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WO2010061789A1 - Dispositif d'entraînement de lentille et procédé de raccordement - Google Patents

Dispositif d'entraînement de lentille et procédé de raccordement Download PDF

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Publication number
WO2010061789A1
WO2010061789A1 PCT/JP2009/069705 JP2009069705W WO2010061789A1 WO 2010061789 A1 WO2010061789 A1 WO 2010061789A1 JP 2009069705 W JP2009069705 W JP 2009069705W WO 2010061789 A1 WO2010061789 A1 WO 2010061789A1
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WIPO (PCT)
Prior art keywords
memory alloy
shape memory
control
coil spring
driving device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2009/069705
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English (en)
Japanese (ja)
Inventor
司 山田
利一郎 日比谷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsumi Electric Co Ltd
Original Assignee
Mitsumi Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2008303938A external-priority patent/JP2010128262A/ja
Priority claimed from JP2008304217A external-priority patent/JP2010128285A/ja
Priority claimed from JP2008310801A external-priority patent/JP2010133350A/ja
Application filed by Mitsumi Electric Co Ltd filed Critical Mitsumi Electric Co Ltd
Publication of WO2010061789A1 publication Critical patent/WO2010061789A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G02B7/08—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted to co-operate with a remote control mechanism

Definitions

  • the present invention relates to a lens driving device, and more particularly to a lens driving device using a shape memory alloy as an actuator.
  • a linear actuator using a shape memory alloy is known as an autofocus actuator or zoom actuator of a camera.
  • Patent Document 1 discloses a lens driving device that can move a lens smoothly and quickly and is miniaturized so that it can be incorporated into a portable information terminal.
  • the lens driving device disclosed in Patent Document 1 includes a lens frame that holds a lens, a fixed frame that has a cylindrical support portion that supports the lens frame so as to be movable only in the optical axis direction, and expands and contracts in the optical axis direction.
  • Coil springs that can be used.
  • the coil spring includes a shape memory alloy spring formed of a shape memory alloy that is concentrically exposed to the outside of the cylindrical support portion and that expands and contracts in the optical axis direction due to a temperature change caused by energization / non-energization.
  • the coil spring includes a front coil spring and a rear coil spring disposed concentrically around the optical axis on the outside of the cylindrical support portion. The front coil spring and the rear coil spring urge the lens frame from the front side and the rear side in the optical axis direction. At least one of the front coil spring and the rear coil spring is formed of a shape memory alloy.
  • Patent Document 2 discloses a camera lens in which the lens can be positioned using a current-memory type shape memory alloy.
  • the camera lens disclosed in Patent Document 2 has a rectangular case, a shaft formed at one corner of the case in the case, and a bearing attached to the shaft so as to be capable of thrust movement.
  • Patent Document 3 discloses a responsive and compact camera sector opening / closing device using a shape memory alloy.
  • the sector opening / closing device for a camera disclosed in Patent Document 3 includes a pair of sectors that open and close an opening of a base plate, and a sector driving unit that opens and closes the pair of sectors.
  • the sector driving means includes a spring and a shape memory alloy. The spring biases the pair of sectors in the direction of closing the opening.
  • the shape memory alloy has a predetermined length, one end is fixed on the base plate, and the other end is supported by the operating portions of the pair of sectors.
  • the shape memory alloy changes its length by applying a voltage, and operates a pair of sectors in a direction to open the opening. The operation of the pair of sectors is controlled by controlling the voltage applied to the shape memory alloy.
  • Patent Document 4 JP 2001-264841 A discloses a control device that controls the position of a driven member using an actuator including a shape memory alloy (SMA).
  • SMA shape memory alloy
  • an actuator is constituted by a shape memory alloy having a shape memorized in a predetermined dimension and an urging means such as a spring for changing a dimension in which an external force is applied to the shape memory alloy.
  • the control device includes applied voltage calculation means and voltage application means.
  • the applied voltage calculation means repeatedly calculates based on information on the target position and current position of the driven member, and calculates a voltage to be applied to the shape memory alloy.
  • the voltage applying means is operated based on the calculation result by the applied voltage calculating means only when the driven member should advance in the first direction or when the driven member should advance in the second direction.
  • a limiting circuit for applying the obtained voltage to the shape memory alloy is included.
  • Patent Document 5 discloses a control device that controls the position of a driven member using an actuator including a shape memory alloy (SMA).
  • SMA shape memory alloy
  • an actuator is configured by a shape memory alloy that has a shape memorized in a predetermined dimension and an urging means such as a spring that changes a dimension in which an external force is applied to the shape memory alloy.
  • the position of the driven member in the first direction in which the shape memory alloy returns to the memory dimension and the second direction in which the urging means changes the dimension of the shape memory alloy Control with an actuator.
  • the control device disclosed in Patent Document 5 includes target position determination means, current position detection means, control output calculation means, and correction means.
  • the target position determining means determines a target position where the driven member should be moved.
  • the current position detecting means detects the current position of the driven member.
  • the control output computing means obtains a control output by computing the difference between the target position and the current position.
  • the correction means performs correction for suppressing the heating of the shape memory alloy in order to stabilize the drive control of the actuator with respect to the calculation result by the control output calculation means.
  • the correction means corrects the voltage applied to the shape memory alloy by adding an offset voltage to the calculation result by the control output calculation means.
  • Patent Document 5 when an actuator is configured using a shape memory alloy (SMA), the problem that the servo control becomes unstable due to the shape memory alloy becoming heated is considered as a final gain (calculation). This is solved by adding an offset voltage to (result).
  • SMA shape memory alloy
  • a shape memory alloy is a matrix memory that can be deformed when an alloy formed in one phase (parent phase) is deformed when it is in another phase. It is an alloy that has the property of returning to its original shape when it is returned to the phase, that is, the shape-memory effect. That is, the shape memory alloy shows a remarkable shape memory effect accompanying the reverse transformation of the thermoelastic martensitic transformation.
  • a TiNi alloy is known as such a shape memory alloy.
  • Such a shape memory alloy is known to have a hysteresis characteristic in a shape change with respect to temperature. That is, the shape memory alloy (SMA) is transformed into two phases of “martensite phase” and “austenite phase” depending on the temperature, and its shape changes. Shape memory alloys (SMA) have different temperatures for transformation into their respective phases, and are generally called as follows. The transformation from the austenite phase to the martensite phase is called “martensitic transformation”.
  • the Ms point is a temperature at which SMA starts to dissipate (cool) and starts to change from the austenite phase (parent phase) to the martensite phase.
  • the Ms point is called “martensitic transformation start temperature” or simply “transformation start temperature”.
  • the Mf point is the temperature at which SMA finishes changing completely from the austenite phase (parent phase) to the martensite phase.
  • the Mf point is called “martensitic transformation completion temperature” or simply “transformation completion temperature”.
  • “Martensitic transformation completion temperature” and “transformation completion temperature” are also referred to as “martensitic transformation completion temperature” and “transformation completion temperature”, respectively.
  • Mf ⁇ Ms.
  • the As point is a temperature at which SMA begins to heat and starts to change from the martensite phase to the austenite phase (parent phase).
  • the As point is called “austenite transformation start temperature” or “reverse transformation start temperature”.
  • the Af point is a temperature at which the SMA finishes changing completely from the martensite phase to the austenite phase (parent phase).
  • the Af point is called “austenite transformation completion temperature” or “reverse transformation completion temperature”.
  • the “austenite transformation completion temperature” and the “reverse transformation completion temperature” are also referred to as “austenite transformation completion temperature” and “reverse transformation completion temperature”, respectively.
  • the martensitic transformation starts at the Ms point and completes at the Mf point, and the parent phase (austenite phase) becomes all martensitic.
  • the reverse transformation from the martensite phase to the parent phase starts at the As point and ends at the Af point, and everything becomes the parent phase (austenite phase).
  • SMA shape memory alloy
  • FIG. 1 is a diagram showing the relationship between the SMA temperature of the SMA coil spring and the SMA spring constant.
  • the horizontal axis indicates the SMA temperature [° C.]
  • the vertical axis indicates the SMA spring constant [N / m].
  • the SMA coil spring is heated by passing a current through the SMA coil spring.
  • the spring constant of the SMA coil spring gradually increases from the As point.
  • the spring constant of the SMA coil spring does not change as shown by the curve (c) in FIG. 1 even when the temperature falls below the temperature (Af point) saturated when the SMA coil spring is heated.
  • the SMA actuator when an SMA actuator is configured using such an SMA coil spring, the SMA actuator is configured by combining the SMA coil spring with an urging coil spring that urges the SMA coil spring in its compression direction.
  • the SMA coil spring dissipates heat and is cooled, its rigidity (spring constant) decreases, so the SMA coil spring contracts by the biasing coil spring. That is, when the SMA is in the martensite phase, the SMA coil spring is in a contracted state.
  • the SMA coil spring when the SMA coil spring is heated, its rigidity (spring constant) increases, so the SMA coil spring expands against the urging force of the urging coil spring. That is, when the SMA is in the austenite phase (parent phase), the SMA coil spring is in an expanded state.
  • a driven member (movable member) can be driven using such an SMA actuator.
