operating room system 5100, the device group 5101, the sealing camera 5187, and the operating room camera 5189 have a function of transmitting information to be displayed during the operation (hereinafter, also referred to as display information). It can be a device (hereinafter, also referred to as a source device). Further, the display devices 5103A to 5103D may be devices for outputting display information (hereinafter, also referred to as output destination devices). Further, the recorder 5105 may be a device corresponding to both the source device and the output destination device. The audiovisual controller 5107 controls the operation of the source device and the output destination device, acquires display information from the source device, and transmits the display information to the output destination device for display or recording. Have. The displayed information includes various images captured during the operation, various information related to the operation (for example, physical information of the patient, past test results, information on the surgical procedure, etc.).

Specifically, the audiovisual controller 5107 can be transmitted from the device group 5101 as display information about an image of the surgical site in the body cavity of the patient captured by the endoscope. In addition, the sealing camera 5187 may transmit information about the image at the operator's hand captured by the sealing camera 5187 as display information. In addition, the operating room camera 5189 may transmit as display information information about an image showing the state of the entire operating room captured by the operating room camera 5189. When the operating room system 5100 has another device having an imaging function, the audiovisual controller 5107 also acquires information about an image captured by the other device from the other device as display information. You may.

Alternatively, for example, the recorder 5105 records information about these images captured in the past by the audiovisual controller 5107. The audiovisual controller 5107 can acquire information about the previously captured image from the recorder 5105 as display information. In addition, various information about the operation may be recorded in advance in the recorder 5105.

The audiovisual controller 5107 causes at least one of the display devices 5103A to 5103D, which is the output destination device, to display the acquired display information (that is, an image taken during the operation and various information related to the operation). In the illustrated example, the display device 5103A is a display device suspended from the ceiling of the operating room, the display device 5103B is a display device installed on the wall surface of the operating room, and the display device 5103C is in the operating room. It is a display device installed on a desk, and the display device 5103D is a mobile device having a display function (for example, a tablet PC (Personal Computer)).

Further, although not shown in FIG. 21, the operating room system 5100 may include a device outside the operating room. The device outside the operating room may be, for example, a server connected to a network constructed inside or outside the hospital, a PC used by medical staff, a projector installed in a conference room of the hospital, or the like. When such an external device is located outside the hospital, the audiovisual controller 5107 can also display display information on a display device of another hospital via a video conferencing system or the like for telemedicine.

The operating room control device 5109 comprehensively controls processing other than processing related to image display in non-medical equipment. For example, the operating room control device 5109 controls the drive of the patient bed 5183, the sealing camera 5187, the operating room camera 5189, and the lighting 5191.

The operating room system 5100 is provided with a centralized operation panel 5111, and the user gives an instruction regarding image display to the audiovisual controller 5107 or gives an instruction to the operating room control device 5109 via the centralized operation panel 5111. On the other hand, instructions on the operation of non-medical devices can be given. The centralized operation panel 5111 is configured by providing a touch panel on the display surface of the display device.

FIG. 22 is a diagram showing a display example of an operation screen on the centralized operation panel 5111. FIG. 22 shows, as an example, an operation screen corresponding to a case where the operating room system 5100 is provided with two display devices as output destination devices. Referring to FIG. 22, the operation screen 5193 is provided with a source selection area 5195, a preview area 5197, and a control area 5201.

In the source selection area 5195, the source device provided in the operating room system 5100 and the thumbnail screen showing the display information possessed by the source device are linked and displayed. The user can select the display information to be displayed on the display device from any of the source devices displayed in the source selection area 5195.

In the preview area 5197, a preview of the screen displayed on the two display devices (Monitor1 and Monitor2), which are the output destination devices, is displayed. In the illustrated example, four images are displayed in PinP on one display device. The four images correspond to the display information transmitted from the source device selected in the source selection area 5195. Of the four images, one is displayed relatively large as the main image and the remaining three are displayed relatively small as the sub-image. The user can switch the main image and the sub image by appropriately selecting the area in which the four images are displayed. Further, a status display area 5199 is provided below the area where the four images are displayed, and the status related to the surgery (for example, the elapsed time of the surgery, the physical information of the patient, etc.) is appropriately displayed in the area. obtain.

The control area 5201 includes a source operation area 5203 in which GUI (Graphical User Interface) components for operating the source device are displayed, and GUI components for operating the output destination device. Is provided with an output destination operation area 5205 and. In the illustrated example, the source operation area 5203 is provided with GUI components for performing various operations (pan, tilt, zoom) on the camera in the source device having an imaging function. The user can operate the operation of the camera in the source device by appropriately selecting these GUI components. Although not shown, when the source device selected in the source selection area 5195 is a recorder (that is, in the preview area 5197, an image recorded in the past is displayed on the recorder. In the case), the source operation area 5203 may be provided with a GUI component for performing operations such as playing, stopping, rewinding, and fast-forwarding the image.

