201102739 六、發明說明： 【發明所屬之技術領城】 [0001] 本發明涉及光學防抖技術，特別涉及一種能實現光學防 抖之致動器及具有該致動器之相機模組。 [先前技術] [〇〇〇2] 隨著數位相機技術不斷發展，相機之機身往往既小立輕 ，容易造成手震，導致影像模糊。以下三種情況容易產 生模糊之影像：一’長焦聚拍攝，由於長鏡頭會將相機 之振幅放大，輕微之抖動亦會造成較大之模糊，因此手 f} 部震動對畫面清晰度之影響較使用廣爲鏡頭明顯。二’ 弱光環境拍攝，於室内、黃昏等弱光源環境，相機會將 快門速度調得較慢以増加入光量，因此較易發生手震。 三，微距拍攝，細微物件於鏡頭高倍放大之情況下，輕 微震動亦會變得相當明顯。這些情況都可造成手震，使 得影像變得模糊。由於所拍攝之物體距離遠大於相機晃 動之位移，所以通常手震邊成鉍像模糊之主要原因都係 相機本身之偏轉，而非相機本身之位移，特別係於遠距 υ 離拍攝時這種情形特別嚴重、因此，防手震技術之本質 係校正取像過程中，相機之抖動引起光線對應於相機模 組上之成像位置之偏移。為補償由於抖動造成之光線偏 移量，上世紀九十年代開始出現利用影像穩定系統以防 止抖動之相機模組。具體請參閱Cardani B.等人2006年 4月於Control Systems Magazine’ IEEE (v〇lume 26’ IssUe2，Page(s):21 _ 22)上發表之論文“201102739 VI. Description of the Invention: The present invention relates to optical image stabilization technology, and more particularly to an actuator capable of achieving optical image stabilization and a camera module having the same. [Prior Art] [〇〇〇2] With the continuous development of digital camera technology, the camera body is often small and light, and it is easy to cause jitter, resulting in blurred images. The following three situations are prone to blurry images: a 'long-focus shot, because the long lens will magnify the amplitude of the camera, and slight jitter will cause a large blur, so the impact of the hand shake on the picture clarity is better. The use of wide lenses is obvious. In the low-light environment, the camera will adjust the shutter speed to a slower speed to add light, so it is more prone to jitter. Third, macro shooting, subtle objects in the case of high magnification of the lens, the light vibration will become quite obvious. These conditions can cause jitter and blur the image. Since the distance of the object being photographed is much larger than the displacement of the camera shake, the main reason for the blurring of the hand to the image blur is the deflection of the camera itself, not the displacement of the camera itself, especially when the camera is away from the distance. The situation is particularly serious. Therefore, the essence of the anti-shake technique is that during camera image correction, the camera shake causes the light to shift corresponding to the imaging position on the camera module. In order to compensate for the amount of light deflection caused by jitter, camera modules using image stabilization systems to prevent jitter began to appear in the 1990s. For details, see Cardani B. et al., April 2006, in Control Systems Magazine' IEEE (v〇lume 26’ IssUe2, Page(s): 21 _ 22).
Optical image stabilization f〇r digital cain- 098123965 eras ° 表單編號A0101 第4頁/共24頁 0982040841-0 201102739 【發明内容】 [〇〇〇3] 有鑑於此，提供一種能夠於拍攝過程中防止由於相機之 抖動造成成像偏移之致動器及相機模組實屬必要。 [0004]Optical image stabilization f〇r digital cain- 098123965 eras ° Form No. A0101 Page 4 of 24 page 0982040841-0 201102739 [Invention] [〇〇〇3] In view of this, it is possible to prevent the camera from being able to be prevented during shooting. The actuators and camera modules that cause imaging shifts are necessary. [0004]
—種致動器，包括第一框架、第二框架、驅動元件以及 彈性元件。所述第二框架收容於所述第一框架内。所述 驅動元件包括設置於所述第一框架之第一磁性元件與設 置於所述第二框架之第二磁性元件。所述第二磁性元件 具有複數靠近第一磁性元件之磁極’所述複數靠近第一 磁性元件之磁極中之N極與S極沿所述第一框架之軸線方 向交替分佈。所述第#磁性元件與第二磁性元件相對設 置，用於產生驅動力以驅動第二梃架於垂直於所述第一 框架之轴線方向之平面内移動。所,述彈性元件彈性連接 於所述第一框架與第二框架之間，用於在驅動元件產生 驅動力時發生彈性形變。 [0005] —種相機模組，包括鏡頭、影像感測器與如上項所述之 致動器，所述鏡頭與影像感測器光學耦合’所述鏡頭或 j 、 〇 影像感測器收容於所述第二框架。 [0006] 相較於現有之採用普通磁鐵之制動器，本技術方案實施 例提供之致動器之靠近第一磁性元件之複數磁極之N極與 S極沿所述第一框架之轴線方向交替分佈，從而可於不增 加線圈之前提下，使得線圈與磁鐵元件之間之相互吸引 或排斥作用力加倍’進而可向第二框架以及待驅動物體 提供加倍之驅動力。具有上述致動器之相機棋組可於發 生震動時，鏡頭或影像感測器可迅速發生足夠大之補償 運動。 098123965 表單編號A0101 第5頁/共24頁 0982040841-0 201102739 【實施方式】 下面將、、。α附圖與複數實施例對本技術方案之致動器及 相機模組作進一步詳細說明。 圆„月併參閱圖i至圖3，本技術方案第一實施例提供一種 致動器1Q ’包括第—框架11 '第二框架13、權動元件15 與彈性元件17。 闺所述第一框架11包括第一框體110、第二框體111、第-連接杯112、第二連接桿113 '第三連接桿114與第四連 接桿115。所述第—框體110與第二框體111相對設置， 所述第一連接桿112、第二連接桿113、第三連接桿114 與第四連接桿115均垂直連揍於所述第一框體110與第二 框體111之間。所述第一框體110、第二枢體lu、第一 連接桿112、第二連接桿113、第三連接桿114與第四連 接桿115共同構成一個第一收容空間116。所述第一框體 110與第二框體111均可為方形，且均平行於χγ平面。所 述第一連接桿112、第二連接桿113 '第三連接桿U4與 第四連接桿115分別連接於所述第一框體η〇之一個頂角 與第二框體111相應之頂角之間。所述第一連接桿112、 第二連接桿113與第一框體no及第二框體lu共同構成 一個第一收容槽117。所述第二連接桿113、第三連接桿 114與第一框體11〇及第二框體lu共同構成一個第二收 容槽118。第三連接桿114、第四連接桿115與第一框體 110及第二框體111共同構成一個第三收容槽119。第四 連接桿115、第一連接桿112與第一框體11〇及第二框體 Π1共同構成一個第四收容槽120。所述第一收容槽 098123965 表單編號A0101 第6頁/共24頁 0982040841-0 201102739 、第二收容槽118、第三收容槽119與第四收容槽12〇均 可為方形所述第—收容槽11 γ與第三收容槽Η 9相對， _ 且均平行於ΥΖ平面。所述第二收容槽118與第四收容槽 120相對，且均平行於χζ平面。所述第一連接桿ιΐ2靠近 第一框體110處具有一個第一凸柱121，所述第三連接桿 114罪近第一框體110處具有一個第二凸柱，所述第 ' 一凸枉121與第二凸柱122均可為圓柱狀。