  • FIG. 2 is a flowchart showing a conventional control method in which the position of a driven member (movable member) is feedback controlled using the SMA actuator.
  • a control device that realizes a conventional control method includes a position detector that detects the position of the driven member, and a deviation between the current detected position detected by the position detector and the target position.
  • a deviation calculator (subtracter) to be obtained a PID controller to obtain a control value (control signal) based on the deviation, and an operation amount (voltage) based on the control value (control signal) to the SMA coil spring of the SMA actuator.
  • an operation unit control power supply
  • the deviation is measured by a deviation calculator (subtracter) (step S101).
  • the measurement of this deviation is always performed regardless of the state of the SMA coil spring (heating or heat dissipation).
  • a control value is determined from the measured deviation by the PID controller (step S102). That is, based on the measured deviation, the PID controller calculates a control value.
  • the operation unit obtains an operation amount (voltage) from the control value (control signal) and applies it to the SMA coil spring (step S103).
  • Patent Document 6 describes a reverse transformation start temperature (As point), which is a temperature at which a shape memory alloy (SMA) starts to return to its shape.
  • a position control device is disclosed that is set to a high value to prevent inadvertent deformation of the shape memory alloy and at the same time hardly causes a time lag when it is desired to actually deform the shape memory alloy.
  • the position control device disclosed in Patent Document 6 includes preheating means for preheating the shape memory alloy at a temperature slightly lower than the As point or the As point prior to the control of the driven member by the actuator. ing. That is, in Patent Document 6, in order to speed up the response, a certain amount of standby current is supplied to the SMA in advance before the start of control.
  • Patent Document 7 discloses a drive device and a drive control method excellent in high-speed response.
  • a shape memory alloy shape-memory stored in the first state and a bias spring (deformation means) that deforms the shape memory alloy from the first state to the second state are connected to the movable parts, respectively.
  • the shape memory alloy in the second state is heated by applying a voltage or current, and the bias spring is deformed and the movable part is operated by the generated force of the shape memory alloy deformed to the first state by the heating. Operate continuously.
  • the temperature hysteresis or applied current hysteresis of the actuator is reduced by the balance between the material characteristics of the shape memory alloy and the force amount of the bias spring.
  • Patent Document 8 discloses a shape memory alloy actuator control apparatus capable of controlling a nonlinear shape memory alloy actuator including hysteresis. .
  • This shape memory alloy actuator control device performs position control by heating the shape memory alloy using a heater.
  • the shape memory alloy actuator control device includes a sensor that measures at least any two of temperature, strain, and stress of the shape memory alloy, a database that describes the relationship between the temperature, strain, and stress of the shape memory alloy, Storage means for storing signals, and control amount calculation means for calculating the amount of energy for heating the shape memory alloy using data in the database and the storage means are provided.
  • Patent Document 9 controls the voltage applied to both ends of a linear shape memory alloy to control the temperature thereof, thereby shape memory alloy.
  • a length control device for controlling the length of the frame. This length control device disclosed in Patent Document 9 is based on the value of the current flowing through the shape memory alloy, the resistance value calculating means for obtaining the resistance value of the shape memory alloy, and the obtained resistance value of the shape memory alloy.
  • Voltage value calculating means for obtaining a voltage value to be applied to both ends of the shape memory alloy so as to obtain a target resistance value which is a resistance value corresponding to the target length, and applying a voltage of the obtained voltage value to both ends of the shape memory alloy Based on the voltage application means, the resistance value obtained by the resistance value calculation means, and the target resistance value, the operation of the voltage application means is prohibited for a predetermined time, and the operation prohibition means that does not apply the voltage across the shape memory alloy. And comprising.
  • Patent Document 9 in order to improve the response speed during cooling, voltage is not applied to both ends of the shape memory alloy for a predetermined period.
  • Japanese Patent Laying-Open No. 2006-9829 paragraphs 0009 to 0020, FIGS. 1 to 5) JP 2008-40193 A Japanese Patent Laid-Open No. 10-260452 JP 2001-264841 A JP 2001-273034 A (paragraphs 0028 and 0036) JP 2001-263221 A JP 2003-125590 A JP 7-72927 A JP 2007-315352 A
  • the shape memory alloy spring is exposed on the outer side of the cylindrical support portion and arranged concentrically, so that a large-diameter shape memory alloy spring is required. Since the shape memory alloy is very expensive, the lens driving device becomes expensive.
  • Patent Document 2 requires a protruding mechanism that moves the lens holder bearing in the protruding direction against the urging force of the urging spring. As a result, there are problems that the number of parts increases and the structure becomes complicated.
  • the shape memory alloy spring and the shape memory alloy wire are collectively referred to as a shape memory alloy wire.
  • a shape memory alloy wire In order to energize the shape memory alloy wire, it is necessary to electrically connect the end of the shape memory alloy wire to the energizing member.
  • Patent Document 1 and Patent Document 2 do not disclose how to electrically connect the end portion of the shape memory alloy wire and the current-carrying member.
  • control value for performing PID control (a value that determines the voltage applied to the SMA is 100%) is 0% at the start of control. It has an initial value that is a fixed value of 100%.
  • FIG. 3 is a characteristic diagram showing the response characteristics of the SMA actuator in the conventional control method (the control method disclosed in Patent Documents 3 to 5).
  • the horizontal axis represents time [sec]
  • the vertical axis represents actuator height [mm].
  • shape memory alloy SMA
  • SMA shape memory alloy
  • Patent Document 6 the responsiveness is improved by flowing a certain standby current to the SMA in advance before starting the control.
  • FIG. 4 is a characteristic diagram showing response characteristics of the SMA actuator in the control method disclosed in Patent Document 6.
  • the horizontal axis indicates time [sec]
  • the vertical axis indicates the actuator height [mm] and the applied voltage [V] to the SMA.
  • the broken line indicates the voltage applied to the SMA
  • the solid line indicates the height of the actuator.
  • FIG. 5 is a characteristic diagram showing response characteristics of the SMA actuator in the conventional control method.
  • the horizontal axis indicates time [msec]
  • the vertical axis indicates the actuator height [mm] and the applied voltage [V] to the SMA.
  • the broken line indicates the target position, and in the illustrated example, it indicates a case of 0.2 mm.
  • the alternate long and short dash line indicates the voltage applied to the SMA, that is, the operation amount, and the solid line indicates the actuator position.
  • SMA has hysteresis characteristics. As a result, even if energization to the SMA coil spring is turned off and the operation amount is reduced, the actuator position does not change. In spite of such a state, if the operation amount (applied voltage) is reduced, the actuator position suddenly changes at a certain point. Due to the hysteresis characteristics of the SMA, an increase in the manipulated variable (applied voltage) that is excessively reduced during the period in which the actuator position has not changed cannot keep up. As a result, the actuator position cannot be determined.
  • Patent Document 5 discloses a technical idea that prevents the shape memory alloy from being overheated by applying an offset voltage to the calculation result, thereby stabilizing the drive characteristics of the actuator. It ’s just that. That is, in Patent Document 5, since there is no recognition of the response delay due to the hysteresis characteristics of the shape memory alloy, no means for solving it is disclosed or suggested. Therefore, in the control device disclosed in Patent Document 5, it is difficult to stably control the position of the driven member with high accuracy.
  • Patent Document 7 discloses a technical idea in which the temperature hysteresis or applied current hysteresis of the actuator is reduced by the balance between the material characteristics of the shape memory alloy and the force amount of the bias spring. That is, Patent Document 7 only discloses a technical idea of reducing the hysteresis itself of the actuator, and the hysteresis itself cannot be completely eliminated. Therefore, even the drive control method disclosed in Patent Document 7 is accompanied by a response delay due to the hysteresis characteristics of the shape memory alloy. As a result, with the drive control method disclosed in Patent Document 7, it is difficult to stably control the operation of the movable part with high accuracy.
  • the length control device disclosed in Patent Document 9 is based on the premise that a shape memory alloy (SMA) is uniquely required to have a resistance value and a length according to temperature.
  • shape memory alloy (SMA) has a hysteresis characteristic with respect to temperature (see FIG. 1).
  • patent document 9 does not consider the hysteresis characteristic of a shape memory alloy (SMA) at all, it is difficult to control the length of a shape memory alloy with high precision.
  • an object of the present invention is to provide a lens driving device having a small number of parts and a simple structure.
  • Another object of the present invention is to provide a connection method capable of reliably (without inconvenience) electrically connecting an end portion of a shape memory alloy wire and a current-carrying member.
  • Still another object of the present invention is to provide a control apparatus and a control method using an actuator including a shape memory alloy, which can increase responsiveness without increasing current consumption.
  • a further object of the present invention is to provide a control apparatus and a control method using an actuator including a shape memory alloy that can obtain a high-speed response by canceling a response delay due to the hysteresis characteristics of the shape memory alloy (SMA). Is to provide.
  • a lens driving device includes a lens holder that holds a lens, a housing that supports the lens holder so as to be movable only in the optical axis direction, and a coil spring that can expand and contract in the optical axis direction. It is understood that The housing has a substantially rectangular parallelepiped shape.