Further, in the output destination operation area 5205, GUI parts for performing various operations (swap, flip, color adjustment, contrast adjustment, switching between 2D display and 3D display) for the display on the display device which is the output destination device are provided. It is provided. The user can operate the display on the display device by appropriately selecting these GUI components.

The operation screen displayed on the centralized operation panel 5111 is not limited to the illustrated example, and the user can use the audiovisual controller 5107 and the operating room control device 5109 provided in the operating room system 5100 via the centralized operation panel 5111. Operational inputs to each device that can be controlled may be possible.

FIG. 23 is a diagram showing an example of an operation in which the operating room system described above is applied. The ceiling camera 5187 and the operating room camera 5189 are provided on the ceiling of the operating room, and can photograph the hands of the surgeon (doctor) 5181 who treats the affected part of the patient 5185 on the patient bed 5183 and the entire operating room. Is. The sealing camera 5187 and the operating field camera 5189 may be provided with a magnification adjusting function, a focal length adjusting function, a shooting direction adjusting function, and the like. The illumination 5191 is provided on the ceiling of the operating room and illuminates at least the hands of the surgeon 5181. The illumination 5191 may be capable of appropriately adjusting the amount of irradiation light, the wavelength (color) of the irradiation light, the irradiation direction of the light, and the like.

The endoscopic surgery system 5113, patient bed 5183, sealing camera 5187, operating room camera 5189 and lighting 5191 are via an audiovisual controller 5107 and an operating room control device 5109 (not shown in FIG. 23), as shown in FIG. Are connected so that they can cooperate with each other. A centralized operation panel 5111 is provided in the operating room, and as described above, the user can appropriately operate these devices existing in the operating room through the centralized operation panel 5111.

Hereinafter, the configuration of the endoscopic surgery system 5113 will be described in detail. As shown, the endoscopic surgery system 5113 includes an endoscope 5115, other surgical tools 5131, a support arm device 5141 that supports the endoscope 5115, and various devices for endoscopic surgery. It is composed of a cart 5151 on which the

In endoscopic surgery, instead of cutting the abdominal wall to open the abdomen, a plurality of tubular opening instruments called troccas 5139a to 5139d are punctured into the abdominal wall. Then, the lens barrel 5117 of the endoscope 5115 and other surgical tools 5131 are inserted into the body cavity of the patient 5185 from the troccers 5139a to 5139d. In the illustrated example, as other surgical tools 5131, a pneumoperitoneum tube 5133, an energy treatment tool 5135, and forceps 5137 are inserted into the body cavity of patient 5185. Further, the energy treatment tool 5135 is a treatment tool that cuts and peels tissue, seals a blood vessel, or the like by using a high-frequency current or ultrasonic vibration. However, the surgical tool 5131 shown is only an example, and as the surgical tool 5131, various surgical tools generally used in endoscopic surgery such as a sword and a retractor may be used.

The image of the surgical site in the body cavity of the patient 5185 taken by the endoscope 5115 is displayed on the display device 5155. While viewing the image of the surgical site displayed on the display device 5155 in real time, the surgeon 5181 uses the energy treatment tool 5135 and forceps 5137 to perform a procedure such as excising the affected area. Although not shown, the pneumoperitoneum tube 5133, the energy treatment tool 5135, and the forceps 5137 are supported by the surgeon 5181 or an assistant during the operation.

(Support arm device)
The support arm device 5141 includes an arm portion 5145 extending from the base portion 5143. In the illustrated example, the arm portion 5145 is composed of joint portions 5147a, 5147b, 5147c, and links 5149a, 5149b, and is driven by control from the arm control device 5159. The endoscope 5115 is supported by the arm portion 5145, and its position and posture are controlled. As a result, the stable position of the endoscope 5115 can be fixed.

(Endoscope)
The endoscope 5115 is composed of a lens barrel 5117 in which a region having a predetermined length from the tip is inserted into the body cavity of the patient 5185, and a camera head 5119 connected to the base end of the lens barrel 5117. In the illustrated example, the endoscope 5115 configured as a so-called rigid mirror having a rigid barrel 5117 is illustrated, but the endoscope 5115 is configured as a so-called flexible mirror having a flexible barrel 5117. May be good.

