Abstract:
An optical scanning device, having: a substrate main body; two cantilever beams protruded from the respective side portion of one side of the main body; a mirror supported by torsion bars from the respective side, between the beams; a drive source to causes the main body to vibrate; and a light source to project light onto the mirror, wherein a fixed end of the main body is fixed to a supporting member, on the opposite side from the mirror side, wherein the drive source is provided on a part of the main body, and wherein the mirror resonantly vibrates according to vibration applied to the substrate by the drive source, thereby to change a direction of reflection light of the light projected onto the mirror according to the vibration of the mirror, characterized in that a plurality of holes are provided in the main body and the beams.

Description:
TECHNICAL FIELD 
       [0001]    The present invention relates to an optical scanner which performs scans by scanning of an optical beam, and, in particular, to an optical scanning device in which a micromirror supported by torsion beams (torsion bars) is oscillated or swung, to polarize the optical beam. 
       BACKGROUND ART 
       [0002]    In recent years, optical scanners which scan optical beams of laser light or the like have been used as optical instruments, such as bar code readers, laser printers, head mounted displays, and the like, or as optical intake devices of input devices, such as infrared cameras, and the like. For those types of optical scanners, there are proposed optical scanners having a structure of oscillating a micromirror which is obtained via silicon micromachining technology. 
         [0003]    For example, Patent Literature 1 (JP-A-11-52278 (“JP-A” means unexamined published Japanese patent application)) discloses an optical scanner having a silicon micromirror, as shown in  FIG. 19  (referred to as “Conventional Art 1” in below). This optical scanner is manufactured using silicon micromachining technology and is formed in an overall size of several millimeters square. A supporting substrate  1  is formed with a rectangular sheet having a recessed portion  1   a  formed in a center portion thereof. A mirror  2  which is formed from a silicon sheet is internally supported in this recessed portion  1   a . Two torsion bars  3   a  and  3   b  which are formed integrally with the mirror  2  protrude from two ends thereof, respectively. Distal end portions of these torsion bars  3   a  and  3   b  are fixed to the supporting substrate  1 , and are connected respectively to pads  4   a  and  4   b , respectively. As a result, the mirror  2  is able to be swung or oscillated between the planar direction of the mirror and a direction which is perpendicular to the mirror surface, by the twisting of the torsion bars  3   a  and  3   b . Impurity ions are implanted or diffused at least at peripheral areas or at the surface of the mirror  2 , or alternatively, these areas may be covered by aluminum or silver or by an electrically-conductive organic thin film, resulting in these areas to form an electrode  5  which is electrically conductive. 
         [0004]    In contrast, fixed electrodes  7   a  and  7   b  are located at the respective side position of the recessed portion  1   a  on the surface of the supporting substrate  1  via an insulator  6 . These fixed electrodes  7   a  and  7   b  are formed by semiconductors or electrically-conductive materials composed of organic materials, and inner side edge portions of each of these fixed electrodes  7   a  and  7   b  are placed adjacent to the electrode  5  at the respective side edge of the mirror  2 . Thus, a condenser is formed between the electrode  5  and the respective fixed electrodes  7   a  and  7   b.    
         [0005]    When a given voltage is applied between a pad  8   a  of one fixed electrode  7   a  and the pads  4   a  and  4   b  of the torsion bars  3   a  and  3   b , this voltage is applied to the mirror electrode  5  which is connected to the pads  4   a  and  4   b , and electric charges having mutually opposite polarities are accumulated on the surface of the fixed electrode  7   a  and the mirror electrode  5  so as to form a condenser. Electrostatic attraction then begins to work between the fixed electrode  7   a  and the mirror electrode  5 , and the mirror  2  starts to rotate. Then, after the mirror  2  has returned to its original position, then by applying a voltage between the other fixed electrode  7   b  on the opposite side and the mirror electrode  5 , the mirror  2  is again rotated, this time in the opposite rotation direction. By performing this type of operation repeatedly, the mirror  2  makes a swinging motion (oscillation motion) by repeating a motion of rotating between the positions of maximum rotation in the anticlockwise direction and the clockwise direction. 
         [0006]    Further, Patent Literature 2 (JP-A-10-197819) describes an optical scanner in which a micromirror obtained by means of silicon micromachining technology is swung or oscillated (referred to as “Conventional Art 2” in below). 
         [0007]    As shown in  FIG. 20 , this optical scanner is provided with: a sheet-shaped micromirror  1 , which is to reflect light; a pair of rotation supporting bodies  2 , which are positioned on a straight line and support the micromirror  1  from the respective side thereof; a frame  3 , to which the pair of rotation supporting bodies  2  are connected, and which surrounds the periphery of the mirror  1 ; and a piezoelectric element  4 , which applies translational motion to the frame  3 . In addition, this optical scanner is structured such that the center of gravity of the mirror  1  is located at a position outside of on the straight line connecting the pair of rotation supporting bodies  2 . 
         [0008]    When a voltage is applied to the piezoelectric element  4 , the piezoelectric element  4  is made to expand and contract, so as to vibrate in the Z axial direction. This vibration is transmitted to the frame  3 . When the micromirror  1  is made to undergo a relative motion to the driven frame  3  and the vibration component in the Z axial direction is transmitted to the micromirror  1 , because the micromirror  1  has left-right asymmetrical mass components with respect to the axis formed by the X-axis rotation supporting bodies  2 , rotational moment is generated in the micromirror  1  centered on the X-axis rotation supporting bodies  2 . In this manner, the translational motion which has been applied to the frame  3  by the piezoelectric element  4  is transformed into rotational motion centering on the X-axis rotation supporting bodies  2  of the micromirror  1 . 
         [0009]    Further, Patent Literature 3 (JP-A-10-104543) describes an optical scanning device (referred to as “Conventional Art 3” in below), as shown in  FIG. 21 . In this optical scanning device, beams  3  and  3  extend in mutually opposite directions from the respective side of a movable portion  2  in a vibrator  1 , and are connected to two arms  4  and  4  of a fixed portion  6 . Piezoelectric thin films  5  and  5  are provided respectively on the arms  4  and  4  of the fixed portion  6 , and these piezoelectric thin films  5  and  5  are driven by the same signal which includes high-order vibration frequencies. 