  • the lens driving device includes a main shaft extending in the optical axis direction at a first corner among the four corners of the housing in the housing.
  • the lens holder has a main bearing on its side surface that is slidably attached to the main shaft.
  • the coil spring includes a front coil spring and a rear coil spring attached to the front side and the rear side of the main shaft, respectively, with the main bearing interposed therebetween. At least one of the front coil spring and the rear coil spring is made of a shape memory alloy spring formed of a shape memory alloy.
  • the lens driving device includes an energizing member for energizing the shape memory alloy spring, and an electrical connecting member for electrically connecting the shape memory alloy spring to the energizing member at the end of the shape memory alloy spring.
  • a front coil spring and a rear coil spring are respectively provided on the front side and the rear side of the main shaft with a main bearing attached to the side surface of the lens holder interposed therebetween, and at least one of the front side coil spring and the rear side coil spring is provided as a shape memory alloy. Therefore, it is possible to provide a lens driving device having a small number of parts and a simple structure.
  • FIG. 10 is a characteristic diagram showing response characteristics of an SMA actuator in a conventional control method (control methods disclosed in Patent Documents 3 to 5).
  • FIG. 10 is a characteristic diagram showing response characteristics of an SMA actuator in the control method disclosed in Patent Document 6.
  • It is a characteristic view which shows the response characteristic of the SMA actuator in the conventional control method. It is the perspective view which looked at the external appearance of the lens drive device by one embodiment of this invention from diagonally forward upper direction.
  • FIG. 8 is a plan view of the autofocus lens driving unit shown in FIG. 7. It is the perspective view which looked at the autofocus lens drive unit shown in FIG. 7 from diagonally backward upper direction. It is the disassembled perspective view which looked at the lens drive device shown in FIG. 6 from diagonally backward upper direction. It is the perspective view which looked at the lens drive device shown in FIG. 6 from diagonally backward upper direction in the state which excluded the intermediate
  • FIG. 1 It is a perspective view which shows the state which electrically connected the 1st edge part of the shape memory alloy spring, and the edge part of conducting wire using the 1st electrical connection member shown in FIG.
  • FIG. 1 It is a block diagram which shows the control apparatus which concerns on the 1st Embodiment of this invention.
  • FIG. 25 is a characteristic diagram showing response characteristics of the SMA actuator in the control device (control method shown in FIG. 24) shown in FIG. 24. It is a block diagram which shows the control apparatus which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows the structure of the arithmetic unit controller used for the control apparatus shown in FIG. It is a flowchart explaining the control method which concerns on the 3rd Embodiment of this invention.
  • FIG. 6 is a perspective view of the external appearance of the lens driving device 20 as viewed obliquely from above and front.
  • FIG. 7 is a perspective view of the lens driving device 20 as viewed obliquely from above and in the state where the intermediate frame 32 and the upper cover 36 are omitted.
  • FIG. 7 is a perspective view of the autofocus lens driving unit 40 of the lens driving device 20 shown in FIG.
  • FIG. 8 is an exploded perspective view of the lens driving device 20 as viewed obliquely from above and front.
  • FIG. 9 is a plan view of the autofocus lens driving unit 40 shown in FIG. FIG.
  • FIG. 10 is a perspective view of the lens driving device 20 as viewed obliquely from above and rearward with the intermediate frame 32 and the upper cover 36 omitted.
  • FIG. 10 is a perspective view of the autofocus lens driving unit 40 as viewed obliquely from above and rearward.
  • FIG. 11 is an exploded perspective view of the lens driving device 20 as viewed obliquely from above and rearward.
  • FIG. 12 is a perspective view of the lens driving device 20 as viewed obliquely from above and rearward with the intermediate frame 32, the upper cover 36, and the lens barrel 421 omitted.
  • FIG. 13 is a perspective view of the lens driving device 20 as viewed obliquely from above and rearward with the intermediate frame 32, the upper cover 36, and the lens movable portion 42 omitted.
  • an orthogonal coordinate system (X, Y, Z) is used.
  • the X-axis direction is the front-rear direction (depth direction)
  • the Y-axis direction is the left-right direction (width direction)
  • Z The axial direction is the vertical direction (height direction).
  • the illustrated lens driving device 20 is used as the lens driving unit 44 of the autofocus lens driving unit 40, for example.
  • the vertical direction Z is the direction of the optical axis O of the lens.
  • the optical axis O direction that is, the Z-axis direction is the front-rear direction.
  • the upward direction of the Z axis is the forward direction
  • the downward direction of the Z axis is the backward direction.
  • the lens driving device 20 includes a substantially rectangular parallelepiped housing (housing) 30 that covers an autofocus lens driving device 40 to be described later.
  • the autofocus lens driving unit 40 is disposed in the housing (housing) 30.
  • the housing (housing) 30 includes a hollow intermediate frame 32, an actuator base 34, and an upper cover 36.
  • the intermediate frame 32 is provided between the upper cover 36 and the actuator base 34.
  • the intermediate frame 32 has a substantially rectangular tube shape.
  • an image sensor arranged on the substrate is mounted in the center of the actuator base 34.
  • This imaging device captures a subject image formed by a movable lens (described later) and converts it into an electrical signal.
  • the image pickup device is configured by, for example, a charge coupled device (CCD) image sensor, a complementary metal oxide (CMOS) image sensor, or the like.
  • a guide shaft 37 is provided in the housing (housing) 30 on the left back side.
  • the guide shaft 37 extends in parallel with the optical axis O.
  • the guide shaft 37 stands on the actuator base 34 of the housing (housing) 30.
  • a cylindrical drive shaft 38 is provided on the right front side opposite to the guide shaft 38 with the optical axis O interposed therebetween.
  • the drive shaft 38 also extends in parallel with the optical axis O and stands on the actuator base 34 of the housing (housing) 30. That is, the guide shaft 37 and the drive shaft 38 are disposed at rotationally symmetric positions around the optical axis O.
  • the drive shaft 38 is also called a main shaft, and the guide shaft 37 is also called a sub shaft.
  • the drive shaft (main shaft) 38 extends in the optical axis O direction at the first corner among the four corners of the housing 30 in the housing 30.
  • the guide shaft (sub shaft) 37 is provided at a second corner diagonally opposite to the first corner in the housing 30 with a lens holder 422 (described later) interposed therebetween. That is, the guide shaft (sub shaft) 37 is provided in the housing 30 at a position that is twice rotationally symmetric with respect to the optical axis O with respect to the drive shaft (main shaft) 38.
  • the autofocus lens driving unit 40 includes a lens movable unit 42 and a lens driving unit 44.
  • the lens driving unit 44 drives the lens moving unit 42 as described later while supporting the lens moving unit 42 slidably in the optical axis O direction.
  • the lens movable unit 42 includes a lens barrel (lens assembly) 421 that holds an autofocus lens AFL that is a movable lens.
  • the lens barrel 421 is held and fixed in a substantially cylindrical movable lens barrel (lens holder) 422.
  • a female screw (not shown) is cut on the inner peripheral wall of the lens holder 422.
  • a male screw (not shown) that is screwed into the female screw is cut on the outer peripheral wall of the lens barrel 421. Therefore, in order to attach the lens barrel 421 to the lens holder 422, the lens barrel 421 is rotated around the optical axis O with respect to the lens holder 422 and screwed along the direction of the optical axis O. It is accommodated in the lens holder 422 and joined together by an adhesive or the like.
  • the lens holder 422 has a first extending portion (first engaging portion) 4221 extending radially outward on the left back side.
  • the first extending portion (first engaging portion) 4221 has a substantially U-shaped recess 4221u that opens outward in the radial direction, and the guide shaft 37 is accommodated in the recess 4221u. That is, the first extending portion (first engaging portion) 4221 is attached to the guide shaft (sub shaft) 37 so as to be slidable. Therefore, the first extending portion (first engaging portion) 4221 is also called a secondary bearing.
  • the combination of the guide shaft (secondary shaft) 37 and the first extending portion (secondary bearing) 4221 prevents the lens holder 422 from rotating around the main shaft 38 so that the lens holder 422 is linear only in the optical axis O direction. It works as a guide mechanism to guide to.
  • the lens holder 422 has a second extending portion (second engaging portion) 4222 extending radially outward on the right front side.
  • the second extending portion (second engaging portion) 4222 has a through hole 4222t through which the drive shaft (main shaft) 38 is inserted. That is, the second extending portion (second engaging portion) 4222 is attached to the drive shaft (main shaft) 38 so as to be slidable. Therefore, the second extending portion (second engaging portion) 4222 is also called a main bearing.
  • the lens movable portion 42 can move only in the direction of the optical axis O with respect to the housing (housing) 30.
  • the lens movable part 42 of the autofocus lens driving unit 40 is configured by a combination of the lens holder 422 and the lens barrel (lens assembly) 421.
  • FIG. 14 is a right side view showing the lens driving unit 44 in an enlarged manner.
  • the illustrated lens driving unit 44 includes a coil spring that can expand and contract in the optical axis O direction. More specifically, the lens driving portion (coil spring) 44 has an upper coil spring 442 provided above and below the main shaft (drive shaft) 38 with the second extension portion (main bearing) 4222 interposed therebetween. And a lower coil spring 444.