所述第一凸柱 121自所述第一連接桿112靠近所述第四收容槽12〇之表 面向所述第四收容槽12〇内垂直延伸。第三連接桿114靠 近所述第二收容槽118之表面向所述第土收容槽118内延 伸。 ^ L_：j [0010]所述第一框架13收容於所述第一框架11之第一收容空間 Π6。所述第二框架13與所述第—框架^結構相似。所述 第二框架13包括第三框130、第四框131、第一連接柱 132、第二連接柱133、第三連接,柱134與第四連接柱135 。所述第三框130與第四框131相對設置，所述第一連接 Q 柱132、第二連接柱133、第三連接柱134與第四連接柱 135均垂直連接於所述第三框130與第四框131之間。所 述第三框130、第四框131、第一連接柱132、第二連接 柱133、第三連接柱134與第四連接柱135共同構成一個 第二收容空間136。所述第二收容空間136可用於收容待 •驅動之物體，如鏡頭' 影像感測器等。所述第三框130與 第四框131均可為方形，且均平行於ΧΥ平面。所述第一連 接柱132、第二連接柱133、第三連接柱134與第四連接 柱135分別連接於所述第三框130之一個頂角與第四框 098123965 表單編號Α0101 第7頁/共24頁 0982040841-0 201102739 131相應之頂角之間。所述第—連接柱132、第二連接柱 133與第三框130及第四框131共同構成一個第—收容孔 137。所述第二連接柱133、第三連接柱134與第三框丨3〇 及第四框131共同構成一個第二收容孔138。所述第三連 接柱134、第四連接柱135與第三框13〇及第四框13丨共同 構成一個第三收容孔139。所述第四連接柱135 '第一連 接柱132與第三框130及第四框131共同構成一個第四收 容孔140。所述第一收容孔137、第二收容孔138 '第三 收容孔139與第四收容孔140均可為方形。所述第一收容 孔137與第三收容孔139相對，且均平行於γΖ平面。所述 第二收容孔138與第四收容孔14〇相對，且均平行於以平 面。 [0011] 所述驅動元件15包括設置於所述第一框架n之第一磁性 元件150與設置於所述第二框架13之第二磁性元件hi， 所述第一磁性元件150與第二磁性元件151相對設置，用 i：. . .·：. ... j …： 於產生驅動力以驅動第二框架13於垂直於所述第一框架 11之軸線方向之平面内移動。所述第一磁性元件15 〇與第 二磁性元件151中，至少一個為電磁鐵，從而可藉由控制 流過該電磁鐵之電流來控制所述驅動元件15產生之驅動 力。本實施例中，所述第一磁性元件1 5 〇為電磁鐵。當然 ’所述第一磁性元件150與第二磁性元件151還可均為電 磁鐵。 所述第一磁性元件150包括收容於所述第一框架丨丨之第一 收谷槽117、第二收容槽118、第三收容槽119與第四收 容槽120之複數線圈152。所述複數線圈〗52令，至少有 098123965 表單編號A0101 第8頁/共24頁 0982040841-0 [0012] 201102739 Ο [0013] 兩個相鄰設置，即，平行於ΥΖ平面與ΧΖ平面之收容槽均 收容有線圈152。本實施例中，所述線圈152之數量為四 個，所述第一框架11之每一收容槽内各收容有一個線圈 152。四個線圈152中，平行於ΥΖ平面設置之兩個線圈 1 5 2中藉由之電流方向相反，例如，自X軸正向看，若第 一收容槽117内之線圈152電流方向為逆時針，第三收容 槽119内之線圈152電流方向則為順時針。平行於ΧΖ平面 設置之兩個線圈1 5 2中藉由之電流方向亦相反，例如，自 Υ軸正向看，若第二收容槽118内之線圈152電流方向為逆 時針，第四收容槽120内之線圈152電流方向則為順時針 〇 所述第二磁性元件151包括收容於所述第二框架13之第一 收容孔137、第二收容孔138、第三收容孔139與第四收 容孔140之複數多極磁鐵153。所述複數多極磁鐵153之 設置方向均與所述複數線圈152相對應，以與所述複數線 圈152相互作用產生驅動力。本實施例中，與所述複數線 圈152相對應地，所述多極磁鐵153之數量亦為四個，分 別收容於所述第二框架13之第一收容孔137、第二收容孔 138、第三收容孔139與第四收容孔140。本實施例中， 每一多極磁鐵153均具有六個磁極，其中，靠近線圈152 之一側具有三個磁極，沿Z軸正方向依次為N極、S極以及 N極。遠離線圈152之一侧具有與靠近線圈152之三個磁極 --對應之三個磁極，沿Z軸正方向依次為S極、N極以及 S極。 [0014] 所述彈性元件17彈性連接於所述第一框架11與第二框架 098123965 表單編號A0101 第9頁/共24頁 0982040841-0 201102739 13之間，用於在驅動元件ι5產生驅動力時發生彈性形變 ，並於驅動元件15不產生驅動力時向所述第二框架13提 供彈性回復力。所述彈性元件17包括兩個彈片170。所述 彈片170包括相連接之第一彈性臂171與第二彈性臂172 。所述第一彈性臂171與第二彈性臂172之夾角為鈍角， 優選地，所述夾角於120。至150。之間。所述第一彈性臂 171包括相對之第一端部173與第二端部174。所述第二 彈性臂172包括相對之第三端部175與第四端部176。所 述第三端部175連接於所述第一彈性臂丨71之第二端部 1 7 4。所述第四端部】7 6具有連接孔17 7。所述連接孔1 7 7 之形狀與所述第一凸柱121或第二凸柱122之形狀相對應 ，以使得彈片170與第一框架11之間可藉由連接孔I??與 所述第一凸柱121或第二凸柱122之間之配合而連接。所 述第二彈性臂172之第三端部175連接於所述第一彈性臂 171之第二端部174。一個彈片170包圍:所述第二框架13 靠近第二收容孔138以及第二;收容孔處，即，其第一 端部173固定於所述第三連接柱134，第二端部1 7 4靠近 YZ平面並與所述第二連接柱133相辦，所述第三端部175 靠近XZ平面並與所述第二連接柱133相對，第四端部176 用於與第一連接桿112相連接。另一個彈片〗70包圍所述 第一框架13靠近第四收容孔140以及第三收容孔139處， 即’其第一端部173固定於所述第一連接柱132，第二端 部174罪近YZ平面並與所述第四連接柱140相對，所述第 二知部175罪近XZ平面並與所述第四連接柱14〇相對，第 四端部176用於與第三連接桿114相連接。當然，所述彈 性元件17還可為彈簧或其他結構之彈片等，僅需其能提 098123965 表單編號A0101 第10頁/共24頁 0982040841-0 201102739 供ΧΥ平面之彈性形變及彈性回復力即可。 [0015] Ο ❹ [0016] 工作時，自X軸正向看，假設向第一收容槽117内之線圈 152通以逆時針方向之電流，向第三收容槽119内之線圈 152通以順時針方向之電流。所述第一收容槽11 7内之線 圈152於靠近第三框130處之電流方向為沿Υ軸負方向，於 靠近第四框131處為沿Υ軸正方向。根據右手定則，第一 收容槽117内之線圈152於靠近第三框130處且與多極磁 鐵153相對處產生之磁力線為沿Ζ軸負方向，靠近第四框 131與多極磁鐵1 53相對處產生之磁力線為沿Ζ軸正方向。 由於第一收容孔137内之多極磁鐵153產生之磁場於靠近 第三框130處為沿Ζ軸負方向，於靠近第四框131處為沿Ζ 軸正方向。所述通電之線圈152於靠近第三框130與第四 框131處產生之磁場均與所述多極磁鐵153相排斥，從而 產生可驅動第二框架13沿X軸負方向移動之驅動力，如圖 4所示。同樣地，所述第三收容槽119内之線圈152產生與 第三收容孔139内之多極磁鐵153相吸引之磁場，從而亦 產生可驅動第二框架13沿X軸負方向移動之驅動力。如此 ，驅動元件15可驅動第二框架13沿X軸負方向移動。 同樣地，自Υ軸正向看，向第二收容槽118内之線圈152逆 時針方向之電流，向第四收容槽120内之線圈152通以順 時針方向之電流。所述第二收容槽118内之線圈152可產 生與第二收容孔138内之多極磁鐵153相排斥之磁場，從 而可驅動第二框架13沿Υ軸負方向移動。第四收容槽120 内之線圈152可產生與第四收容孔140内之多極磁鐵153 相吸引之磁場，從而亦可驅動第二框架13沿Υ軸負方向移 098123965 表單編號Α0101 第11頁/共24頁 0982040841-0 201102739 動。如此，驅動元件15可驅動第二框架13沿Y軸負方向移 動。 [0017] 可理解，如果同時向沿平行於ΥΖ平面與ΧΖ平面設置之線 圈152通以電流，則可實現驅動第二框架13於ΧΥ平面之任 意大小、任意方向之位移。 [0018] 當然，所述多極磁鐵153靠近線圈152侧之磁極分佈方式 不一定為沿Ζ軸正向依次為Ν極、S極以及Ν極，亦可為S極 、Ν極、S極之分佈方式。或者，於第二框架13之第一收 容孔137、第二收容孔138、第三收容孔139與第四收容 孔140中，不同之收容孔内置入具有不同之磁極分佈方式 之多極磁鐵153。如此，僅需改變與之相對之線圈152中 之電流之方向，亦可驅動第二框架13於ΧΥ平面發生預期 之位移。 [0019] 可理解，所述第一磁性元件150之線圈152之數量以及第 二磁性元件151之多極磁鐵153之數量均不限於四個，兩 個或三個亦均可實現驅動第二框架1 3於ΧΥ平面發生任意 大小、任意方向之位移。當線圈152與多極磁鐵153之數 量均為兩個時，僅需兩個線圈152或多極磁鐵153相鄰設 置。所述第一磁性元件150之複數線圈152還可設置於所 述第二框架13，相應地，所述第二磁性元件151之複數多 極磁鐵153可設置於第一框架11。 [0020] 相較於現有之採用普通磁鐵之制動器，本技術方案實施 例提供之致動器10之靠近第一磁性元件150之複數磁極之 Ν極與S極沿所述第一框架11之軸線方向交替分佈，從而 098123965 表單編號Α0101 第12頁/共24頁 0982040841-0 201102739 [0021] Ο [0022] 〇 可於不增加線圈152之前提下’使得線圈152與多極磁鐵 153之間之相互吸引或排斥作用力加倍，進而可向第二框 架13以及待驅動物體提供加倍之驅動力。 