         [0010]    However, the above-described optical scanner of Conventional Art 1 is manufactured to be several millimeters square using silicon micromachining technology, and the electrode  5  is formed on at least peripheral areas or on the surface of the mirror  2  and the pads  4   a  and  4   b  are provided on the torsion bars  3   a  and  3   b . In addition, it is necessary to place the respective fixed electrodes  7   a  and  7   b  and pads  8   a  and  8   b  at positions on the respective side of the surface of the supporting substrate  1  via the insulator  6 . 
         [0011]    In this manner, the electrode  5  is formed on at least peripheral areas or on the surface of the mirror  2 , the pads  4   a  and  4   b  are formed on the torsion bars  3   a  and  3   b , and the respective fixed electrodes  7   a  and  7   b  and pads  8   a  and  8   b  are formed at the respective side of the surface of the supporting substrate  1  via the insulator  6 . As a result, the structure of this optical scanning device is complex, and not only the causes for possible failures are increased, but the time period required for manufacturing is also increased, to lead to a problem of costs increased. 
         [0012]    Further, in the optical scanner of the above-described Conventional Art 2, since a structure is employed in which translational motion applied to the frame  3  by the piezoelectric element  4  is transformed into rotational motion centering on the X-axis rotation supporting bodies  2  of the micromirror  1 , it is necessary to shift the position of gravity center of the micromirror  1  to the torsion bars. 
         [0013]    Moreover, the device also needs to have a certain thickness not only in the X-Y axial directions, but also in the Z axial direction, and it is difficult to reduce the thickness of this device. 
         [0014]    Further, the optical scanning device of the above-described Conventional Art 3 has the drawback that a large torsion angle cannot be formed in the movable portion  2 . 
         [0015]    Namely, when a piezoelectric film is formed in the two narrow cantilever beams which support the two torsion bars protruding from the frame, the rigidity of this portion increases and vibration which is induced in the piezoelectric film is not transmitted efficiently to the torsion bar portions. As a result, the torsional vibration of the mirror becomes small. Moreover, unless the vibration characteristics of the vibration source formed by the two cantilever beams and the piezoelectric film which is formed thereon are matched precisely, the vibration amplitude of the torsional vibration of the mirror becomes suppressed, and, simultaneously, vibration modes other than the torsional vibration are superimposed, resulting in that accurate laser beam scanning cannot be achieved. Furthermore, in order to increase the area of the piezoelectric film portion to increase the drive force for the mirror, it is necessary to widen the width of the cantilever beams. Because of this, an unnecessary two-dimensional vibration mode is generated in the same cantilever beam, the vibration amplitude of the torsional vibration of the mirror becomes suppressed, and, simultaneously, vibration modes other than the torsional vibration are superimposed, resulting in such a problem that accurate laser beam scanning cannot be achieved. Moreover, because the width of the cantilever beams is restricted to a narrow width, the formation of the upper electrodes to drive the piezoelectric film formed on this portion is not readily due to the narrow width, resulting in such a problem that the yield in mass production is conspicuously affected. 
         [0016]      FIG. 22  shows the same case as that of Conventional Art 3, and shows a structure in which a piezoelectric film is formed on two narrow-width cantilever beams which support two torsion bars protruded from a frame. The drive efficiency of the mirror scan angle was examined by a simulation calculation. The face where y=0 was taken as a plane of symmetry, and a half of this was used as a model. 
         [0017]      FIG. 23  shows the torsion angle of a mirror having a structure in which a piezoelectric film is formed on two narrow-width cantilever beams which support two torsion bars protruded from the frame, as shown in  FIG. 22 . The drive voltage was set at 1V, while the characteristics of a PZT-5A which are typical parameters were used for the electrical characteristics of the piezoelectric body, while the characteristics of SUS 304 were used for the material of the scanner frame main body. The torsion angle of the mirror was 0.63°. 
         [0018]    Thus, as countermeasures to the problems in the above-described Conventional Arts 1 to 3, the applicant/inventors of this application has previously proposed an optical scanning device, as described in Patent Literature 4 (International Patent Publication No. WO2008/044470) (referred to as “Conventional Art 4” in below). This optical scanning device is one in which, using a simple structure, it is possible to efficiently generate torsional vibration in a mirror, by forming a piezoelectric actuator on a substrate having torsion bars which support the mirror, utilizing thin-film formation technology, such as an aerosol deposition method (AD method), a sputtering method, or a sol-gel method, and by generating torsional vibration in the mirror with the use of the vibration of the substrate. The present invention is attained, based on a further improvement of Conventional Art 4, and the fundamental matters such as the principle of generation of torsional vibration in the mirror, are the same as those of Conventional Art 4. Thus, the principle of generation of torsional vibration in the mirror, and the fundamental matters of the device, each according to Conventional Art 4, are described below in detail. 
         [0019]    [Principle of Generating Torsional Vibration in Mirror] 
         [0020]    As shown in  FIG. 1 , the basic structure of Conventional Art 4 includes: a substrate  10 , which is formed by a substrate main body  20  and by two cantilever beams  19  and  19  protruded from the respective side portion at one end of the substrate main body; torsion bars  12  and  12 , which are provided between the cantilever beams  19  and  19 , so as to support a mirror  13  from the respective side thereof; a drive source  11 , which is formed by a piezoelectric film or the like provided on the substrate main body  20 ; and a supporting member  16 , which fixes a fixed end  21  of the substrate main body, at the opposite side to the mirror  13  side of the substrate main body. The torsion bars  12  which support the mirror  13  extend in a perpendicular direction (i.e. in the X axial direction) with respective to the axial direction of the cantilever beams  19 . 
         [0021]    As shown in  FIG. 2 , when a voltage is applied to the piezoelectric film which is the drive source  11 , deflection or flexure is generated in the substrate main body  20  directly beneath the piezoelectric film in conjunction with the deflection of the piezoelectric film, and vibration is generated in the substrate main body  20 . Namely, as shown in  FIG. 2(   a ), when a positive voltage is applied to the piezoelectric film side, the piezoelectric film stretches, while conversely, as shown in  FIG. 2(   b ), when a negative voltage is applied to the piezoelectric film side, the piezoelectric film contracts, thereby each generating vibration in the substrate  10 . 