  • the optical axis O direction that is, the Z-axis direction is the front-rear direction
  • the upper coil spring 442 and the lower coil spring 444 are also referred to as a front coil spring and a rear coil spring, respectively.
  • the front coil spring (upper coil spring) 442 is disposed between the top surface of the intermediate frame 34 and the main bearing 4222.
  • the rear coil spring (lower coil spring) 444 is disposed between the main bearing 4222 and the actuator base 34.
  • the front coil spring 442 is constituted by a biasing spring made of stainless steel (SUS), and the rear coil spring 444 is constituted by a shape memory alloy spring formed of a shape memory alloy.
  • a “shape memory alloy” is a metal having a property that a given deformation strain becomes zero in a specific temperature region and recovers to its original shape.
  • the shape memory alloy is made of, for example, a TiNi alloy.
  • the front coil spring (biasing spring) 442 acts to urge the second extending portion (main bearing) 4222 downward (rearward).
  • the rear coil spring (shape memory alloy spring) 444 expands as shown by an arrow A in FIG.
  • the front coil spring (biasing spring) 442 contracts via the second extending portion (main bearing) 4222 as indicated by an arrow B in FIG.
  • the rear coil spring (shape memory alloy spring) 444 contracts via the second extending portion (main bearing) 4222 by the biasing force of the front coil spring (biasing spring) 442.
  • the rear coil spring (shape memory alloy spring) 444 expands and contracts in the direction of the optical axis O due to a temperature change caused by energization / non-energization, and drives the lens holder 422 in the direction of the optical axis O.
  • the front coil spring 442 is composed of a stainless steel biasing spring
  • the rear coil spring 444 is composed of a shape memory alloy spring formed of a shape memory alloy, but is not limited thereto.
  • the front coil spring 442 may be configured from a shape memory alloy spring formed of a shape memory alloy
  • the rear coil spring 444 may be configured from a stainless steel biasing spring.
  • both the front coil spring 442 and the rear coil spring 444 may be formed of a shape memory alloy spring formed of a shape memory alloy.
  • the lens driving unit 44 and the lens movable unit 42 are juxtaposed with respect to the optical axis O as shown in FIGS. Therefore, the focus lens drive unit 40 can be reduced in height. As a result, the drive device 20 can also be reduced in height.
  • the lens driving device 20 includes an energization member 52 for energizing the rear coil spring (shape memory alloy spring) 444 and a rear coil spring (shape memory alloy spring). 444 is provided with an electrical connection member 54 that is electrically connected to the current-carrying member 52 at an end surface (described later) of the rear coil spring (shape memory alloy spring) 444.
  • the energizing member 52 is formed (mounted) on the actuator base 34 and has arc-shaped first and second conductor patterns 521 and 522, and a conductor 523 having one end connected to the first conductor pattern 521 by solder. And have.
  • the illustrated first and second conductor patterns 521 and 522 are made of a copper pattern.
  • the illustrated conducting wire 523 is made of a copper litz wire.
  • the electrical connection member 54 is a first electrical connection that electrically connects the first end 444a of the rear coil spring (shape memory alloy spring) 444 to the first conductor pattern 521 through the conductor 523.
  • a member 541 and a second electrical connection member 542 that electrically connects the second end 444b of the rear coil spring (shape memory alloy spring) 444 to the second conductor pattern 522 are configured.
  • the related first electrical connection member 541 ⁇ / b> A is configured only by the pipe-shaped electrode 5412. That is, the first end portion 444a of the shape memory alloy spring 444 and the other end of the conducting wire 523 are electrically connected by caulking the pipe electrode 5412.
  • FIG. 16 shows a cross section of a shape memory alloy spring (shape memory alloy wire) 444.
  • shape memory alloy wire 444 the outer peripheral surface of the shape memory alloy main body 4442 is covered with an oxide film 4444.
  • the oxide film 4444 is formed on the outer peripheral surface of the shape memory alloy main body 4442 because the annealing (temperature around 800 ° C. to 1000 ° C.) and the shape memory (temperature around 400 ° C.) when the shape memory alloy wire 444 is produced. It is for receiving the heat history of.
  • the diameter (wire diameter) ⁇ of the shape memory alloy wire 444 is 0.1 mm or less.
  • the wire diameter ⁇ of the actual shape memory alloy wire 444 is about 0.020 mm to 0.080 mm. Therefore, it is very difficult to remove the oxide film 4444 physically / chemically.
  • “physical removal” means polishing / grinding
  • scientific removal means etching with hydrofluoric acid.
  • the oxide film 4444 cannot be completely broken simply by electrically connecting the end portion 444a of the shape memory alloy spring 444 and the conducting wire 52 by caulking the pipe electrode 5412. As a result, variation in electrical resistance occurs at the caulking connection portion for each product. When the electric resistance becomes high, the following problems occur.
  • the shape memory alloy spring 444 is originally driven by Joule heat by energization.
  • the electrical resistance increases at the caulking connection part, malfunction occurs due to heat generated at the caulking connection part.
  • the power consumption of the lens driving device 20 increases.
  • a thin shape memory alloy having a diameter of 0.1 mm or less is used as the shape memory alloy spring (shape memory alloy wire) 444 in the lens driving device 20. .
  • shape memory alloy spring (shape memory alloy wire) 444 is broken.
  • the first end 444a of the shape memory alloy wire (shape memory alloy spring) 444 and the other end of the conductive wire 523 are connected to each other reliably (with no defects) in a novel first manner.
  • the electrical connection member 541 is employed.
  • the end surface 444c of the shape memory alloy spring (shape memory alloy wire) 444 is cut substantially perpendicular to the longitudinal direction of the shape memory alloy spring (shape memory alloy wire) 444. Note that the oxide layer 4444 is not covered.
  • FIG. 17 is a perspective view showing the first electrical connecting member 541 according to the present invention.
  • the first electrical connection member 541 is injected into the caulking tool 5412 and the caulking tool 5412 into which the first end 444a of the shape memory alloy spring 444 and the other end (end part) of the conducting wire 523 are inserted. And a conductive adhesive 5414.
  • the illustrated crimping tool 5412 is composed of a pipe-like electrode.
  • the illustrated crimping tool 5412 has an inner diameter ⁇ of 0.28 mm.
  • the illustrated conductive adhesive 5414 for example, TB-3301W manufactured by Three Bond Co., Ltd. is used.
  • silver is used as a conductive material, and an epoxy resin is used as an adhesive.
  • FIG. 18 is a perspective view showing a state in which the first end portion 444a of the shape memory alloy spring 444 and the end portion of the conductive wire 523 are electrically connected using the first electrical connection member 541.
  • a crimping tool (pipe-like electrode) 5412 into which the first end 444a of the shape memory alloy spring 444 and the end of the conducting wire 523 can be inserted is prepared.
  • a conductive adhesive 5414 is injected into the crimping tool (pipe-like electrode) 5412.
  • the first end portion 444 a of the shape memory alloy spring 444 and the end portion of the conducting wire 523 are inserted into the conductive adhesive 5414 in the crimping tool (pipe-like electrode) 5412.
  • the crimping tool (pipe-like electrode) 5412 is caulked.
  • the conductive adhesive 5414 is thermally cured at a predetermined temperature.
  • the end surface (cut surface) 444 c of the shape memory alloy spring 444 does not have the oxide film 4444, so the first end of the shape memory alloy spring 444 is formed by the first electrical connection member 541.
  • the portion 444a and the end portion of the conducting wire 523 can be reliably electrically connected.
  • the crimping tool 5412 After inserting the end of 444a into the crimping tool 5412, the crimping tool 5412 may be crimped, and the conductive adhesive 5414 may be thermally cured at a predetermined temperature.
  • the poor conduction between the first end portion 444a of the shape memory alloy spring (shape memory alloy wire) 444 and the end portion of the conducting wire 523 is improved without substantially increasing the manufacturing cost and the component cost of the lens driving device 20. It becomes possible to do.
  • the cost is increased by using the conductive adhesive 5414.
  • the inner diameter ⁇ of the crimping tool (pipe-like electrode) 5412 shown in FIG. 17 is 0.28 mm, and the diameter is further reduced by further thinning. Therefore, the amount of the conductive adhesive 5414 used is extremely small, and the cost is hardly increased.
  • the second electrical connection member 542 includes a caulking tool 5422 formed by bending an end portion of the second conductor pattern 522 and a conductive material injected into the caulking tool 5422. Adhesive (not shown).
  • a conductive adhesive is injected into the crimping tool 5422.
  • the crimping tool 5422 is caulked so that the second end 444b of the shape memory alloy spring 444 is in contact with the conductive adhesive and the second end 444b of the shape memory alloy spring 444 is covered.
  • the conductive adhesive 5414 is thermally cured at a predetermined temperature.
  • the end surface (cut surface) 444 c of the shape memory alloy spring 444 does not have the oxide film 4444, so that the second end of the shape memory alloy spring 444 is formed by the second electrical connection member 542.
  • the portion 444b and the second conductor pattern 522 can be reliably electrically connected.