請參閱圖5 ’本技術方案第二實施例提供之致動器與第一 實施例之致動器10大致相同，其區別在於，所述第一框 架之每-收容槽内均收容有兩個線圈252，所述兩個線圈 252沿向相鄰排歹卜所述第二磁性元件包括複數磁鐵 組253，每一磁鐵組253均包括複數磁鐵◊本實施例中， 每-磁鐵組253均包括四個條形磁鐵，從而每一磁鐵組 253均具有八個磁極，其中，靠近線圈奶之—側具有四 個磁極，沿Ζ軸正方向依次W極、沾、Ν極以及$極，遠 離線圈252之-側亦具有四個磁極，沿ζ轴正方向依次衫 極、Ν極、S極以及Ν極。 工作時，向線圈252内通以方向相反之電流，兩個線圈 252靠近磁鐵組253之一侧之磁力線方.向自第二框體向第 -框體處依次為沿Ζ轴負方向、沿ζ轴正方向與沿ζ轴負方 向。同時，所述磁鐵·53靠近_252之一侧之磁力線 方向自第二框體向第-框體處依次為沿2軸正方向、沿ζ 轴負方向與沿ζ轴正方向。從而線圈252與磁鐵組253之間 相互吸引’產生可驅動第二框架沿χ軸正方向移動之驅動 力。 由於兩個線圈252相鄰處之磁場相互疊加，線圈况與磁 鐵組253之間產生之驅動力比使用單個條形磁鐵與一個通 有相同大小電流之線圈之間之驅動力大兩倍多。 098123965 表單編號Α0101 第13頁/共24頁 0982040841-0 [0023] 201102739 [0024] [0025] [0026] 098123965 請參閱圖6 ’本技術方案第三實施例提供一種相機模組30 ’其包括鏡頭31、影像感測器32與第一實施例中之致動 器10 °所述鏡頭31與影像感測器32光學耦合，所述致動 器1 0用於驅動所述鏡頭31或影像感測器3 2以對相機模組 之振動進行補償。本實施例中，所述鏡頭31收容於所述 第二框架13之第二收容空間136，從而當所述第二框架13 於垂直於所述第一框架丨丨之軸線方向之平面内移動時， 所述鏡頭31亦隨之運動以對相機模組3〇之震動進行補償 。當然’還可將所述影像感測器32收容於所述第二框架 13 ’藉由驅動所述影像感測器32以對相機模組30之震動 進行補償。優選地，所述鏡頭31可採用自動對焦鏡頭， 如先前技術中常用之將鏡頭31設置於音圈馬達致動器之 活動裝筒内即可。此時，所述多極磁鐵153遠離線圈152 之一側之複數磁極亦可用於與該音圈馬達致動器相配合 以實現鏡頭31之自動對焦。 .： . ： ：. ：；： .: 本技術方案提供之相機模組30採用了致知器10，從而於 發生震動時’所述第二框體1,3可迅埤Μ供足夠大之驅動 力帶動鏡頭31或影像感測器32發生相應之補償運動。 综上所述，本發明確已符合發明專利之要件，遂依法提 出專利申請。惟，以上所述者僅為本發明之較佳實施方 式’自不能以此限制本案之申請專利範圍。舉凡熟悉本 案技藝之人士援依本發明之精神所作之等效修飾或變化 ’皆應涵蓋於以下申請專利範圍内。 【圖式簡單說明】 圖1係本技術方案第一實施例提供之致動器之組合示意圖 表單編號Α0101 第14頁/共24頁 0982040841-0 [0027] 201102739 [0028] 圖2係本技術方案第一實施例提供之致動器之分解示意圖 〇 [0029] 圖3係圖1沿I I I - I I I線之剖視示意圖。 [0030] 圖4係本技術方案第一實施例提供之致動器中一第一磁性 元件與一第二磁性元件之相互作用示意圖。 [0031] 圖5係本技術方案第二實施例提供之致動器中一第一磁性 元件與一第二磁性元件之相互作用示意圖。 [0032] 圖6係本技術方案第三實施例提供之相機模組之剖視示意 圖。 [0033] 〇 【主要元件符號說明】 致動器 10 第一框架 11 第二框架 13 驅動元件 15 彈性元件 17 第一框體 110 第二框體 111 ....第一連接桿 112 第二連接桿 113 ί 第三連接桿 114 第四連接桿 115 第一收容空間 116 第一收容槽 117 第二收容槽 118 第三收容槽 119 第四收容槽 120 第一凸柱 121 第二凸柱 122 第三框 130 第四框 131 第一連接柱 132 第二連接柱 133 第三連接柱 134 第四連接柱 135 第二收容空間 136 第一收容孔 137 表單編號A0101 第15頁/共24頁 0982040841-0 098123965 201102739 第二收容孔 138 第三收容孔 139 第四收容孔 140 第一磁性元件 150 第二磁性元件 151 線圈 152 ' 252 多極磁鐵 153 彈片 170 第一彈性臂 171 第二彈性臂 172 第一端部 173 第二端部 174 第三端部 175 第四端部 176 連接孔 177 磁鐵組 253 相機模組 30 鏡頭 31 影像感測器 32 098123965 表單編號A0101 第16頁/共24頁 0982040841-0An actuator comprising a first frame, a second frame, a drive element, and an elastic element. The second frame is received in the first frame. The drive element includes a first magnetic element disposed in the first frame and a second magnetic element disposed in the second frame. The second magnetic element has a plurality of magnetic poles adjacent to the first magnetic element. The N and S poles of the plurality of magnetic poles adjacent to the first magnetic element are alternately distributed along the axis of the first frame. The ## magnetic element is disposed opposite the second magnetic element for generating a driving force to drive the second truss to move in a plane perpendicular to an axial direction of the first frame. The elastic member is elastically coupled between the first frame and the second frame for elastic deformation when the driving member generates a driving force. [0005] A camera module includes a lens, an image sensor and an actuator as described above, the lens being optically coupled to the image sensor, wherein the lens or the image sensor is received in The second frame. [0006] Compared with the conventional brake using a common magnet, the N pole and the S pole of the plurality of magnetic poles of the actuator adjacent to the first magnetic element provided by the embodiment of the present invention are alternated along the axial direction of the first frame. The distribution can be lifted before the coil is added, so that the mutual attraction or repulsive force between the coil and the magnet element is doubled, thereby providing a double driving force to the second frame and the object to be driven. The camera set having the above actuator can quickly generate a sufficiently large compensating motion when the camera or the image sensor vibrates. 