         [0022]    At this time, the vibration generated in the substrate main body  20  is transmitted from the substrate main body  20  to the cantilever beams  19 , so that a force is generated which imparts a rotational moment to the mirror  13  which is in a horizontal state and is supported by the torsion bars  12  shown in  FIG. 1 , thereby inducing torsional vibration. 
       [Placement of Drive Source] 
       [0023]    As described with respect to Conventional Art 3, when the drive source  11  is provided on the torsion bars  12  and the cantilever beams  19  each of which are close to the mirror  13 , it is not possible to cause the mirror  13  to vibrate at a large torsion angle. 
         [0024]    In contrast to this, in Conventional Art 4, by forming a single piezoelectric film, which functions as the drive source  11 , on the substrate main body  20 , the rigidity of the two cantilever beams  19  and  19  is lowered and torsional vibration is efficiently induced in the mirror  13 . At the same time, by providing only a single drive source  11  to drive the mirror  13 , it is possible to solve the above-described problems of the inducing of unnecessary vibration modes and of a reduction in vibration amplitude, each of which is caused by irregularities or the like in the drive source  11 . Moreover, by using the above-described two cantilever beams  19  and  19  to separate the portion, where the piezoelectric film, i.e. the drive source  11 , is formed, from the mirror torsional vibration portion, which is formed by the mirror  13  and the torsion bars  12  supporting the mirror  13 , the area of the piezoelectric film of the drive source  11  can be designed freely irrespective of the width of the cantilever beams  19 , and it is possible to efficiently impart a large driving force by means of the mirror torsional vibration portion. Furthermore, formation of the electrodes to drive the piezoelectric film becomes also readily, and it is possible to increase the yield in industrial production. 
         [0025]      FIG. 3  is a plan view showing the optical scanning device according to Conventional Art 4 which has a structure in which one piezoelectric film of the drive source  11  is formed on the substrate main body  20 , and in which the face where y=0 is taken as a plane of symmetry, and only a half of this is utilized as a model. The dimensions of the mirror  13  and the dimensions of the torsion bars  12 , the mounted position where the torsion bars  12  are mounted on the mirror  13  (i.e. the position of the center of gravity of the mirror  13 ), the shape of the substrate  10  as well as the method of support the same, and also the thickness and the total value of the area of the piezoelectric film, each of which provide the basic structure of the optical scanning device, are made the same as in Conventional Art 3. This optical scanning device only differs in the position where the piezoelectric film  11  of the drive source  11  is formed. 
         [0026]      FIG. 4  shows the torsion angle of the mirror  13  of the device, as shown in  FIG. 3 . The drive voltage was set at 1V, while the characteristics of a PZT-5A which are typical parameters were used for the electrical characteristics of the piezoelectric body, while SUS 304 characteristics were used for the material of the scanner frame main body. Basically, the resonance frequency in the present invention, as shown in  FIG. 3 , is substantially the same as that in Conventional Art 3, as shown in  FIG. 25 . However, while, in Conventional Art 3, the torsion angle of the mirror  13  was 0.63°, in Conventional Art 4 shown in  FIG. 3 , it was confirmed to have an approximately 4.3 times greater than the above torsion, namely, the torsion angle was 2.69° (80.7° at a conversion of 30V). 
         [0027]    It is possible to position a plurality of vibration sources on a substrate in order to increase the scan amplitude of the mirror. However, in that case, because of irregularities in the mounted state due to the characteristics of the vibration sources or the mounted positions, or to the adhesion or film formation, it becomes apt to induce two-dimensional vibration to the substrate, which vibration is asymmetrical to the axis of symmetry in a perpendicular direction to the torsion bars supporting the mirror, which results in a deterioration in the scanning accuracy of the optical beam due to the torsional vibration of the mirror. In contrast to this, according to the present invention, torsional vibration is induced efficiently in the mirror even though there is only one vibration source, and it is possible to largely suppress reduction of scan jitter in the optical beam and occurrence of irregularity among products. 
         [0028]    In order to obtain the maximum amplitude in the torsion angle of the mirror  13  at a fixed drive voltage, the placement of the drive source  11  to the mirror  13  has importance. When the drive source  11  is placed at a position away from the connecting position where the torsion bars  12  which support the mirror  13  connect to the cantilever beams  19 , namely, in a part of the substrate main body  20 , for example, in a center portion of the substrate main body  20 , it is possible to cause the mirror  13  to vibrate with a large torsion angle. 
         [0029]    Further, when vibration is generated when the drive source  11  is placed at a position away from the connecting position where the torsion bars  12  which support the mirror  13  connect to the cantilever beams  19 , the drive source  11  is positioned such that the minimum amplitude of the substrate vibration (i.e. the node of the vibration) would be obtained in the vicinity of the connecting position where the torsion bars  12  which support the mirror  13  connect to the cantilever beams  19 . 
         [0030]    Moreover, when the connecting portion between the cantilever beams  19  and the substrate main body  20  is positioned in the vicinity of the maximum amplitude of the substrate vibration which is excited in the substrate main body  20  by the drive source  11 , it is possible to cause the mirror  13  to vibrate at a larger torsion angle. 
         [0031]    One method of matching together the vibration modes of the torsion bars  12  and  12  which support the mirror  13  from the respective side is, for example, to place the drive source  11  in the center in the transverse direction (i.e. on the Y axis in  FIG. 1 ) of the substrate main body  20 , and to make the distances from the drive source  11  to the left and right torsion bars  12  and  12  be the same. 