  • the second end portion 444b of the shape memory alloy spring 444 is brought into contact with the conductive adhesive.
  • the reverse may be possible. That is, after the conductive adhesive is attached to the second end 444b of the shape memory alloy spring 444 and the second end 444b of the shape memory alloy spring 444 is inserted into the crimping tool 5422, the crimping tool 5422 is caulked.
  • the conductive adhesive may be heat-cured at a predetermined temperature.
  • the end surface 444c of the shape memory alloy spring 444 is cut substantially perpendicular to the longitudinal direction of the shape memory alloy spring 444, but may be cut obliquely.
  • the conductive adhesive is thermally cured at a predetermined temperature. That is, a thermosetting type is used as the conductive adhesive.
  • the conductive adhesive is not limited to this type, and may be an ultraviolet curing type or a natural curing type. Therefore, in general, the conductive adhesive may be cured under predetermined conditions.
  • control device 100 Referring to FIG. 19, the control device 100 according to the first embodiment of the present invention will be described.
  • the control device 100 shown in the figure is arranged such that the position of the lens movable unit 42 (lens holder 422) of the lens driving device 20 (autofocus lens driving unit 40) shown in FIGS. (SMA actuator) This is a device controlled using 44.
  • the illustrated control device 100 detects the position (actuator position) of the lens movable unit 42 (lens holder 422) and outputs a detection signal indicating the current detection position, and the detection signal represents the detection position.
  • a deviation calculator 120 for obtaining a deviation between a current detected position to be detected and a target position represented by an actuator position command value supplied from an external controller, and outputting a deviation signal representing the deviation, and based on the deviation signal
  • a PID controller 130 that outputs a control signal; and a control power source (operation unit) 140 that applies a voltage as an operation amount to the lens driving unit (SMA actuator) 44 based on the control signal.
  • the illustrated control power source (operation unit) 140 applies a voltage of 0 to 3.3 V as a voltage to be applied to the lens driving unit (SMA actuator) 44.
  • the maximum value of the control value described later is set to 100%. In this case, when the control value is 0%, the control power source (operation unit) 140 outputs 0 V as the operation amount (applied voltage), and when the control value is 100%, the control power source (operation unit) 140 outputs the operation amount ( 3.3V is output as the applied voltage.
  • the illustrated PID controller 130 includes an A / D converter 132, a control value calculator 134, a D / A converter 136, and an initial value calculator 137.
  • the A / D converter 132 converts the deviation signal into a digital deviation value.
  • the control value calculator 134 performs a known PID calculation on the deviation value to calculate the control value.
  • the control value calculator 134 has a proportional gain Gp, an integral gain Gi, and a differential gain Gd. As described above, the control value calculator 134 outputs a control value whose maximum value is 100%.
  • the D / A converter 136 converts the control value into an analog control signal.
  • the initial value calculator 137 sets an initial value of the control value corresponding to the initial voltage to be applied to the shape memory alloy spring 444 constituting the SMA actuator 44 based on the target position as a predetermined function (calculation formula) as will be described later. ) This initial value is supplied to the control value calculator 134.
  • the control value calculator 134 supplies this initial value as a control value to the D / A converter 136 at the start of control.
  • the control power source (operation unit) 140 corresponds to the initial value.
  • the initial voltage thus applied is applied to the shape memory alloy spring 444 constituting the SMA actuator 44.
  • the initial value of the control value is not fixed to 0% or 100%, but an optimal value for the target position is selected. It should be noted that here, only the initial value of the control value is determined, and the shape memory alloy spring 444 constituting the SMA actuator 44 is not energized. Therefore, in the present invention, the initial value of the control value varies depending on the target position (height) of the SMA actuator 44.
  • the initial value calculator 137 obtains an initial value according to a predetermined function such that the initial value gradually increases as the target position increases.
  • the predetermined function has a direction coefficient a when the target position is an independent variable x (0% ⁇ x ⁇ 100%) and the initial value is a dependent variable y (0% ⁇ y ⁇ 100%). It is expressed by the following linear function equation having an intercept b on the y-axis.
  • y ax + b However, 0 ⁇ a ⁇ 1, 0 ⁇ b ⁇ 100, and (100a + b) ⁇ 100.
  • the values of the direction coefficient a and the intercept b are not limited to them.
  • the values of the direction coefficient a and the intercept b may be set to optimum values depending on the design of the SMA actuator 44, the shape and design of the shape memory alloy spring 444, and the like.
  • the predetermined function is not limited to the linear function, and other functions may be used.
  • the microcomputer has an input unit (A / D converter 132) for inputting a deviation signal from the deviation calculator (subtractor) 120, and an output unit (D / A converter 136) for outputting a control signal. , And an arithmetic processing unit (not shown) that executes arithmetic operations.
  • the arithmetic processing unit executes a calculation corresponding to the control value calculator 134 and the initial value calculator 137 shown in FIG.
  • the arithmetic processing unit includes a storage unit (ROM or RAM) for storing programs and data, and a processing unit (CPU) for controlling the input unit, the output unit, and the storage unit according to the program stored in the storage unit. Consists of.
  • FIG. 20 is a characteristic diagram showing response characteristics of the SMA actuator 44 in the control method of the control device 100 shown in FIG.
  • the horizontal axis indicates time [sec], and 0 second is the control start time. A negative time is a state before control.
  • the vertical axis indicates the actuator height [mm] and the voltage [V] applied to the SMA spring 444.
  • the broken line indicates the voltage applied to the SMA spring 444 (operation amount), and the solid line indicates the height of the actuator.
  • FIG. 21 is a characteristic diagram showing response characteristics of the SMA actuator 44 in the control method of the present invention and the conventional control method.
  • the horizontal axis represents time [sec]
  • the vertical axis represents actuator height [mm].
  • the control value (initial value) at the start of control is 50%.
  • the SMA actuator 44 responds as shown by the solid line in FIG. That is, compared with the case where the control value (initial value) at the start of control is 100%, the control method of the present invention can prevent overshoot, and thus can reduce power consumption. Moreover, compared with the case where the control value (initial value) at the start of control is 0%, the method of the present invention can shorten the control time.
  • control value (initial value) at the start of control is increased from 0%, a quick rise can be obtained without increasing the gain of the PID controller 130. As a result, the control time can be shortened. Further, since it is not necessary to increase the gain of the PID controller 130, the divergence of the control result can be prevented.
  • the movable member is the lens movable portion of the autofocus lens driving unit.
  • the present invention is not limited to this and can be applied to various types. is there.
  • the movable member is a hand in a camera sector opening / closing device (shutter mechanism) as disclosed in Patent Documents 3 and 6 or an optical device with a camera shake correction function as disclosed in Patent Documents 4 to 6. It may be a shake correction optical system (hand shake correction mechanism) or the like.
  • control device 100A according to a second embodiment of the present invention will be described.
  • the control device 100A shown in the drawing is arranged such that the position of the lens movable unit 42 (lens holder 422) of the lens driving device 20 (autofocus lens driving unit 40) shown in FIGS.
  • This is a device that performs feedback control by controlling energization of the shape memory alloy coil spring 444 using the (SMA actuator) 44.
  • the illustrated control device 100A has the same configuration as that of the control device 100 shown in FIG. 19 and operates except that the configuration and operation of the PID controller are different as will be described later. Therefore, the reference numeral 130A is assigned to the PID controller.
  • the illustrated PID controller 130 ⁇ / b> A has the same configuration as the PID controller 130 shown in FIG. 19 and operates except that it includes a computing unit controller 138 instead of the initial value computing unit 137.
  • Components having the same functions as those shown in FIG. 19 are denoted by the same reference numerals, and only different points will be described below for simplification of description.
  • the calculator controller 138 controls the operation of the control value calculator 134 so as to cancel the hysteresis characteristic of the shape memory alloy coil spring 444 based on the control value and the deviation value.
  • FIG. 23 is a block diagram showing a configuration of a computing unit controller 138 used in the control device 100A shown in FIG.
  • the calculator controller 138 includes a heating / heat radiation detector 150 and a calculation on / off determiner 160.
  • the heating / heat dissipation detector 150 determines whether the shape memory alloy coil spring 444 is in a heating state or a heat dissipation state based on the control value. More specifically, the heating / heat radiation detector 150 includes a control value latch circuit 152 and a control value comparator 154.
  • the control value latch circuit 152 latches the current control value and outputs the previous control value.
  • the control value comparator 154 compares the current control value with the previous control value and outputs a control value comparison result. When the previous control value is equal to or less than the current control value, the control value comparator 154 outputs a start signal indicating that the shape memory alloy coil spring 444 is in a heat dissipation state as a control value comparison result.
  • the calculation on / off determiner 160 is activated when the heating / heat dissipation detector 150 determines that the heat dissipation state is present. That is, the computation on / off determination unit 160 is activated in response to the activation signal supplied from the heating / heat radiation detector 150.
  • the calculation on / off determiner 160 determines the calculation on / off of the control value calculator 134 based on the deviation, as will be described later.
  • the operation on / off determiner 160 includes a deviation latch circuit 162 and a deviation comparator 164.