098123965 Form No. A0101 Page 5 of 24 0982040841-0 201102739 [Embodiment] The following will be given. The actuator and camera module of the present technical solution are further described in detail with reference to the drawings and the plural embodiments. The first embodiment of the present invention provides an actuator 1Q' including a first frame 11' second frame 13, a weighting member 15 and an elastic member 17. The first one is described. The frame 11 includes a first frame 110, a second frame 111, a first connecting cup 112, a second connecting rod 113', a third connecting rod 114 and a fourth connecting rod 115. The first frame 110 and the second frame The first connecting rod 112, the second connecting rod 113, the third connecting rod 114 and the fourth connecting rod 115 are vertically connected between the first frame 110 and the second frame 111. The first frame body 110, the second body rod lu, the first connecting rod 112, the second connecting rod 113, the third connecting rod 114 and the fourth connecting rod 115 together form a first receiving space 116. Both the frame 110 and the second frame 111 are square and are parallel to the χγ plane. The first connecting rod 112 and the second connecting rod 113 'the third connecting rod U4 and the fourth connecting rod 115 are respectively connected to The apex angle of the first frame η〇 is corresponding to the apex angle of the second frame 111. The first connecting rod 112 and the second connecting rod 113, together with the first frame body no and the second frame body lu, constitute a first receiving groove 117. The second connecting rod 113 and the third connecting rod 114 are combined with the first frame body 11 and the second frame body lu. The second connecting rod 114 and the fourth connecting rod 115 together with the first frame 110 and the second frame 111 form a third receiving groove 119. The fourth connecting rod 115 and the first connecting rod 112 Together with the first frame body 11 and the second frame body 1 , a fourth receiving slot 120 is formed. The first receiving slot 098123965 is in the form number A0101 page 6 / page 24 0982040841-0 201102739 , the second receiving slot 118 , The third receiving groove 119 and the fourth receiving groove 12 are both square. The first receiving groove 11 γ is opposite to the third receiving groove 9 and is parallel to the meandering plane. The second receiving groove 118 and the first The four connecting slots 120 are opposite to each other and are parallel to the plane of the pupil. The first connecting rod ι 2 has a first protrusion 121 near the first frame 110, and the third connecting rod 114 is close to the first frame 110. The utility model has a second protrusion, and the first protrusion 121 and the second protrusion 122 can be cylindrical. The first protruding post 121 extends perpendicularly from the surface of the first connecting rod 112 adjacent to the fourth receiving slot 12 to the fourth receiving slot 12 . The third connecting rod 114 is adjacent to the second receiving slot 118 . The surface of the first frame 13 is received in the first receiving space Π6 of the first frame 11. The second frame 13 and the The first frame is similar in structure. The second frame 13 includes a third frame 130, a fourth frame 131, a first connecting post 132, a second connecting post 133, a third connection, a post 134 and a fourth connecting post 135. The third frame 130 and the fourth frame 131 are oppositely disposed, and the first connection Q pillar 132, the second connection pillar 133, the third connection pillar 134 and the fourth connection pillar 135 are vertically connected to the third frame 130. Between the fourth frame 131. The third frame 130, the fourth frame 131, the first connecting post 132, the second connecting post 133, the third connecting post 134 and the fourth connecting post 135 together form a second receiving space 136. The second receiving space 136 can be used to receive an object to be driven, such as a lens 'image sensor or the like. The third frame 130 and the fourth frame 131 may each be square and are parallel to the pupil plane. The first connecting post 132, the second connecting post 133, the third connecting post 134 and the fourth connecting post 135 are respectively connected to one of the top corners of the third frame 130 and the fourth frame 098123965 Form No. 1010101 Page 7 / A total of 24 pages 0982040841-0 201102739 131 corresponding to the top angle between. The first connecting post 132 and the second connecting post 133 together with the third frame 130 and the fourth frame 131 form a first receiving hole 137. The second connecting post 133 and the third connecting post 134 together with the third frame 丨3 〇 and the fourth frame 131 form a second receiving hole 138. The third connecting post 134 and the fourth connecting post 135 together with the third frame 13 〇 and the fourth frame 13 构成 form a third receiving hole 139. The fourth connecting