       [Resonance Frequency] 
       [0032]    As in Conventional Art 4, as shown in  FIG. 1 , in order to transmit vibration energy generated at a position away from the mirror  13  as an energy which efficiently generates torsional vibration in the mirror  13 , it is necessary to set the resonance frequency (fm) of the mirror  13  which is mainly determined by the mass of the mirror  13  and by the spring constant of the torsion bars  12 , considerably away from the resonance frequency (fb) which includes the division oscillation mode of the substrate  10  itself. When the drive source  11  of the optical scanning device is driven so as to match the resonance frequency (fm) of the torsional vibration of the mirror  13 , if a resonance mode is also induced in the substrate  10 , the vibration energy generated by the drive source  11  becomes distributed between torsional vibration of the mirror  13  and two-dimensional division vibration of the substrate  10 , due to the law of conservation of energy. Accordingly, the amplitude (i.e. the torsion angle) of the torsional vibration of the mirror  13  becomes smaller, by the amount of vibration energy from the drive source  11  which is consumed by the two-dimensional division vibration of the substrate  10 , resulting in that it becomes impossible to efficiently drive the optical scanning device. 
         [0033]    Moreover, if the unnecessary two-dimensional division vibration is induced in the substrate  10 , there may be the cases in which a vibration mode other than pure torsional vibration which has the torsion bars  12  as its axis of rotation becomes superimposed on the mirror  13  positioned at the distal end of the substrate  10 , resulting in that it becomes impossible to achieve an optical scan having a high level of accuracy in the rectilinear scan performance thereof. In contrast to this, as shown in  FIG. 5 , Conventional Art 4 is designed such that the torsional resonance frequency a (fm(n), in which n=0, 1, 2, . . . ) which includes elements up to the higher orders induced in the mirror, does not overlap with the torsional resonance frequency b (fb(n), in which n=0, 1, 2, . . . ) which includes elements up to the higher orders induced in the frame. 
       [Thickness and Area of Film Body of Piezoelectric Film and the Like Forming Drive Source] 
       [0034]    The thickness and size of the film body of the piezoelectric film and the like forming the drive source  11  which causes the mirror  13  to vibrate, must be set at the optimum values, in accordance with the thickness and size of the substrate main body  20 . 
         [0035]    Taking the conditions which the optical scanning device will be used into consideration, based on a constant drive voltage (i.e. voltage applied to the piezoelectric film), the thinner the film body is, the greater the displacement which can be obtained is. In actuality, particularly in a film which is formed using the AD method, the characteristics of a piezoelectric film which is formed on a metal substrate show a dependency on the film thickness, namely, if the film is too thin, there is a deterioration in the piezoelectric characteristics and a deterioration in film characteristics such as an increase in leakage current and the like, while if the film is too thick, polarization processing becomes difficult. Moreover, with respect to the thickness of the substrate  10 , when considering the flatness of the mirror when it is in operation and the mirror sizes required for applications such as projector devices, assuming that the substrate is formed from Si or stainless steel, the thickness of 10 μm or greater is at least required. In consideration of these points, the optimum thickness of the film body of the piezoelectric film or the like which is suitable for driving the optical scanning device is 6 times or less than the thickness of the substrate main body  20 . A lower limit of the thickness of the film body is approximately 1 μm, and, at this time, it is possible to obtain the maximum mirror scan angle with the minimum drive voltage and power consumption, for a film thickness of the same area. 
         [0036]    Moreover, when the area of the piezoelectric film or the like forming the drive source  11  is such that, in the above-described film thickness range, the length of the film body in the direction in which the vibration is transmitted over the substrate, is within a range that is smaller than approximately the ½ wavelength of the vibration which is determined by the resonance frequency for driving the optical scanning device and the acoustic velocity of the substrate material, the driving can be efficiently performed. Furthermore, within this range, when considering power consumption, it is preferable that the area of the drive source  11  is the same as or smaller than the substrate main body  20 . More preferably, the area of the drive source  11  is ¾ or less than the area of the substrate main body  20 . 
       [Position of Center of Gravity of Mirror Portion] 
       [0037]    When the mounted positions of the torsion bars  12  which support the mirror  13  of the optical scanning device are shifted from the position of the center of gravity of the mirror  13  in a perpendicular direction relative to the axis of the torsion bars  12 , as shown in  FIG. 6 , two resonances f 1  and f 2  exist, namely, a torsional resonance mode centered on the axis of the bars (i.e. on the X axis), and a torsional resonance mode centered on the position of the center of gravity (Xm) of the mirror  13 . At this time, there is a slight difference between the two resonance frequencies f 1  and f 2 , and the amplitude of the angle of the torsional vibration (i.e. the optical scan angle) of the mirror in the vicinity of the resonance frequency is not the same, when the drive frequency approaches the resonance frequency from the low frequency side and when it approaches the resonance frequency from the high frequency side, resulting in a large hysteresis occurred. In actual use, this hysteresis is a big problem. For example, a case might be considered, in which the mechanical constants of the optical scanner are changed by fluctuations in the environmental temperature, which leads to a change in the resonance frequency which, in turn, leads to fluctuations in the optical scan angle. These fluctuations can generally be controlled to compensate, by changing the drive frequency applied to the drive source  11 . However, if the aforementioned hysteresis is present, extremely complex control is required because of the non-linearity of the hysteresis, and such control is not practical. In contrast to this, when the position of the center of gravity of the mirror  13  is matched to the supporting position of the torsion bars  12 , the aforementioned hysteresis does not appear, and favorable resonance characteristics can be obtained. 
       [Cross Section of Torsion Bar] 
       [0038]    Preferably, the cross section of the torsion bars  12  supporting the mirror  13  is ideally an axially symmetrical circle. However, in the actual manufacturing thereof, because it is formed from a sheet material, it has a limited width and has a rectangular cross section. Because of this, if the width (W) of the bars is too large, with even a slight processing error, a phenomenon occurs in which the position of the axis of the torsion bars  12  moves within the width (W) of the bars when resonating. Then, as described above, a hysteresis phenomenon occurs in the amplitude of the torsion angle (i.e. the optical scan angle) for drive frequencies in the vicinity of the resonance frequency, resulting in that drive control is difficult. In order to solve this type of problem, it is necessary to keep the width of the torsion bars under a certain width. From experiments, it is found that, with respect to the length of the torsion bars (T 1 ) and the substrate thickness (T 2 ), it is necessary that the W to be within a range of: W/T 1 ≦0.4, or 0.05≦T 2 /W≦2; and it is preferable that: W/T 1 ≦0.2, or 0.1≦T 2 /W≦0.5. 