  • the deviation latch circuit 162 latches the current deviation value and outputs the previous deviation value.
  • the deviation comparator 164 compares the current deviation value with the previous deviation value. When the current deviation value is equal to the previous deviation value, the deviation comparator 164 outputs a calculation off signal for turning off the calculation of the control value calculator 134 as a coincidence signal.
  • the computation on / off determiner 160 is activated when the heating / heat radiation detector 150 determines that the heat radiation state has occurred, and functions as a computing unit controller that controls the operation of the control value computing unit 134 based on the deviation value. .
  • the control value calculator 134 stops the calculation of the control value in response to the calculation off signal and outputs the previous control value as it is as the current control value.
  • the microcomputer has an input unit (A / D converter 132) for inputting a deviation signal from the deviation calculator (subtractor) 120, and an output unit (D / A converter 136) for outputting a control signal. , And an arithmetic processing unit (not shown) that executes arithmetic operations.
  • the arithmetic processing unit executes arithmetic operations corresponding to the control value arithmetic unit 134 and the arithmetic unit controller 138 shown in FIG.
  • the arithmetic processing unit includes a storage unit (ROM or RAM) for storing programs and data, and a processing unit (CPU) for controlling the input unit, the output unit, and the storage unit according to the program stored in the storage unit. Consists of.
  • FIG. 24 is a flowchart for explaining the operation of the arithmetic processing unit (processing unit) that operates according to the program stored in the storage unit when the PID controller 130A is realized by the microcomputer.
  • processing unit arithmetic processing unit
  • the arithmetic processing unit obtains a deviation signal (deviation value) measured by the deviation calculator (subtractor) 120 (step S201). Subsequently, the arithmetic processing unit determines whether the shape memory alloy coil spring 444 is in a heating state or a heat dissipation state (step S202). This determination is made by comparing the previous control value with the current control value. That is, when the current control value is equal to or less than the previous control value, the arithmetic processing unit determines that the shape memory alloy coil spring 444 is in a heat dissipation state.
  • the arithmetic processing unit compares the current deviation with the previous deviation. It is determined that the state of the alloy is maintained (step S203).
  • step S204 determines a control value. That is, based on the measured deviation, the arithmetic processing unit (PID controller) calculates a control value.
  • step S203 when it is determined that there is no difference between the current deviation and the previous deviation (Yes in step S203), the arithmetic processing unit skips step S204 and calculates the control value by the PID controller. Not performed. That is, the arithmetic processing unit outputs the previous control value as it is as the current control value.
  • the arithmetic processing unit stores the control value in the storage unit (step S205), and records the deviation in the storage unit (step S206). Finally, the arithmetic processing unit supplies a control signal to the control power source (operation unit) 140 via the output unit (D / A converter 136), and receives an operation amount (voltage) from the control power source (operation unit) 140.
  • the shape memory alloy coil spring 444 is applied (step S207).
  • FIG. 25 is a characteristic diagram showing response characteristics of the SMA actuator 44 in the control device 100A shown in FIG. 22 (control method shown in FIG. 24).
  • the horizontal axis indicates time [msec]
  • the vertical axis indicates the actuator height [mm] and the voltage [V] applied to the shape memory alloy coil spring 444.
  • the broken line indicates the target position, and in the example shown in the figure, the broken line is 0.2 mm.
  • the alternate long and short dash line indicates the voltage applied to the shape memory alloy coil spring 444, that is, the operation amount, and the solid line indicates the actuator position.
  • the shape memory alloy coil spring 444 is in a heat dissipation state, and there is no difference between the current deviation and the previous deviation. In this case, the operation amount (applied voltage) to the shape memory alloy coil spring 444 is not changed. As a result, the operation amount (applied voltage) to the shape memory alloy coil spring 444 can be maintained.
  • the shape memory alloy coil spring 444 exceeds the Ms point (transformation start temperature) of the hysteresis characteristic shown in FIG.
  • the operation amount (applied voltage) to the shape memory alloy coil spring 444 is held, the operation amount ( (Applied voltage) can be increased.
  • the undershoot of the SMA actuator 44 as shown by the thin broken line in FIG. 25 can be suppressed.
  • the response speed of the actuator position control is increased, and the stability can be improved.
  • control device 100B according to a third embodiment of the present invention will be described.
  • the illustrated control device 100B has the same configuration as the control device 100A shown in FIG. 22 and operates except that the configuration and operation of the PID controller are different as will be described later. Therefore, the reference numeral 130B is attached to the PID controller.
  • the illustrated PID controller 130B has the same configuration as the PID controller 130A shown in FIG. 22 and operates except that the configuration and operation of the computing unit controller are different as will be described later. Therefore, reference numeral 138A is assigned to the arithmetic unit controller. Components having the same functions as those shown in FIG. 22 are denoted by the same reference numerals, and only different points will be described below for simplification of description.
  • FIG. 27 is a block diagram showing a configuration of a computing unit controller 138A used in the control device 100B shown in FIG.
  • the computing unit controller 138A includes a heating / heat radiation detector 150 and a gain controller 170.
  • the heating / heat radiation detector 150 has the same configuration as the heating / heat radiation detector 150 shown in FIG.
  • the gain controller 170 includes a deviation latch circuit 172, a deviation comparator 174, and a gain suppressor 176.
  • Deviation latch circuit 172 and deviation comparator 174 have the same configuration as that of deviation latch circuit 162 and deviation comparator 164 shown in FIG. 23 and operate, and therefore, description thereof is omitted.
  • the gain suppressor 176 suppresses the gain of the control value calculator 134 (FIG. 26) in response to the coincidence signal supplied from the deviation comparator 174. That is, the gain suppressor 176 supplies a gain suppression signal for suppressing the gain of the control value calculator 134 (FIG. 26) to the control value calculator 134 (FIG. 26).
  • the gain suppressor 170 is activated when the heating / heat dissipation detector 150 determines that it is in a heat dissipation state, and functions as a calculator control unit that controls the operation of the control value calculator 134 based on the deviation value.
  • the control value calculator 134 suppresses the gains (proportional gain Gp, integral gain Gi, differential gain Gd) in response to the gain suppression signal.
  • the microcomputer includes an input unit (A / D converter 132) that inputs a deviation signal from the deviation calculator (subtractor) 120, an output unit (D / A converter 136) that outputs a control signal, And an arithmetic processing unit (not shown) for executing the arithmetic operation.
  • the arithmetic processing unit executes arithmetic operations corresponding to the control value arithmetic unit 134 and the arithmetic unit controller 138A shown in FIG.
  • the arithmetic processing unit includes a storage unit (ROM or RAM) for storing programs and data, and a processing unit (CPU) for controlling the input unit, the output unit, and the storage unit according to the program stored in the storage unit. Consists of.
  • FIG. 28 is a flowchart for explaining the operation of the arithmetic processing unit (processing unit) that operates according to the program stored in the storage unit when the PID controller 130B is realized by the microcomputer.
  • processing unit arithmetic processing unit
  • the arithmetic processing unit operates in the same manner as the flowchart shown in FIG. 24 except that step 208 is added. Therefore, the same steps as those shown in FIG. 24 are denoted by the same reference numerals, and only the differences will be described below for the sake of simplicity.
  • step S203 when it is determined in step S203 that the current deviation and the previous deviation are the same (Yes in step S203), the arithmetic processing unit skips step S204 and performs the process in step S205. Running.
  • control device 100A control method
  • the shape memory alloy coil spring 444 when the shape memory alloy coil spring 444 is in a heat dissipation state and there is no difference between the current deviation and the previous deviation, An operation amount (applied voltage) to the memory alloy coil spring 444 is held.
  • step S203 when it is determined in step S203 that the current deviation and the previous deviation are the same (Yes in step S203), the arithmetic processing unit sets the gain of the PID controller.
  • the process of lowering (suppressing) is performed (step S208), and the process of step S204 is executed.
  • control device 100B control method
  • the shape memory alloy coil spring 444 when the shape memory alloy coil spring 444 is in a heat dissipation state and there is no difference between the current deviation and the previous deviation, The operation amount (applied voltage) to the shape memory alloy coil spring 444 is gradually decreased.
  • the shape memory alloy coil spring 444 exceeds the Ms point (transformation start temperature) of the hysteresis characteristic shown in FIG.
  • the operation amount (applied voltage) to the shape memory alloy coil spring 444 is gradually reduced, so that the operation is immediately performed.
  • the amount (applied voltage) can be increased.
  • control device 100B control method according to the third embodiment of the present invention can suppress the undershoot of the SMA actuator 44 as shown by the thin broken line in FIG. As a result, the response speed of the actuator position control is increased, and the stability can be improved.
  • the present invention has been described above with reference to preferred embodiments, it is apparent that various modifications can be made by those skilled in the art without departing from the spirit of the present invention.
  • the movable member may be a camera shake correction optical system (a camera shake correction mechanism) in an optical device with a camera shake correction function as disclosed in Patent Documents 5 and 7.
  • the configurations of the heating / heat radiation detector, the computation on / off determiner, and the gain controller are not limited to those of the above-described embodiment, and various configurations may be adopted.