post 135 'the first connecting post 132 and the third frame 130 and the fourth frame 131 together form a fourth receiving hole 140. The first receiving hole 137 and the second receiving hole 138 'the third receiving hole 139 and the fourth receiving hole 140 may each have a square shape. The first receiving hole 137 is opposite to the third receiving hole 139 and is parallel to the γΖ plane. The second receiving hole 138 is opposite to the fourth receiving hole 14 , and is parallel to the plane. [0011] The driving element 15 includes a first magnetic element 150 disposed in the first frame n and a second magnetic element hi disposed in the second frame 13, the first magnetic element 150 and the second magnetic element The elements 151 are opposed to each other, and i:. . . . . . . . . . . . j ... is used to generate a driving force to drive the second frame 13 to move in a plane perpendicular to the axial direction of the first frame 11. At least one of the first magnetic element 15 第 and the second magnetic element 151 is an electromagnet, so that the driving force generated by the driving element 15 can be controlled by controlling the current flowing through the electromagnet. In this embodiment, the first magnetic element 15 5 is an electromagnet. Of course, the first magnetic element 150 and the second magnetic element 151 may also be electromagnets. The first magnetic component 150 includes a plurality of coils 152 received in the first valley receiving groove 117, the second receiving groove 118, the third receiving groove 119 and the fourth receiving groove 120 of the first frame. The plurality of coils 〗 〖52, at least 098,123,965 Form No. A0101 Page 8 / Total 24 pages 0992040841-0 [0012] 201102739 Ο [0013] Two adjacent settings, that is, the storage slots parallel to the plane of the ΥΖ and the plane Each of the coils 152 is housed. In this embodiment, the number of the coils 152 is four, and each of the receiving slots of the first frame 11 houses a coil 152. Among the four coils 152, the currents in the two coils 15 2 disposed parallel to the pupil plane are opposite in direction, for example, viewed from the X-axis forward direction, if the current direction of the coil 152 in the first receiving slot 117 is counterclockwise The current direction of the coil 152 in the third receiving groove 119 is clockwise. The current direction of the two coils 1 5 2 disposed parallel to the pupil plane is also opposite. For example, if the current direction of the coil 152 in the second receiving slot 118 is counterclockwise, the fourth receiving slot is viewed from the front of the cymbal axis. The current direction of the coil 152 in the 120 is clockwise. The second magnetic element 151 includes a first receiving hole 137, a second receiving hole 138, a third receiving hole 139 and a fourth receiving body received in the second frame 13. A plurality of multipole magnets 153 of holes 140. The plurality of multipole magnets 153 are disposed in a direction corresponding to the plurality of coils 152 to interact with the plurality of coils 152 to generate a driving force. In this embodiment, the number of the multi-pole magnets 153 is four, and is received in the first receiving hole 137 and the second receiving hole 138 of the second frame 13 respectively. The third receiving hole 139 and the fourth receiving hole 140. In this embodiment, each multi-pole magnet 153 has six magnetic poles, wherein three sides of one side of the coil 152 have three magnetic poles, and the north pole, the S pole, and the N pole are sequentially in the positive direction of the Z-axis. One side away from the coil 152 has three magnetic poles corresponding to three magnetic poles close to the coil 152, and sequentially has S poles, N poles, and S poles in the positive direction of the Z axis. [0014] The elastic member 17 is elastically connected between the first frame 11 and the second frame 098123965, Form No. A0101, page 9 / page 24, 0982040841-0 201102739 13, for generating driving force on the driving member ι5 Elastic deformation occurs, and an elastic restoring force is supplied to the second frame 13 when the driving member 15 does not generate a driving force. The elastic member 17 includes two elastic pieces 170. The elastic piece 170 includes a first elastic arm 171 and a second elastic arm 172 which are connected. The angle between the first elastic