       [Method for Forming Piezoelectric Film] 
       [0039]    When an aerosol deposition method is utilized to form the piezoelectric film, because this is a low-temperature and high-speed process, it is possible to readily form a thick film of several micrometers or more directly on a metal substrate in a short period of time. However, the film formation method is not limited to this. For example, when a material having a heat-resistant temperature, such as a silicon substrate, is used, then using the usual thin-film technology, such as a sputtering process, CVD process, or sol-gel process, or the like, it is possible to form an epitaxially grown high-performance piezoelectric thin-film. This is useful for forming even more precise micro-optical scanning devices. 
       [Supporting Substrate] 
       [0040]    In the substrate  10 , when the fixed end  21  of the substrate main body  20  on the opposite side from the mirror  13  side is fixed to and supported in cantilever fashion by the supporting member  16 , the torsion amplitude of the mirror  13  can be increased. In this case, the width of the fixed end  21  which is fixed by means of the supporting member  16 , is preferably within a range of 1/20 to ¾ the width of the substrate main body  20 , more preferably within a range of 1/10 to ½ the width of the substrate main body  20 . 
         [0041]    When the width of the fixed end  21  of the substrate main body  20  on the opposite side from the mirror  13  side is made narrower than the width of the substrate main body  20  and this fixed end  21  is fixed to and supported in cantilever fashion by the supporting member  16 , it is possible to more efficiently generate vibration in the substrate main body  20  using the drive source  11 , and it is possible to increase the torsion amplitude of the mirror  13 . 
         [0042]    The inventors of the present invention confirmed that the narrower the width of the fixed end  21  is, the greater the torsion angle of the mirror  13  tends to be. In this case, the width of the fixed end  21  which is fixed by means of the supporting member  16  is preferably within a range of 1/20 to ¾ the width of the substrate main body  20 . If the width is less than 1/20 the width of the substrate main body  20 , this is too narrow from practical aspects, and the fixing becomes unstable, which is impractical. 
         [0043]      FIGS. 7(   a ) to  7 ( e ) show various substrate shapes. 
         [0044]    For example,  FIG. 7(   a ) shows a case in which the fixed end  21  is the same as the width of the substrate main body  20 . In this case, the torsion angle of the mirror  13  is 35°. On the other hand, as shown in  FIGS. 7(   b ),  7 ( c ), and  7 ( d ), when the overall width of the fixed end  21  is narrower than the width of the substrate main body  20 , it is possible to obtain a high torsion angle of the mirror  13  that is 40° or greater, at the same drive voltage. 
         [0045]    Moreover, it was found that not only the overall width of the fixed end  21  is important, but also the shape thereof is important as well. For example, when the width of the fixed end  21  was made smaller, by cutting rectangular notches out of the left and right sides of the substrate main body  20  in the vicinity of the fixed end  21 , as shown in  FIG. 7(   b ) (referred to as “H shape”), the torsion angle was 46°. When the width of the fixed end  21  was made smaller, by cutting triangular notches out of the left and right sides of the substrate main body  20  in the vicinity of the fixed end  21 , as shown in  FIG. 7(   c ) (referred to as “Y shape”), the torsion angle was 54°. In those cases, it is thus possible to more efficiently generate vibration in the substrate main body  20  with the drive source  11 , to increase the torsion amplitude of the mirror  13 . Furthermore, in those cases, the overall width of the fixed end  21  is preferably set to ⅛ to ½ the width of the substrate main body  20 . 
         [0046]    Moreover, placing a part of the fixed end  21  in a center portion of the substrate main body  20  makes it possible to cause the mirror  13  to vibrate at a large torsion angle. For example, when the position of a part of the fixed end  21  was not placed in the center of the substrate main body  20 , as shown in  FIG. 7  ( e ), the torsion angle of the mirror  13  was 43°. However, when a part of the fixed end  21  was also in a position in the center of the substrate main body  20 , as shown in  FIG. 7  ( d ) (referred to as “spectacle frame shape”), the torsion angle of the mirror  13  was 54°. 
         [0047]    On the other hand, even when the fixed end  21  is the same as the width of the substrate main body  20 , by changing the support mode by which the supporting member  16  fixes the fixed end  21  of the substrate main body  20 , the fixing stability of the optical scanning device can be further improved. 
         [0048]      FIGS. 8(   a ) to  8 ( c ) show examples of three support modes. 
         [0049]      FIG. 8(   a ) shows an example in which the entire one side face of the substrate main body  20  is supported by the supporting member  16 . In this case, the torsion angle of the mirror  13  was 45°. 
         [0050]      FIG. 8(   b ) shows an example in which the entire one side face of the substrate main body  20  and both sides continuous with that are supported by the supporting member  16 . In this case, the torsion angle of the mirror  13  was 43°. Because the vibration generated in the substrate main body  20  by the drive source  11  is not very large in each side portions of the substrate main body  20  on the opposite side from the mirror  13  side (see  FIG. 12) , even if the each side portions of the fixed end  21  are fixed by the supporting member  16 , there is substantially no effect on the torsion amplitude of the mirror  13 . In the case of  FIG. 8(   b ), because the length fixing the substrate  10  is substantially longer, in actual use, it is possible to further enhance the fixing stability of the optical scanning device. In this case, the angle θ of the triangle cut into the supporting member  16  is preferably within a range of between 30° and 300°, within a plane. 
         [0051]    Further, when a means for fixing the substrate  10  to the supporting member  16  is to clamp the substrate main body  20  from the upper side and the lower side, stable fixing can be attained. However, there are cases in which, when the clamped portion is a flat plane, uniform contact pressure is not applied to the fixed end of the substrate main body, to cause unnecessary resonance, resulting in that sufficient fixing cannot be achieved. Thus, as shown in  FIG. 8(   c ), when the cross-sectional configuration of the clamped portion is formed as curved, slight bending tension acts in the vicinity of the fixed end of the substrate main body  20 . As a result, uniform pressure is applied to the contact surface between the substrate main body  20  and the supporting member  16 , and a more stable fixing is possible by the pressure applied. In experiments, it was found that when the clamped portion was a plane (flat surface), the torsion angle of the mirror  13  was 30°, but in the case of the curved shape as shown in  FIG. 8(   c ), the resonance frequency was stabilized and the torsion angle of the mirror  13  was able to increase to 54°. 