The tip of the lens barrel 5117 is provided with an opening in which the objective lens is fitted. A light source device 5157 is connected to the endoscope 5115, and the light generated by the light source device 5157 is guided to the tip of the lens barrel by a light guide extending inside the lens barrel 5117, and is an objective. It is irradiated toward the observation target in the body cavity of the patient 5185 through the lens. The endoscope 5115 may be a direct endoscope, a perspective mirror, or a side endoscope.

An optical system and an image sensor are provided inside the camera head 5119, and the reflected light (observation light) from the observation target is focused on the image sensor by the optical system. The observation light is photoelectrically converted by the image sensor, and an electric signal corresponding to the observation light, that is, an image signal corresponding to the observation image is generated. The image signal is transmitted as RAW data to the camera control unit (CCU: Camera Control Unit) 5153. The camera head 5119 is equipped with a function of adjusting the magnification and the focal length by appropriately driving the optical system.

Note that, for example, the camera head 5119 may be provided with a plurality of image pickup elements in order to support stereoscopic viewing (3D display) and the like. In this case, a plurality of relay optical systems are provided inside the lens barrel 5117 in order to guide the observation light to each of the plurality of image pickup elements.

(Various devices mounted on the cart)
The CCU 5153 is composed of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like, and comprehensively controls the operations of the endoscope 5115 and the display device 5155. Specifically, the CCU 5153 performs various image processing for displaying an image based on the image signal, such as development processing (demosaic processing), on the image signal received from the camera head 5119. The CCU 5153 provides the display device 5155 with the image signal subjected to the image processing. Further, the audiovisual controller 5107 shown in FIG. 21 is connected to the CCU 5153. CCU5153 also provides the image processed image signal to the audiovisual controller 5107. Further, the CCU 5153 transmits a control signal to the camera head 5119 and controls the driving thereof. The control signal may include information about imaging conditions such as magnification and focal length. The information regarding the imaging condition may be input via the input device 5161 or may be input via the centralized operation panel 5111 described above.

The display device 5155 displays an image based on the image signal processed by the CCU 5153 under the control of the CCU 5153. When the endoscope 5115 is compatible with high-resolution shooting such as 4K (3840 horizontal pixels x 2160 vertical pixels) or 8K (7680 horizontal pixels x 4320 vertical pixels), and / or 3D display. As the display device 5155, a device capable of displaying a high resolution and / or a device capable of displaying in 3D can be used corresponding to each of the above. When a display device 5155 having a size of 55 inches or more is used for high-resolution shooting such as 4K or 8K, a further immersive feeling can be obtained. Further, a plurality of display devices 5155 having different resolutions and sizes may be provided depending on the application.

The light source device 5157 is composed of, for example, a light source such as an LED (light LED diode), and supplies the irradiation light for photographing the surgical site to the endoscope 5115.

The arm control device 5159 is composed of a processor such as a CPU, and operates according to a predetermined program to control the drive of the arm portion 5145 of the support arm device 5141 according to a predetermined control method.

The input device 5161 is an input interface for the endoscopic surgery system 5113. The user can input various information and input instructions to the endoscopic surgery system 5113 via the input device 5161. For example, the user inputs various information related to the surgery, such as physical information of the patient and information about the surgical procedure, via the input device 5161. Further, for example, the user gives an instruction to drive the arm portion 5145 via the input device 5161 and an instruction to change the imaging conditions (type of irradiation light, magnification, focal length, etc.) by the endoscope 5115. , Input an instruction to drive the energy treatment tool 5135, and the like.

The type of the input device 5161 is not limited, and the input device 5161 may be various known input devices. As the input device 5161, for example, a mouse, a keyboard, a touch panel, a switch, a foot switch 5171 and / or a lever and the like can be applied. When a touch panel is used as the input device 5161, the touch panel may be provided on the display surface of the display device 5155.

Alternatively, the input device 5161 is a device worn by the user, such as a glasses-type wearable device or an HMD (Head Mounted Display), and various inputs are made according to the user's gesture and line of sight detected by these devices. Is done. Further, the input device 5161 includes a camera capable of detecting the movement of the user, and various inputs are performed according to the gesture and the line of sight of the user detected from the image captured by the camera. Further, the input device 5161 includes a microphone capable of picking up the user's voice, and various inputs are performed by voice through the microphone. By configuring the input device 5161 to be able to input various information in a non-contact manner in this way, a user belonging to a clean area (for example, an operator 5181) can operate a device belonging to a dirty area in a non-contact manner. Is possible. In addition, since the user can operate the device without taking his / her hand off the surgical tool he / she has, the convenience of the user is improved.