arm 171 and the second elastic arm 172 is an obtuse angle. Preferably, the angle is at 120. To 150. between. The first resilient arm 171 includes opposing first and second ends 173, 174. The second resilient arm 172 includes opposing third ends 175 and fourth ends 176. The third end portion 175 is coupled to the second end portion 174 of the first resilient arm shank 71. The fourth end portion 7 6 has a connection hole 17 7 . The shape of the connecting hole 177 corresponds to the shape of the first stud 121 or the second stud 122, so that the connection between the elastic piece 170 and the first frame 11 can be made by the connecting hole I? The first protrusions 121 or the second protrusions 122 are connected by a fit. The third end 175 of the second resilient arm 172 is coupled to the second end 174 of the first resilient arm 171. An elastic piece 170 surrounds the second frame 13 adjacent to the second receiving hole 138 and the second portion; the receiving hole, that is, the first end portion 173 is fixed to the third connecting post 134, and the second end portion 174 Adjacent to the YZ plane and aligning with the second connecting post 133, the third end 175 is adjacent to the XZ plane and opposite to the second connecting post 133, and the fourth end 176 is for the first connecting rod 112 connection. The other elastic piece 70 surrounds the first frame 13 near the fourth receiving hole 140 and the third receiving hole 139, that is, the first end portion 173 is fixed to the first connecting post 132, and the second end portion 174 is sin Close to the YZ plane and opposite to the fourth connecting post 140, the second knowing portion 175 is close to the XZ plane and opposite to the fourth connecting post 14〇, and the fourth end portion 176 is used for the third connecting rod 114 Connected. Of course, the elastic member 17 can also be a spring or other structure of the elastic piece, etc., only need to be able to provide 098123965 Form No. A0101 Page 10 / Total 24 page 0992040841-0 201102739 For the elastic deformation and elastic restoring force of the plane . [0015] 工作 ❹ [0016] When operating, looking from the X-axis forward direction, it is assumed that the current in the counterclockwise direction is passed to the coil 152 in the first receiving groove 117, and the coil 152 in the third receiving groove 119 is passed through. Current in the hour hand direction. The direction of the current of the coil 152 in the first receiving groove 11 7 near the third frame 130 is in the negative direction of the x-axis, and is in the positive direction of the x-axis near the fourth frame 131. According to the right-hand rule, the magnetic flux line generated by the coil 152 in the first receiving groove 117 near the third frame 130 and opposite to the multi-pole magnet 153 is in the negative direction of the x-axis, and adjacent to the fourth frame 131 is opposite to the multi-pole magnet 1 53. The magnetic lines of force generated are in the positive direction along the Ζ axis. The magnetic field generated by the multipole magnet 153 in the first receiving hole 137 is in the negative direction along the Ζ axis near the third frame 130, and is in the positive direction along the Ζ axis near the fourth frame 131. The magnetic field generated by the energized coil 152 near the third frame 130 and the fourth frame 131 is repelled by the multi-pole magnet 153, thereby generating a driving force that can drive the second frame 13 to move in the negative direction of the X-axis. As shown in Figure 4. Similarly, the coil 152 in the third receiving groove 119 generates a magnetic field that is attracted to the multi-pole magnet 153 in the third receiving hole 139, thereby also generating a driving force that can drive the second frame 13 to move in the negative direction of the X-axis. . Thus, the drive member 15 can drive the second frame 13 to move in the negative direction of the X-axis. Similarly, the current in the counterclockwise direction of the coil 152 in the second housing groove 118 is forwarded in the clockwise direction to the coil 152 in the fourth housing groove 120 as viewed in the forward direction. The coil 152 in the second receiving groove 118 generates a magnetic field that repels the multi-pole magnet 153 in the second receiving hole 138, thereby driving the second frame 13 to move in the negative direction of the x-axis. The