         [0052]    The cross-sectional configuration of the clamped portion is not limited to the above-described curved shape, and may also be a triangular configuration in which the substrate main body is slightly bent. 
         [0053]    The optical scanning device according to Conventional Art 4 has a basic structure, as shown in  FIG. 1 , in which the substrate main body  20  is supported in a cantilever fashion by a supporting member  16 , on the opposite side from the mirror  13 . Because of this, if a vertical disturbance vibration is applied to the entire optical scanning device, the entire optical scanning device vibrates, and optical beams which are reflected and scanned by the mirror  13  are affected by this vibration and do not vibrate stably, to cause a problem that it is not possible to guarantee accurate optical scanning. Accordingly, assuming that the optical scanning device will be used in practical applications, such as in portable devices, it is necessary to improve this instability with the entire optical scanning device having a cantilever structure. 
         [0054]    Thus, as shown in  FIG. 9 , in Conventional Art 4, the optical scanning device is fixed by means of narrow-width substrate connecting bars  23  to a rigid substrate fixing frame  22 , which is positioned so as to surround the entire cantilever-supported optical scanning device, at positions separated from the fixed end  21  of the optical scanning device. 
         [0055]    At this time, the resonance state of the optical scanning device itself changes depending on the fixing positions of the substrate connecting bars  23 , and the scan angle and resonance frequency of the mirror  13  may also be changed according to the change above. 
         [0056]      FIGS. 10 and 11  show the results when this state was examined. As shown in  FIG. 10(   a ), when the optical scanning device is fixed by the substrate connecting bars  23  at the base of cantilever beams  12  whose vibration amplitude close to the antinode of the vibration is large when the mirror  13  is in torsional resonance state, the scan amplitude of the mirror  13  is considerably reduced, namely, to approximately 17°, as compared to a scan amplitude of approximately 53° which is obtained when the optical scanning device is not fixed. This is because, if a portion large in the vibration amplitude is fixed at the outer peripheral portion of the optical scanning device, to suppress this vibration, then the vibration mode of the entire substrate  10  of the optical scanning device is changed, which results in it becoming impossible to efficiently transmit energy to the torsional vibration of the mirror  13 . 
         [0057]    Contrary to the above, in the state, as shown in  FIG. 11 , in which the substrate main body  20  is not connected to the substrate connecting bars  23 , when the mirror  13  is in torsional resonance state, if, as shown in  FIG. 10(   d ), the optical scanning device is connected and fixed by the substrate connecting bars  23 , in a portion in the vicinity of a node  25  where a vibration amplitude in the Z axial direction of the edge portion of the substrate  10  of the optical scanning device (i.e. a portion indicated by the reference numeral  24  in  FIG. 11)  is at the minimum, then the scan amplitude of the mirror  13  becomes a slightly larger scan amplitude, namely approximately 55°, than when it is not fixed to the substrate fixing frame  22 . In this case, since the vibration mode of the entire substrate  10  of the optical scanning device is not changed, it is possible to maintain a substantially equivalent resonance state, as compared with that when the optical scanning device is not fixed, and any effects on the scan amplitude of the mirror  13  by fixing the substrate  10  of the optical scanning device by the substrate connecting bars  23  become the minimum. 
         [0058]    Accordingly, if the optical scanning device is fixed at the outer edge portion of the optical scanning device, by means of the substrate connecting bars  23  at the node of the vibration when the mirror is resonating, or at the point where the vibration amplitude is the smallest and which is also away from the supporting member  16  of the optical scanning device as further as possible, then it is possible to stably support the optical scanning device against any external disturbance vibration, without attenuating the scan amplitude of the mirror  13 . 
         [0059]    The scan jitter and the scan wobble (i.e. parameters of stability of a beam scanning speed) of optical beam in the optical scanning device according to Conventional Art 4 were evaluated by a MEMS scanner measurement system (ALT-9A44), manufactured by ALT. As a result, it was found that, while a scan jitter of a conventional silicon MEMS optical scanner (manufactured by Nippon Signal) was Jp-p: 0.2 to 0.3%; irrespective of the fact that the optical scanning device according to the present invention was formed from a metal material, the scan jitter at scan resonance frequencies of 6 kHz, 16 kHz, and 24 kHz was smaller by a factor of 10, namely, Jp-p: 0.06% or less. Thus, according to the present invention, it is possible to achieve a high-accuracy optical beam scan corresponding to a conventional polygon mirror-system. Moreover, in the conventional polygon mirror-system, the scan wobble is approximately Wp-p: 30 to 40 seconds, and it is necessary to apply correction with f-⊖ lens or the like, to lower the value by a factor of 10. Contrary to the above, in the optical scanning device according to Conventional Art 4, the scan wobble is Wp-p: 5 seconds or less, which is a value lower by a factor of 10, and it is possible to achieve a highly stable beam scanning speed without a correction lens-system, which makes it possible to reduce size and costs of the device readily. From the above-described measurement results, it is apparent that the optical scanning device according to the present invention makes it possible to obtain a favorably high optical-beam scanning accuracy, which can be used in a laser printer and the like. 
       CITATION LIST 
     Patent Literatures 
       [0000]    
       
         Patent Literature 1: JP-A-11-52278 
         Patent Literature 2: JP-A-10-197819 
         Patent Literature 3: JP-A-10-104543 
         Patent Literature 4: WO 2008/044470 
       
     
       SUMMARY OF INVENTION 
     Technical Problem 
       [0064]    Although reductions in size and costs have been achieved in a simple structure by Conventional Art 4 previously proposed by the applicant/inventors, the present invention is contemplated for improving Conventional Art 4, to achieve a smaller size, in particular a shorter protruding length of the substrate main body protruded from the supporting member, and to achieve noise reduction by reducing a noise generated from the device due to vibration. 