The treatment tool control device 5163 controls the drive of the energy treatment tool 5135 for ablation of tissue, incision, sealing of blood vessels, and the like. The pneumoperitoneum device 5165 gas in the body cavity through the pneumoperitoneum tube 5133 in order to inflate the body cavity of the patient 5185 for the purpose of securing the field of view by the endoscope 5115 and securing the operator's work space. To send. Recorder 5167 is a device capable of recording various information related to surgery. The printer 5169 is a device capable of printing various information related to surgery in various formats such as text, images, and graphs.

Hereinafter, a particularly characteristic configuration of the endoscopic surgery system 5113 will be described in more detail.

(Support arm device)
The support arm device 5141 includes a base portion 5143 that is a base, and an arm portion 5145 that extends from the base portion 5143. In the illustrated example, the arm portion 5145 is composed of a plurality of joint portions 5147a, 5147b, 5147c and a plurality of links 5149a, 5149b connected by the joint portions 5147b, but in FIG. 23, for simplicity. , The configuration of the arm portion 5145 is shown in a simplified manner. Actually, the shapes, numbers and arrangements of the joint portions 5147a to 5147c and the links 5149a and 5149b, and the direction of the rotation axis of the joint portions 5147a to 5147c are appropriately set so that the arm portion 5145 has a desired degree of freedom. obtain. For example, the arm portion 5145 can be preferably configured to have at least 6 degrees of freedom. As a result, the endoscope 5115 can be freely moved within the movable range of the arm portion 5145, so that the lens barrel 5117 of the endoscope 5115 can be inserted into the body cavity of the patient 5185 from a desired direction. It will be possible.

Actuators are provided in the joint portions 5147a to 5147c, and the joint portions 5147a to 5147c are configured to be rotatable around a predetermined rotation axis by driving the actuator. By controlling the drive of the actuator by the arm control device 5159, the rotation angles of the joint portions 5147a to 5147c are controlled, and the drive of the arm portion 5145 is controlled. Thereby, control of the position and orientation of the endoscope 5115 can be realized. At this time, the arm control device 5159 can control the drive of the arm unit 5145 by various known control methods such as force control or position control.

For example, when the operator 5181 appropriately inputs an operation via an input device 5161 (including a foot switch 5171), the arm control device 5159 appropriately controls the drive of the arm portion 5145 in response to the operation input. The position and orientation of the endoscope 5115 may be controlled. By this control, the endoscope 5115 at the tip of the arm portion 5145 can be moved from an arbitrary position to an arbitrary position, and then fixedly supported at the moved position. The arm portion 5145 may be operated by a so-called master slave method. In this case, the arm portion 5145 can be remotely controlled by the user via an input device 5161 installed at a location away from the operating room.

When force control is applied, the arm control device 5159 receives an external force from the user and moves the actuators of the joint portions 5147a to 5147c so that the arm portion 5145 moves smoothly according to the external force. So-called power assist control for driving may be performed. As a result, when the user moves the arm portion 5145 while directly touching the arm portion 5145, the arm portion 5145 can be moved with a relatively light force. Therefore, the endoscope 5115 can be moved more intuitively and with a simpler operation, and the convenience of the user can be improved.

Here, in general, in endoscopic surgery, the endoscope 5115 was supported by a doctor called a scopist. On the other hand, by using the support arm device 5141, the position of the endoscope 5115 can be fixed more reliably without human intervention, so that an image of the surgical site can be stably obtained. , It becomes possible to perform surgery smoothly.

Note that the arm control device 5159 does not necessarily have to be provided on the cart 5151. Further, the arm control device 5159 does not necessarily have to be one device. For example, the arm control device 5159 may be provided at each joint portion 5147a to 5147c of the arm portion 5145 of the support arm device 5141, and a plurality of arm control devices 5159 cooperate with each other to drive the arm portion 5145. Control may be realized.

(Light source device)
The light source device 5157 supplies the endoscope 5115 with the irradiation light for photographing the surgical site. The light source device 5157 is composed of, for example, an LED, a laser light source, or a white light source composed of a combination thereof. At this time, when a white light source is configured by combining RGB laser light sources, the output intensity and output timing of each color (each wavelength) can be controlled with high accuracy. Therefore, the light source device 5157 white balances the captured image. Can be adjusted. Further, in this case, the laser light from each of the RGB laser light sources is irradiated to the observation target in a time-division manner, and the drive of the image sensor of the camera head 5119 is controlled in synchronization with the irradiation timing to support each of RGB. It is also possible to capture the image in a time-division manner. According to this method, a color image can be obtained without providing a color filter on the image sensor.

Further, the drive of the light source device 5157 may be controlled so as to change the intensity of the output light at predetermined time intervals. By controlling the drive of the image sensor of the camera head 5119 in synchronization with the timing of the change in the light intensity to acquire images in a time-divided manner and synthesizing the images, so-called high dynamic without blackout and overexposure Range images can be generated.