  • the configuration of the calculator controller is not limited to that of the above-described embodiment, and the control value calculation is performed so as to cancel the response delay due to the hysteresis characteristics of the shape memory alloy based on the control value and the deviation. Any configuration may be used as long as it controls the operation of the vessel.
  • the control power supply (operation unit) 140 applies a voltage in the range of 0 to 3.3 V, but the voltage range is not limited to this.
  • a lens driving device includes a lens holder that holds a lens, a housing that supports the lens holder so as to be movable only in the optical axis direction, and a coil spring that can expand and contract in the optical axis direction.
  • the housing has a substantially rectangular parallelepiped shape.
  • the lens driving device includes a main shaft extending in the optical axis direction at a first corner among the four corners of the housing in the housing.
  • the lens holder has a main bearing on its side surface that is slidably attached to the main shaft.
  • the coil spring includes a front coil spring and a rear coil spring attached to the front side and the rear side of the main shaft, respectively, with the main bearing interposed therebetween.
  • At least one of the front coil spring and the rear coil spring is made of a shape memory alloy spring formed of a shape memory alloy.
  • the lens driving device includes an energizing member for energizing the shape memory alloy spring, and an electrical connecting member for electrically connecting the shape memory alloy spring to the energizing member at the end of the shape memory alloy spring.
  • the lens driving device further includes a guide mechanism that prevents rotation around the main axis of the lens holder and guides the lens holder linearly only in the optical axis direction.
  • the guide mechanism is preferably provided at a second corner diagonally opposite the first corner in the housing with the lens holder interposed therebetween.
  • the guide mechanism includes, for example, a sub shaft provided in a position that is twice rotationally symmetric with respect to the optical axis with respect to the main shaft in the housing, and a sub bearing that is slidably attached to the side shaft of the lens holder. And may be configured.
  • the energizing member may have a conducting wire.
  • the electrical connection member is composed of a caulking tool into which the end of the shape memory alloy spring and the end of the conductive wire are inserted, and a conductive adhesive injected into the caulking tool.
  • the caulking tool may have a pipe shape.
  • the energization member may have a conductor pattern.
  • the electrical connection member is formed of a caulking tool formed at the end of the conductor pattern and into which the end of the shape memory alloy spring is inserted, and a conductive adhesive injected into the caulking tool. It is preferred that Moreover, it is preferable that the end surface of the shape memory alloy spring is cut obliquely with respect to the longitudinal direction of the shape memory alloy spring.
  • a connection method is a connection method for electrically connecting a shape memory alloy wire used as a driving source of a lens driving device to a conductive wire, the end of the shape memory alloy wire and the conductive wire.
  • Prepare a caulking tool that can be inserted into the end of the wire inject a conductive adhesive into the caulking tool, and connect the end of the shape memory alloy wire and the end of the conductor to the conductive adhesive in the caulking tool.
  • the conductive adhesive is cured under a predetermined condition by inserting and caulking the caulking tool.
  • a connection method is a connection method for electrically connecting a shape memory alloy wire used as a driving source of a lens driving device to a conductive wire, the end of the shape memory alloy wire and the conductive wire.
  • a caulking tool that can be inserted into the end of the shape memory alloy, and a conductive adhesive is attached to either the end of the shape memory alloy wire or the end of the conductive wire, or to each of the ends of the shape memory alloy wire.
  • the end portion of the conducting wire is inserted into the caulking tool, the caulking tool is caulked, and the conductive adhesive is cured under predetermined conditions.
  • a connection method is a connection method in which a shape memory alloy wire used as a driving source of a lens driving device is electrically connected to a conductor pattern, and is formed at the end of the conductor pattern.
  • a caulking tool in which the end of the memory alloy wire can be inserted is formed, and a conductive adhesive is injected into the caulking tool, and the end of the shape memory alloy wire is brought into contact with the conductive adhesive in the caulking tool.
  • the conductive adhesive is cured under a predetermined condition by inserting and caulking the caulking tool.
  • a connection method is a connection method in which a shape memory alloy wire used as a driving source of a lens driving device is electrically connected to a conductor pattern, and the shape is formed at the end of the conductor pattern.
  • Form a crimping tool into which the end of the memory alloy wire can be inserted attach a conductive adhesive to the end of the shape memory alloy wire, insert the end of the shape memory alloy wire into the crimping tool, Caulking and curing the conductive adhesive under predetermined conditions.
  • a control device using an actuator including a shape memory alloy is a control device that controls the position of a movable member with an actuator including a shape memory alloy.
  • the control device uses a shape memory alloy based on a target position.
  • An initial value calculator for calculating an initial value of a control value corresponding to the initial voltage to be applied is provided, and the control device applies an initial voltage corresponding to the initial value to the shape memory alloy at the start of control.
  • the initial value calculator preferably obtains the initial value according to a predetermined function such that the initial value gradually increases as the target position increases.
  • a predetermined function such that the initial value gradually increases as the target position increases.
  • the predetermined function is on the direction coefficient a and the y axis.
  • Y ax + b of the following linear function with intercept b of (However, 0 ⁇ a ⁇ 1, 0 ⁇ b ⁇ 100, and (100a + b) ⁇ 100).
  • the movable member may be composed of, for example, a lens holder that holds a lens.
  • the actuator is composed of an actuator that moves the lens holder only in the optical axis direction.
  • a control method using an actuator including a shape memory alloy according to a seventh aspect of the present invention is a control method for controlling the position of a movable member with an actuator including a shape memory alloy, and the shape memory alloy is controlled based on a target position.
  • the initial value calculation step preferably obtains the initial value according to a predetermined function such that the initial value gradually increases as the target position increases.
  • a predetermined function such that the initial value gradually increases as the target position increases.
  • the predetermined function is on the direction coefficient a and the y axis.
  • Y ax + b of the following linear function with intercept b of (However, 0 ⁇ a ⁇ 1, 0 ⁇ b ⁇ 100, and (100a + b) ⁇ 100).
  • the movable member may be composed of, for example, a lens holder that holds a lens.
  • the actuator is composed of an actuator that moves the lens holder only in the optical axis direction.
  • a lens driving device includes a lens holder that holds a lens, a housing that supports the lens holder so as to be movable only in the optical axis direction, and a coil spring that can expand and contract in the optical axis direction.
  • the housing has a substantially rectangular parallelepiped shape.
  • the lens driving device includes a main shaft extending in the optical axis direction at a first corner among the four corners of the housing in the housing.
  • the lens holder has a main bearing on its side surface that is slidably attached to the main shaft.
  • the coil spring includes a front coil spring and a rear coil spring attached to the front side and the rear side of the main shaft, respectively, with the main bearing interposed therebetween.
  • At least one of the front coil spring and the rear coil spring is made of a shape memory alloy spring formed of a shape memory alloy.
  • the lens driving device includes a control device that controls energization of the shape memory alloy spring.
  • the control device includes an initial value calculator that calculates an initial value of the control value corresponding to the initial voltage to be applied to the shape memory alloy spring based on the target position, and shapes the initial voltage corresponding to the initial value at the start of control. Apply to memory alloy spring.
  • the initial value calculator obtains the initial value according to a predetermined function such that the initial value gradually increases as the target position increases.
  • a predetermined function such that the initial value gradually increases as the target position increases.
  • a control device using an actuator including a shape memory alloy is a control device that feedback-controls the position of a movable member with an actuator including a shape memory alloy by controlling energization of the shape memory alloy.
  • a position detector that detects the position of the movable member and outputs a detection signal indicating the current detection position, and calculates a deviation between the current detection position represented by the detection signal and the target position.
  • a deviation calculator for obtaining a control value based on the deviation, an operation unit for applying a voltage that is an operation amount to the shape memory alloy based on the control value, and on the basis of the control value and the deviation, A calculator controller for controlling the operation of the control value calculator so as to cancel the response delay due to the hysteresis characteristics of the shape memory alloy.
  • the computing unit controller includes a heating / radiation detector for determining whether the shape memory alloy is in a heating state or a heat dissipation state based on the control value, and the heat / heat dissipation detector. And a calculator control unit that is activated when it is determined that the heat dissipation state is determined and controls the operation of the control value calculator based on the deviation.
  • the heating / heat dissipation detector latches the current control value, compares the control value latch circuit that outputs the previous control value, and the current control value with the previous control value.
  • the control value comparison result may include a control value comparator that sends a start signal indicating that the shape memory alloy is in a heat dissipation state to the computing unit control unit.
  • the computing unit control unit may be composed of a computation on / off determiner that determines on / off of computation in the control value computing unit based on the deviation.
  • the computation on / off determiner latches the current deviation, outputs a previous deviation, compares the current deviation with the previous deviation, and compares the current deviation with the previous deviation.
  • a deviation comparator that outputs a calculation off signal that turns off the calculation of the control value calculator as the coincidence signal.
  • the computing unit control unit may be composed of a gain controller that controls the gain of the control value computing unit based on the deviation.
  • the gain controller latches the current deviation, compares the current deviation with the previous deviation, and a deviation latch circuit that outputs the previous deviation, and the current deviation is equal to the previous deviation.