       Solution to Problem 
       [0065]    In order to solve the above-mentioned problems, the present invention is to shorten the protruding length of the substrate main body protruding from the supporting member, by forming holes in the substrate main body, and to achieve noise reduction by reducing a noise generated by vibration of the substrate main body. That is, the present invention provides an optical scanning device, comprising: a substrate main body; two cantilever beams which protrude from the respective side portion of one side of the substrate main body; a mirror supported by torsion bars from the respective side, between the cantilever beams; a drive source to cause the substrate main body to vibrate; and a light source to project light onto the mirror, wherein a fixed end of the substrate main body is fixed to a supporting member, on the opposite side from the mirror side, wherein the drive source is provided on a part of the substrate main body, wherein the mirror resonantly vibrates in accordance with vibration applied to the substrate by the drive source, thereby to change a direction of reflection light of the light projected onto the mirror from the light source in accordance with the vibration of the mirror, characterized in that a plurality of holes are provided in the substrate main body and the cantilever beams. 
         [0066]    Further, the present invention provides an optical scanning device, comprising: a substrate main body; two cantilever beams which protrude from the respective side portion of one side of the substrate main body; a mirror supported by torsion bars from the respective side, between the cantilever beams; a drive source to cause the substrate main body to vibrate; and a light source to project light onto the mirror, wherein a fixed end of the substrate main body is fixed to a supporting member, on the opposite side from the mirror side, wherein the drive source is provided on a part of the substrate main body, wherein the mirror resonantly vibrates in accordance with vibration applied to the substrate by the drive source, thereby to change a direction of reflection light of the light projected onto the mirror from the light source in accordance with the vibration of the mirror, characterized in that a plurality of holes are provided in the vicinity of node or antinode in a vibration mode of a frame including the substrate main body and the cantilever beams. 
         [0067]    Further, the present invention provides an optical scanning device, comprising: a substrate main body; two cantilever beams which protrude from the respective side portion of one side of the substrate main body; a mirror supported by torsion bars from the respective side, between the cantilever beams; a drive source to cause the substrate main body to vibrate; and a light source to project light onto the mirror, wherein a fixed end of the substrate main body is fixed to a supporting member, on the opposite side from the mirror side, wherein the drive source is provided on a part of the substrate main body, wherein the mirror resonantly vibrates in accordance with vibration applied to the substrate by the drive source, thereby to change a direction of reflection light of the light projected onto the mirror from the light source in accordance with the vibration of the mirror, characterized in that a plurality of holes are provided in the substrate main body. 
         [0068]    Further, the present invention is characterized in that the plurality of holes are round holes or rectangular holes, in the above-described optical scanning device. 
         [0069]    Further, the present invention is characterized in that the plurality of holes are provided to have tapered shapes in a thickness direction so that the holes have smaller sizes in the center portion in the thickness direction of the substrate main body and the cantilever beams, in the above-described optical scanning device. 
         [0070]    Further, the present invention is characterized in that the plurality of holes are provided, excluding an area where the drive source is provided on the substrate main body, in the above-described optical scanning device. 
       Advantageous Effects of Invention 
       [0071]    The present invention can exhibit such the excellent advantageous effects as described below. 
         [0072]    (1) According to the optical scanning device of the present invention, by providing a plurality of holes in the substrate main body and the cantilever beams, the protruding length of the substrate main body protruding from the supporting member can be shortened, which makes it possible to make the optical scanning device smaller in size. 
         [0073]    (2) According to the optical scanning device of the present invention, by providing a plurality of holes in the substrate main body and the cantilever beams, the noise generated by vibration of the substrate main body can be reduced, which makes it possible to achieve noise reduction. Further, when the shapes and the aperture ratios of the holes are suitably adjusted, a further noise reduction can be achieved. 
         [0074]    (3) According to the optical scanning device of the present invention, by providing a plurality of holes in the frame including the substrate main body and the cantilever beams, the vibrational amplitude (the scan angle) and the resonant frequency of the mirror can be adjusted. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0075]      FIG. 1  is a conceptual view illustrating fundamental matters of the optical scanning device. 
           [0076]      FIGS. 2(   a ) and  2 ( b ) are conceptual views illustrating the vibration generation principle in the optical scanning device. 
           [0077]      FIG. 3  is a plan view of the optical scanning device which has a structure in which a single piezoelectric film is formed on a substrate main body, with a face where y=0 being taken as a plane of symmetry, and with a half of this being used as a model. 
           [0078]      FIG. 4  is a graph showing a torsion angle of a mirror of the device shown in  FIG. 3 . 
           [0079]      FIG. 5  is a view showing resonance frequencies of a substrate and a mirror of the optical scanning device. 
           [0080]      FIG. 6  is a view illustrating circumstances in which a large hysteresis is generated, in the case where the center of gravity of a mirror is shifted in the vertical direction relative to the axis of torsion bars, between when the drive frequency approaches the resonance frequency from the low-frequency side, and when the drive frequency approaches the resonance frequency from the high frequency side. 
           [0081]      FIGS. 7(   a ) to  7 ( e ) are views showing various substrate shapes. 
           [0082]      FIGS. 8(   a ) to  8 ( c ) are views showing three examples of substrate supporting modes. 
           [0083]      FIG. 9  is a plan view of the optical scanning device in which a substrate fixing frame is positioned so as to surround a substrate main body and cantilever beams of the device. 
           [0084]      FIGS. 10(   a ) to  10 ( d ) are views illustrating mirror torsion angles when the positions of substrate connecting bars which connect a substrate and a substrate fixing frame together are changed. 
           [0085]      FIG. 11  is a view illustrating a state of the vibration amplitude of an edge portion of a substrate, when a mirror is in torsional resonance state, under the state in which a substrate and a substrate fixing frame are not connected together by substrate connecting bars. 
           [0086]      FIG. 12  is a plan view showing Example 1, which is an example according to the present invention, in which 0.3-mm square holes are provided at hole intervals of 0.2 mm in the substrate main body and the cantilever beams. 
           [0087]      FIG. 13  is a view showing Comparative Example 1. 
           [0088]      FIG. 14  is a plan view showing a modification in Example 2 according to the present invention, as another example, in which holes are not provided in the area of the substrate main body where the piezoelectric body is formed. 