Further, the light source device 5157 may be configured to be able to supply light in a predetermined wavelength band corresponding to special light observation. In special light observation, for example, by utilizing the wavelength dependence of light absorption in body tissue to irradiate light in a narrow band as compared with the irradiation light (that is, white light) in normal observation, the surface layer of the mucous membrane. So-called narrow band imaging, in which a predetermined tissue such as a blood vessel is photographed with high contrast, is performed. Alternatively, in the special light observation, fluorescence observation in which an image is obtained by fluorescence generated by irradiating with excitation light may be performed. In fluorescence observation, the body tissue is irradiated with excitation light to observe the fluorescence from the body tissue (autofluorescence observation), or a reagent such as indocyanine green (ICG) is locally injected into the body tissue and the body tissue is injected. An excitation light corresponding to the fluorescence wavelength of the reagent may be irradiated to obtain a fluorescence image. The light source device 5157 may be configured to be capable of supplying narrow band light and / or excitation light corresponding to such special light observation.

(Camera head and CCU)
The functions of the camera head 5119 and the CCU 5153 of the endoscope 5115 will be described in more detail with reference to FIG. 24. FIG. 24 is a block diagram showing an example of the functional configuration of the camera head 5119 and the CCU 5153 shown in FIG. 23.

Referring to FIG. 24, the camera head 5119 has a lens unit 5121, an imaging unit 5123, a driving unit 5125, a communication unit 5127, and a camera head control unit 5129 as its functions. Further, the CCU 5153 has a communication unit 5173, an image processing unit 5175, and a control unit 5177 as its functions. The camera head 5119 and the CCU 5153 are bidirectionally communicatively connected by a transmission cable 5179.

First, the functional configuration of the camera head 5119 will be described. The lens unit 5121 is an optical system provided at a connection portion with the lens barrel 5117. The observation light taken in from the tip of the lens barrel 5117 is guided to the camera head 5119 and incident on the lens unit 5121. The lens unit 5121 is configured by combining a plurality of lenses including a zoom lens and a focus lens. The optical characteristics of the lens unit 5121 are adjusted so as to collect the observation light on the light receiving surface of the image sensor of the image pickup unit 5123. Further, the zoom lens and the focus lens are configured so that their positions on the optical axis can be moved in order to adjust the magnification and the focus of the captured image.

The image pickup unit 5123 is composed of an image pickup element and is arranged after the lens unit 5121. The observation light that has passed through the lens unit 5121 is focused on the light receiving surface of the image sensor, and an image signal corresponding to the observation image is generated by photoelectric conversion. The image signal generated by the imaging unit 5123 is provided to the communication unit 5127.

As the image sensor constituting the image pickup unit 5123, for example, a CMOS (Complementary Metal Oxide Semiconductor) type image sensor having a Bayer array and capable of color photographing is used. As the image sensor, for example, an image sensor capable of capturing a high-resolution image of 4K or higher may be used. By obtaining the image of the surgical site in high resolution, the surgeon 5181 can grasp the state of the surgical site in more detail, and the operation can proceed more smoothly.

Further, the image pickup elements constituting the image pickup unit 5123 are configured to have a pair of image pickup elements for acquiring image signals for the right eye and the left eye corresponding to 3D display, respectively. The 3D display enables the operator 5181 to more accurately grasp the depth of the biological tissue in the surgical site. When the image pickup unit 5123 is composed of a multi-plate type, a plurality of lens units 5121 are also provided corresponding to each image pickup element.

Further, the imaging unit 5123 does not necessarily have to be provided on the camera head 5119. For example, the imaging unit 5123 may be provided inside the lens barrel 5117 immediately after the objective lens.

The drive unit 5125 is composed of an actuator, and the zoom lens and focus lens of the lens unit 5121 are moved by a predetermined distance along the optical axis under the control of the camera head control unit 5129. As a result, the magnification and focus of the image captured by the imaging unit 5123 can be adjusted as appropriate.

The communication unit 5127 is composed of a communication device for transmitting and receiving various information to and from the CCU 5153. The communication unit 5127 transmits the image signal obtained from the image pickup unit 5123 as RAW data to the CCU 5153 via the transmission cable 5179. At this time, in order to display the captured image of the surgical site with low latency, it is preferable that the image signal is transmitted by optical communication. At the time of surgery, the surgeon 5181 performs the surgery while observing the condition of the affected area with the captured image, so for safer and more reliable surgery, the moving image of the surgical site is displayed in real time as much as possible. This is because it is required. When optical communication is performed, the communication unit 5127 is provided with a photoelectric conversion module that converts an electric signal into an optical signal. The image signal is converted into an optical signal by the photoelectric conversion module and then transmitted to the CCU 5153 via the transmission cable 5179.