  • a deviation comparator that outputs a coincidence signal and a gain suppressor that suppresses the gain of the control value calculator in response to the coincidence signal may be included.
  • the movable member may be composed of a lens holder that holds the lens.
  • the actuator is composed of an actuator that moves the lens holder only in the optical axis direction.
  • a control method using an actuator including a shape memory alloy according to a tenth aspect of the present invention is a control method for feedback control of the position of a movable member with an actuator including a shape memory alloy by controlling energization of the shape memory alloy.
  • a position detection step that detects the position of the movable member and outputs a detection signal indicating the current detection position, and calculates a deviation between the current detection position and the target position represented by the detection signal.
  • a deviation calculation step a control value calculation step for obtaining a control value based on the deviation, an operation step for applying a voltage as an operation amount to the shape memory alloy based on the control value, and on the basis of the control value and the deviation, A calculation control step for controlling the operation of the control value calculation step so as to cancel the response delay due to the hysteresis characteristic of the shape memory alloy.
  • the calculation control step includes a heating / radiation detection step for determining whether the shape memory alloy is in a heating state or a heat dissipation state based on the control value, and a heat dissipation state in the heating / heat dissipation detection step. It is desirable to have an operation control step that is activated when the control value is determined and controls the operation of the control value calculation step based on the deviation.
  • the heating / heat dissipation detection step the current control value is compared with the previous control value, and when the current control value is equal to or lower than the previous control value, the shape memory alloy is in a heat dissipation state as a control value comparison result. May be sent to the operation control step.
  • the operation control step may include a calculation on / off determination step for determining on / off of the calculation at the control calculation step based on the deviation.
  • the calculation on / off determination step compares the current deviation with the previous deviation, and when the current deviation and the previous deviation are equal, the step of turning off the calculation in the control calculation step as a coincidence signal. Become.
  • the operation control step may include a gain control step for controlling the gain in the control calculation step based on the deviation.
  • the gain control step compares the current deviation with the previous deviation, and when the current deviation and the previous deviation are equal, the gain comparison step outputs a match signal and controls in response to the match signal.
  • a gain suppression step for suppressing the gain in the calculation step.
  • the movable member may be constituted by, for example, a lens holder that holds a lens.
  • the actuator is composed of an actuator that moves the lens holder only in the optical axis direction.
  • a lens driving device includes a lens holder that holds a lens, a housing that supports the lens holder so as to be movable only in the optical axis direction, and a coil spring that can expand and contract in the optical axis direction.
  • the housing has a substantially rectangular parallelepiped shape.
  • the lens driving device includes a main shaft extending in the optical axis direction at a first corner among the four corners of the housing in the housing.
  • the lens holder has a main bearing on its side surface that is slidably attached to the main shaft.
  • the coil spring includes a front coil spring and a rear coil spring attached to the front side and the rear side of the main shaft, respectively, with the main bearing interposed therebetween.
  • At least one of the front coil spring and the rear coil spring is made of a shape memory alloy spring formed of a shape memory alloy.
  • the lens driving device includes a control device that controls energization of the shape memory alloy spring.
  • the control device detects the position of the lens holder and outputs a detection signal representing the current detection position, and calculates a deviation between the current detection position represented by the detection signal and the target position A deviation calculator, a control value calculator for obtaining a control value based on the deviation, an operation unit for applying a voltage, which is an operation amount based on the control value, to the shape memory alloy spring, and a control value based on the deviation
  • a calculator controller that controls the operation of the control value calculator so as to cancel the response delay due to the hysteresis characteristics of the shape memory alloy spring.
  • the computing unit controller is configured to determine whether the shape memory alloy spring is in a heating state or a heat dissipation state based on the control value, and the heating / heat dissipation detector. And a calculator control unit that is activated when it is determined that the heat dissipation state is determined and controls the operation of the control value calculator based on the deviation.
  • the heating / heat dissipation detector latches the current control value, compares the control value latch circuit that outputs the previous control value, and the current control value with the previous control value.
  • the control value comparison result may include a control value comparator that sends a start signal indicating that the shape memory alloy spring is in a heat radiating state to the calculator control unit.
  • the computing unit control unit may be composed of a computation on / off determiner that determines on / off of computation in the control value computing unit based on the deviation.
  • the calculation on / off determiner for example, latches the current deviation, outputs a previous deviation, compares the current deviation with the previous deviation, and compares the current deviation with the previous deviation.
  • the deviation comparator is configured to output a calculation off signal for turning off the calculation of the control value calculator as the coincidence signal.
  • the calculator control unit may be configured by a gain controller that controls the gain of the control value calculator based on the deviation.
  • the gain controller for example, latches the current deviation, outputs a previous deviation, compares the current deviation with the previous deviation, and compares the current deviation with the previous deviation.
  • a deviation comparator that outputs a coincidence signal and a gain suppressor that suppresses the gain of the control value calculator in response to the coincidence signal.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Lens Barrels (AREA)

Abstract

L'invention concerne un dispositif d'entraînement de lentille possédant un nombre de pièces réduit et une structure simple. Le boîtier du dispositif d'entraînement de lentille a sensiblement une forme de parallélépipède rectangle, et, à l'intérieur du boîtier, dans le premier des quatre angles du boîtier dudit dispositif d'entraînement de lentille, est installé un axe principal, s'étendant dans le sens de l'axe optique. Le support de lentille possède, sur sa surface latérale, une portée d'axe principal assemblée de façon à pouvoir coulisser sur l'axe principal. Le ressort à enroulement se compose d'un ressort à enroulement côté avant et d'un ressort à enroulement côté arrière, montés respectivement du côté avant et du côté arrière de l'axe principal et enserrant entre eux une portée d'axe principal. Parmi le ressort à enroulement côté avant et le ressort à enroulement côté arrière, au moins l'un des deux consiste en un ressort en alliage à mémoire de forme formé en alliage à mémoire de forme.
PCT/JP2009/069705 2008-11-28 2009-11-20 Dispositif d'entraînement de lentille et procédé de raccordement Ceased WO2010061789A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2008303938A JP2010128262A (ja) 2008-11-28 2008-11-28 レンズ駆動装置および接続方法
JP2008304217A JP2010128285A (ja) 2008-11-28 2008-11-28 形状記憶合金を含むアクチュエータを用いた制御装置、制御方法およびレンズ駆動装置
JP2008-304217 2008-11-28
JP2008-303938 2008-11-28
JP2008-310801 2008-12-05
JP2008310801A JP2010133350A (ja) 2008-12-05 2008-12-05 形状記憶合金を含むアクチュエータを用いた制御装置、制御方法およびレンズ駆動装置

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Publication Number Publication Date
WO2010061789A1 true WO2010061789A1 (fr) 2010-06-03

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PCT/JP2009/069705 Ceased WO2010061789A1 (fr) 2008-11-28 2009-11-20 Dispositif d'entraînement de lentille et procédé de raccordement

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Publication number Priority date Publication date Assignee Title
CN107225566A (zh) * 2017-06-16 2017-10-03 广东工业大学 双程形状记忆合金驱动的软体模块
CN108508566A (zh) * 2018-03-27 2018-09-07 瑞声科技(新加坡)有限公司 镜头驱动装置

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JPH09127398A (ja) * 1995-10-31 1997-05-16 Kyocera Corp レンズ駆動機構
JP2002131803A (ja) * 2000-10-27 2002-05-09 Sony Corp 駆動装置および駆動装置を有する電子機器
JP2005195998A (ja) * 2004-01-09 2005-07-21 Matsushita Electric Ind Co Ltd レンズ駆動装置
JP2007005110A (ja) * 2005-06-23 2007-01-11 Matsushita Electric Ind Co Ltd 感圧センサの端末接続部及び端末接続方法
JP2007046561A (ja) * 2005-08-11 2007-02-22 Konica Minolta Opto Inc 形状記憶合金を用いた駆動装置及び駆動装置に用いられる形状記憶合金の製造方法

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JPH09127398A (ja) * 1995-10-31 1997-05-16 Kyocera Corp レンズ駆動機構
JP2002131803A (ja) * 2000-10-27 2002-05-09 Sony Corp 駆動装置および駆動装置を有する電子機器
JP2005195998A (ja) * 2004-01-09 2005-07-21 Matsushita Electric Ind Co Ltd レンズ駆動装置
JP2007005110A (ja) * 2005-06-23 2007-01-11 Matsushita Electric Ind Co Ltd 感圧センサの端末接続部及び端末接続方法
JP2007046561A (ja) * 2005-08-11 2007-02-22 Konica Minolta Opto Inc 形状記憶合金を用いた駆動装置及び駆動装置に用いられる形状記憶合金の製造方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107225566A (zh) * 2017-06-16 2017-10-03 广东工业大学 双程形状记忆合金驱动的软体模块
CN108508566A (zh) * 2018-03-27 2018-09-07 瑞声科技(新加坡)有限公司 镜头驱动装置
US10983300B2 (en) * 2018-03-27 2021-04-20 Aac Optics Solutions Pte. Ltd. Lens driving apparatus
CN108508566B (zh) * 2018-03-27 2021-07-30 瑞声光学解决方案私人有限公司 镜头驱动装置

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