coil 152 in the fourth receiving slot 120 can generate a magnetic field that is attracted to the multi-pole magnet 153 in the fourth receiving hole 140, thereby driving the second frame 13 to move in the negative direction of the x-axis 098123965. Form No. Α0101 Page 11/ A total of 24 pages 0982040841-0 201102739 move. Thus, the drive member 15 can drive the second frame 13 to move in the negative direction of the Y-axis. [0017] It can be understood that if current is supplied to the coil 152 disposed along the plane parallel to the pupil plane and the pupil plane, the displacement of the second frame 13 in any size and in any direction in the pupil plane can be achieved. [0018] Of course, the magnetic poles distributed on the side of the coil 152 of the multi-pole magnet 153 are not necessarily the drain, the S pole, and the drain in the positive direction of the Ζ axis, and may also be the S pole, the drain pole, and the S pole. Distribution method. Alternatively, in the first receiving hole 137, the second receiving hole 138, the third receiving hole 139 and the fourth receiving hole 140 of the second frame 13, different receiving holes are built into the multi-pole magnet 153 having different magnetic pole distribution patterns. . Thus, it is only necessary to change the direction of the current in the coil 152 opposite thereto, and the second frame 13 can be driven to cause the desired displacement in the pupil plane. [0019] It can be understood that the number of the coils 152 of the first magnetic element 150 and the number of the multi-pole magnets 153 of the second magnetic element 151 are not limited to four, and two or three can also drive the second frame. 1 3 Displacement of any size and direction in the plane of the 。. When the number of the coil 152 and the multipole magnet 153 are both two, only two coils 152 or multipole magnets 153 are required to be adjacently disposed. The plurality of coils 152 of the first magnetic element 150 may also be disposed on the second frame 13. Accordingly, the plurality of multipole magnets 153 of the second magnetic element 151 may be disposed on the first frame 11. [0020] Compared with the conventional brake using a common magnet, the embodiment of the present invention provides the anode of the plurality of magnetic poles of the actuator 10 close to the first magnetic element 150 and the S pole along the axis of the first frame 11 The directions are alternately distributed, so that 098123965 Form No. 1010101 Page 12/24 pages 0982040841-0 201102739 [0022] 〇 [0022] 〇 can be lifted before adding the coil 152 to make the mutual relationship between the coil 152 and the multipole magnet 153 The attraction or repulsive force is doubled, which in turn provides a doubling driving force to the second frame 13 and the object to be driven. Referring to FIG. 5, the actuator provided in the second embodiment of the present invention is substantially the same as the actuator 10 of the first embodiment, except that each of the first frames houses two slots. The coil 252, the two coils 252 are adjacent to each other, and the second magnetic element includes a plurality of magnet groups 253, each of which includes a plurality of magnets. In the embodiment, each magnet group 253 includes Four strip magnets, so that each magnet group 253 has eight magnetic poles, wherein there are four magnetic poles on the side close to the coil milk, and the W pole, the dip, the drain pole and the $ pole are sequentially arranged along the positive direction of the x-axis, away from the coil. The 252-side also has four magnetic poles, which are sequentially along the positive axis of the x-axis, the drain pole, the S pole and the drain pole. During operation, a current of opposite directions is applied to the coil 252, and the two coils 252 are close to the magnetic line of one side of the magnet group 253. The direction from the second frame to the first frame is in the negative direction along the x-axis. The positive direction of the ζ axis is in the negative direction along the ζ axis. At the same time, the direction of the magnetic line of the magnet 53 close to the side of the _252 is from the second frame to the first frame in the positive direction of the two axes, the negative direction along the ζ axis and the positive direction along the ζ axis. Thereby, the coil 252 and the magnet group 253 are attracted to each other to generate a driving force that can drive the second frame to move in the positive direction of the x-axis. Since the magnetic fields adjacent to the two coils 252 are superimposed on each other, the driving force generated between the coil condition and the magnet group 253 is more than twice as large as the driving force between the single strip magnet and a coil having the same current. 