Further, the communication unit 5127 receives a control signal for controlling the drive of the camera head 5119 from the CCU 5153. The control signal includes, for example, information to specify the frame rate of the captured image, information to specify the exposure value at the time of imaging, and / or information to specify the magnification and focus of the captured image. Contains information about the condition. The communication unit 5127 provides the received control signal to the camera head control unit 5129. The control signal from CCU5153 may also be transmitted by optical communication. In this case, the communication unit 5127 is provided with a photoelectric conversion module that converts an optical signal into an electric signal, and the control signal is converted into an electric signal by the photoelectric conversion module and then provided to the camera head control unit 5129.

The above imaging conditions such as frame rate, exposure value, magnification, focus, etc. are automatically set by the control unit 5177 of CCU5153 based on the acquired image signal. That is, the so-called AE (Auto Exposure) function, AF (Auto Focus) function, and AWB (Auto White Balance) function are mounted on the endoscope 5115.

The camera head control unit 5129 controls the drive of the camera head 5119 based on the control signal from the CCU 5153 received via the communication unit 5127. For example, the camera head control unit 5129 controls the drive of the image sensor of the image pickup unit 5123 based on the information to specify the frame rate of the captured image and / or the information to specify the exposure at the time of imaging. Further, for example, the camera head control unit 5129 appropriately moves the zoom lens and the focus lens of the lens unit 5121 via the drive unit 5125 based on the information that the magnification and the focus of the captured image are specified. The camera head control unit 5129 may further have a function of storing information for identifying the lens barrel 5117 and the camera head 5119.

By arranging the configuration of the lens unit 5121, the imaging unit 5123, etc. in a sealed structure having high airtightness and waterproofness, the camera head 5119 can be made resistant to autoclave sterilization.

Next, the functional configuration of CCU5153 will be described. The communication unit 5173 is composed of a communication device for transmitting and receiving various information to and from the camera head 5119. The communication unit 5173 receives an image signal transmitted from the camera head 5119 via the transmission cable 5179. At this time, as described above, the image signal can be suitably transmitted by optical communication. In this case, corresponding to optical communication, the communication unit 5173 is provided with a photoelectric conversion module that converts an optical signal into an electric signal. The communication unit 5173 provides the image processing unit 5175 with an image signal converted into an electric signal.

Further, the communication unit 5173 transmits a control signal for controlling the drive of the camera head 5119 to the camera head 5119. The control signal may also be transmitted by optical communication.

The image processing unit 5175 performs various image processing on the image signal which is the RAW data transmitted from the camera head 5119. The image processing includes, for example, development processing, high image quality processing (band enhancement processing, super-resolution processing, NR (Noise reduction) processing and / or camera shake correction processing, etc.), and / or enlargement processing (electronic zoom processing). Etc., various known signal processing is included. In addition, the image processing unit 5175 performs detection processing on the image signal for performing AE, AF, and AWB.

The image processing unit 5175 is composed of a processor such as a CPU or GPU, and the above-mentioned image processing and detection processing can be performed by operating the processor according to a predetermined program. When the image processing unit 5175 is composed of a plurality of GPUs, the image processing unit 5175 appropriately divides the information related to the image signal and performs image processing in parallel by the plurality of GPUs.

The control unit 5177 performs various controls related to the imaging of the surgical site by the endoscope 5115 and the display of the captured image. For example, the control unit 5177 generates a control signal for controlling the drive of the camera head 5119. At this time, when the imaging condition is input by the user, the control unit 5177 generates a control signal based on the input by the user. Alternatively, when the endoscope 5115 is equipped with the AE function, the AF function, and the AWB function, the control unit 5177 determines the optimum exposure value, focal length, and the optimum exposure value, depending on the result of the detection processing by the image processing unit 5175. The white balance is calculated appropriately and a control signal is generated.

Further, the control unit 5177 causes the display device 5155 to display the image of the surgical unit based on the image signal that has been image-processed by the image processing unit 5175. At this time, the control unit 5177 recognizes various objects in the surgical site image by using various image recognition techniques. For example, the control unit 5177 detects the shape, color, etc. of the edge of the object included in the surgical site image to detect surgical tools such as forceps, a specific biological part, bleeding, mist when using the energy treatment tool 5135, and the like. Can be recognized. When the display device 5155 displays the image of the surgical site, the control unit 5177 uses the recognition result to superimpose and display various surgical support information on the image of the surgical site. By superimposing the operation support information and presenting it to the operator 5181, it becomes possible to proceed with the operation more safely and surely.

The transmission cable 5179 that connects the camera head 5119 and the CCU 5153 is an electric signal cable that supports electric signal communication, an optical fiber that supports optical communication, or a composite cable thereof.

Here, in the illustrated example, the communication is performed by wire using the transmission cable 5179, but the communication between the camera head 5119 and the CCU 5153 may be performed wirelessly. When the communication between the two is performed wirelessly, it is not necessary to lay the transmission cable 5179 in the operating room, so that the situation where the movement of the medical staff in the operating room is hindered by the transmission cable 5179 can be solved.

The example of the operating room system 5100 to which the technology according to the present disclosure can be applied has been described above. Although the case where the medical system to which the operating room system 5100 is applied is the endoscopic surgery system 5113 has been described here as an example, the configuration of the operating room system 5100 is not limited to such an example. For example, the operating room system 5100 may be applied to an examination flexible endoscopic system or a microsurgery system instead of the endoscopic surgery system 5113.

<This technology>
The present technology can be configured as follows.

(1)
A substrate on which a circuit pattern is formed and having a coil arrangement portion,
A plurality of coils having an annularly formed winding portion and a pair of connecting portions drawn out from the winding portion and arranged in the circumferential direction with the winding portion arranged in the coil arrangement portion.
An annular magnet positioned facing the plurality of coils and
A magnetic detection element that detects the position of the magnet relative to the coil in the rotation direction, and
Equipped with a fulcrum that is used as a rotation fulcrum
Both sides of the coil arrangement portion in the thickness direction are formed as a first arrangement surface and a second arrangement surface, respectively.
The winding portion is arranged on the first arrangement surface,
A drive motor in which the magnetic detection element is arranged on the second arrangement surface.

(2)
A connection terminal is formed in the circuit pattern.
The drive motor according to (1), wherein the tip end portion of the connection portion is connected to the connection terminal portion on the second arrangement surface.

(3)
The drive motor according to (2) above, wherein the connection portion passes through the outside of the outer peripheral surface of the coil arrangement portion and is folded back.

(4)
The drive motor according to (2) or (3), wherein the magnetic detection element is located between adjacent connecting portions in the circumferential direction.

(5)
A bearing that rotatably supports the support shaft is provided.
The drive motor according to any one of (1) to (4) above, wherein the bearing is formed by sintering.

(6)
A base yoke to which the magnet is attached and an opposing yoke in which an arrangement hole in which the magnetic detection element is arranged are formed and located on the opposite side of the magnet with the coil arrangement portion interposed therebetween are provided.
The drive motor according to any one of (1) to (5) above, wherein an auxiliary yoke is provided which is attached to the facing yoke and covers the arrangement hole.

(7)
The drive motor according to any one of (1) to (6) above, wherein a flexible printed wiring board having a conductive portion derived from the coil arrangement portion and extending in a predetermined direction is used as the substrate.

(8)
A lens unit that is rotated in at least one direction orthogonal to the optical axis of the lens with respect to the outer casing,
It is equipped with a drive motor that rotates the lens unit.
The drive motor
A substrate on which a circuit pattern is formed and having a coil arrangement portion,
A plurality of coils having an annularly formed winding portion and a pair of connecting portions drawn out from the winding portion and arranged in the circumferential direction with the winding portion arranged in the coil arrangement portion.
An annular magnet positioned facing the plurality of coils and
A magnetic detection element that detects the position of the magnet relative to the coil in the rotation direction, and
Equipped with a fulcrum that is used as a rotation fulcrum
Both sides of the coil arrangement portion in the thickness direction are formed as a first arrangement surface and a second arrangement surface, respectively.
The winding portion is arranged on the first arrangement surface,
An image blur correction device in which the magnetic detection element is arranged on the second arrangement surface.

(9)
A lens barrel that captures an optical image and
An image sensor that converts the captured optical image into an electrical signal,
A lens unit that is rotated in at least one direction orthogonal to the optical axis of the lens with respect to the outer casing,
It is equipped with a drive motor that rotates the lens unit.
The drive motor
A substrate on which a circuit pattern is formed and having a coil arrangement portion,
A plurality of coils having an annularly formed winding portion and a pair of connecting portions drawn out from the winding portion and arranged in the circumferential direction with the winding portion arranged in the coil arrangement portion.
An annular magnet positioned facing the plurality of coils and
A magnetic detection element that detects the position of the magnet relative to the coil in the rotation direction, and
Equipped with a fulcrum that is used as a rotation fulcrum
Both sides of the coil arrangement portion in the thickness direction are formed as a first arrangement surface and a second arrangement surface, respectively.
The winding portion is arranged on the first arrangement surface,
An imaging device in which the magnetic detection element is arranged on the second arrangement surface.