098123965 Form No. 1010101 Page 13/24 pages 0992040841-0 [0023] 201102739 [0024] [0025] [0026] Please refer to FIG. 6 'The third embodiment of the present technology provides a camera module 30' including a lens 31. The image sensor 32 is optically coupled to the actuator 10 in the first embodiment. The lens 31 is optically coupled to the image sensor 32. The actuator 10 is used to drive the lens 31 or image sensing. The device 3 2 compensates for the vibration of the camera module. In this embodiment, the lens 31 is received in the second receiving space 136 of the second frame 13 so as to move when the second frame 13 moves in a plane perpendicular to the axial direction of the first frame The lens 31 also moves to compensate for the vibration of the camera module 3〇. Of course, the image sensor 32 can be received in the second frame 13 ′ to compensate the vibration of the camera module 30 by driving the image sensor 32 . Preferably, the lens 31 can be an autofocus lens, which is commonly used in the prior art to mount the lens 31 in the movable barrel of the voice coil motor actuator. At this time, the plurality of magnetic poles of the multi-pole magnet 153 away from one side of the coil 152 can also be used to cooperate with the voice coil motor actuator to achieve autofocus of the lens 31. .: . : :. :;: .: The camera module 30 provided by the technical solution adopts the sensible device 10, so that the second frame 1, 3 can be quickly driven enough when vibration occurs. The force-driven lens 31 or the image sensor 32 generates a corresponding compensation motion. In summary, the present invention has indeed met the requirements of the invention patent, and the patent application is filed according to law. However, the above description is only a preferred embodiment of the present invention, which is not intended to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the present invention are intended to be included within the scope of the following claims. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of a combination of actuators provided by a first embodiment of the present technical solution. Form No. 1010101 Page 14/24 pages 0992040841-0 [0027] 201102739 [0028] FIG. 2 is a technical solution 1 is an exploded perspective view of the actuator provided in the first embodiment. [0029] FIG. 3 is a cross-sectional view taken along line III-III of FIG. 4 is a schematic diagram showing the interaction between a first magnetic element and a second magnetic element in the actuator provided by the first embodiment of the present technical solution. 5 is a schematic diagram showing the interaction between a first magnetic element and a second magnetic element in the actuator provided by the second embodiment of the present technical solution. 6 is a cross-sectional schematic view of a camera module according to a third embodiment of the present technical solution. [0033] [Main component symbol description] Actuator 10 First frame 11 Second frame 13 Drive element 15 Elastic element 17 First frame 110 Second frame 111 .... First connecting rod 112 Second connection The third connecting rod 114 is connected to the first receiving slot 116. The second receiving slot 118 is the second receiving slot 119. The fourth receiving slot 120 is the first receiving post 121. Frame 130 Fourth frame 131 First connecting post 132 Second connecting post 133 Third connecting post 134 Fourth connecting post 135 Second receiving space 136 First receiving hole 137 Form No. A0101 Page 15 / Total 24 page 0992040841-0 098123965 201102739 second receiving hole 138 third receiving hole 139 fourth receiving hole 140 first magnetic element 150 second magnetic element 151 coil 152 ' 252 multi-pole magnet 153 elastic piece 170 first elastic arm 171 second elastic arm 172 first end 173 second end 174 third end 175 fourth end 176 connection hole 177 magnet group 253 camera module 30 lens 31 image sensor 32 098123965 form number A0101 page 16 / total 24 pages 0982040841-0