1 Image pickup device 2 Outer housing 15 Image blur correction device 19 Lens unit 44 Drive motor 44A First drive motor 44B Second drive motor 45 Base yoke 46 Magnet 47 Coil 48 Opposing yoke 48b Arrangement hole 50 Bearing 51 Support shaft 52 winding Part 53 Connection part 53a Tip part 54 Board 55 Coil placement part 55a Outer peripheral surface 56 Conductive part 57 First placement surface 58 Second placement surface 59 Connection terminal part 60 Magnetic detection element 62 Auxiliary yoke 44X Drive motor 47X Coil 50X Bearing 51X Support shaft 52X Winding unit 100 Imaging device 110 Imaging element

Claims (9)

1. A substrate on which a circuit pattern is formed and having a coil arrangement portion,
   A plurality of coils having an annularly formed winding portion and a pair of connecting portions drawn out from the winding portion and arranged in the circumferential direction with the winding portion arranged in the coil arrangement portion.
   An annular magnet positioned facing the plurality of coils and
   A magnetic detection element that detects the position of the magnet relative to the coil in the rotation direction, and
   Equipped with a fulcrum that is used as a rotation fulcrum
   Both sides of the coil arrangement portion in the thickness direction are formed as a first arrangement surface and a second arrangement surface, respectively.
   The winding portion is arranged on the first arrangement surface,
   A drive motor in which the magnetic detection element is arranged on the second arrangement surface.
2. A connection terminal is formed in the circuit pattern.
   The drive motor according to claim 1, wherein the tip end portion of the connection portion is connected to the connection terminal portion on the second arrangement surface.
3. The drive motor according to claim 2, wherein the connection portion passes through the outside of the outer peripheral surface of the coil arrangement portion and is folded back.
4. The drive motor according to claim 2, wherein the magnetic detection element is located between the connecting portions adjacent to each other in the circumferential direction.
5. A bearing that rotatably supports the support shaft is provided.
   The drive motor according to claim 1, wherein the bearing is formed by sintering.
6. A base yoke to which the magnet is attached and an opposing yoke in which an arrangement hole in which the magnetic detection element is arranged are formed and located on the opposite side of the magnet with the coil arrangement portion interposed therebetween are provided.
   The drive motor according to claim 1, wherein an auxiliary yoke is provided which is attached to the facing yoke and covers the arrangement hole.
7. The drive motor according to claim 1, wherein a flexible printed wiring board having a conductive portion derived from the coil arrangement portion and extending in a predetermined direction is used as the substrate.
8. A lens unit that is rotated in at least one direction orthogonal to the optical axis of the lens with respect to the outer casing,
   It is equipped with a drive motor that rotates the lens unit.
   The drive motor
   A substrate on which a circuit pattern is formed and having a coil arrangement portion,
   A plurality of coils having an annularly formed winding portion and a pair of connecting portions drawn out from the winding portion and arranged in the circumferential direction with the winding portion arranged in the coil arrangement portion.
   An annular magnet positioned facing the plurality of coils and
   A magnetic detection element that detects the position of the magnet relative to the coil in the rotation direction, and
   Equipped with a fulcrum that is used as a rotation fulcrum
   Both sides of the coil arrangement portion in the thickness direction are formed as a first arrangement surface and a second arrangement surface, respectively.
   The winding portion is arranged on the first arrangement surface,
   An image blur correction device in which the magnetic detection element is arranged on the second arrangement surface.
9. A lens barrel that captures an optical image and
   An image sensor that converts the captured optical image into an electrical signal,
   A lens unit that is rotated in at least one direction orthogonal to the optical axis of the lens with respect to the outer casing,
   It is equipped with a drive motor that rotates the lens unit.
   The drive motor
   A substrate on which a circuit pattern is formed and having a coil arrangement portion,
   A plurality of coils having an annularly formed winding portion and a pair of connecting portions drawn out from the winding portion and arranged in the circumferential direction with the winding portion arranged in the coil arrangement portion.
   An annular magnet positioned facing the plurality of coils and
   A magnetic detection element that detects the position of the magnet relative to the coil in the rotation direction, and
   Equipped with a fulcrum that is used as a rotation fulcrum
   Both sides of the coil arrangement portion in the thickness direction are formed as a first arrangement surface and a second arrangement surface, respectively.
   The winding portion is arranged on the first arrangement surface,
   An imaging device in which the magnetic detection element is arranged on the second arrangement surface.

Images