           [0089]      FIG. 15  is a plan view showing Example 3 according to the present invention, as a further example, in which holes are provided in the vicinity of nodes of the vibration mode of the frame. 
           [0090]      FIG. 16  is a plan view showing Example 4 according to the present invention, as a still further example, in which holes are provided in the vicinity of antinodes of the vibration mode of the frame. 
           [0091]      FIG. 17  is a view showing Comparative Example 2. 
           [0092]      FIG. 18  is a plan view showing Example 5 according to the present invention, as a yet another example, in which holes are provided in the substrate main body. 
           [0093]      FIG. 19  are views showing Conventional Art 1, with the upper figure in  FIG. 19  being a plan view and the lower figure in  FIG. 19  being a frontal cross-sectional view thereof. 
           [0094]      FIG. 20  is a perspective view showing Conventional Art 2. 
           [0095]      FIG. 21  is a plan view showing Conventional Art 3. 
           [0096]      FIG. 22  shows the same type of structure as in the case of Conventional Art 3, with a face where y=0 being taken as a plane of symmetry, and with a half of this being used as a model. 
           [0097]      FIG. 23  is a graph showing a torsion angle of a mirror of the device having the structure shown in  FIG. 22 . 
       
    
    
     DESCRIPTION OF EMBODIMENTS 
       [0098]    The best modes for carrying out the optical scanning device according to the invention will be described below, based on examples, with reference made to the drawings. 
       EXAMPLES 
     Example 1 
       [0099]      FIG. 12  is a plan view showing an optical scanning device (Example 1) as an example according to the present invention. 
         [0100]    In  FIG. 12 , a substrate is manufactured by etching or by press working a square sheet material of SUS 304 with thickness 150 μm, so that the substrate  10  is cut out so as to leave torsion bars and a mirror remaining. The substrate has a substrate main body, and cantilever beams which protrude in parallel with each other from the respective side of one side of the substrate main body. The torsion bars which support the mirror, are provided extending in an orthogonal direction relative to the axial direction of the two cantilever beams. 
         [0101]    The cantilever beams are 6 mm in length and 3 mm in width, and the torsion bars are 6 mm in length and 0.25 mm in width. The mirror is 1.5×5 mm in size, and has an elliptical shape. As for a perforated structure, 0.3-mm square holes are formed in the entire substrate main body and the entire two cantilever beams, and the distance between each two adjacent holes is 0.2 mm. The substrate main body is 19.5 mm in width, and a piezoelectric body PZT is 4-mm square in size. 
       Comparative Example 1 
       [0102]      FIG. 13  is a plan view showing Comparative Example 1, which has a structure that does not have holes formed in the substrate main body and the two cantilever beams. The sizes in this structure are the same as those of Example 1, except that holes are not formed. 
         [0103]    In the following, comparisons are made between Example 1 and Comparative Example 1. 
         [0104]    In the perforated optical scanning device of Example 1, the resonant frequency is 2.558 kHz, the drive voltage is 65 V, and the scan angle is 92 degrees. The distance from the torsion bars to the supporting member is 12 mm. The sound pressure measured by a digital sound level meter (SD-325) is 42 dB. 
         [0105]    In the unperforated optical scanning device of Comparative Example 1, the resonant frequency is 2.616 kHz, the drive voltage is 75 V, and the scan angle is 93 degrees. The distance from the torsion bars to the supporting member is 18 mm. The sound pressure measured by the digital sound level meter (SD-325) is 72 dB. 
         [0106]    With the use of a laser interference displacement meter system, the respective Z-axis direction vibrational amplitudes were measured, in the optical scanning device of Example 1 having holes formed in the frame combining the substrate main body and the cantilever beams, as shown in  FIG. 12 , and in the optical scanning device of Comparative Example 1 having no holes formed in the substrate main body, as shown in  FIG. 13 . 
         [0107]    In the optical scanning device having holes formed in the substrate main body, as shown in  FIG. 12 , the scan amplitude of the mirror  13  was approximately 92°. In the optical scanning device having no holes, as shown in  FIG. 13 , the scan amplitude was approximately 93°, which was almost the same level as that in the optical scanning device shown in  FIG. 12 . At this point, it was confirmed that the vibration mode of the entire optical scanning device substrate  10  and its amplitude hardly varied. 
         [0108]    In view of these, the noise reductions in Example 1 and Comparative Example 1 are compared. By forming holes in the substrate main body and the cantilever beams, it is possible to reduce the amplitude area that propagates sound waves to the surrounding air, with vibrations of the substrate main body and the cantilever beams serving as sounding bodies. As a result, the noise generated at the time of optical scanner resonance can be reduced by 30 dB. This noise reduction is achieved, not because the apparent hardness or the like of the frame including the substrate main body and the cantilever beams is varied due to the formation of holes, to change the vibration mode of the frame to minimize the amplitude, but because, without varying the vibrational amplitude itself does, the air passes through the holes formed, and the vibration of the frame cannot be smoothly propagated as a sound through the air, resulting in that a sound is reduced. 
         [0109]    As described above, the inventors believed that, by the holes formed, the air passes through the holes, and the vibration of the frame cannot be smoothly propagated as a sound through the air, which resulted in that the sound becomes small. Thus, as a counter measures to let the air readily pass through the holes, the cross-sections of the holes in the frame are not linearly formed (holes linearly extending in the thickness direction), but they can be formed to have tapered shapes (the smallest hole diameters are located in the center portion in the frame thickness direction) by starting etching from both sides (the front face and backing face). Further, it is preferable that the portions to be remained, which are not subjected to etching between the two adjacent holes, are not flat on the front face of the frame, but sharp edges are formed around the holes. As a result, the air flowing in the direction perpendicular to the frame face flows through minute holes without resistance, like the air flowing past the wings of an airplane, which results in that a large noise reduction can be achieved without largely loosing the mechanical strength of the entire frame. By a simpler technique, the edge portions of the holes on the front face and the backing face are rounded off by sandblasting. In this manner, sound generation can be restrained by virtue of the same effect as above. Where the above-mentioned two techniques are utilized in combination with each other, an even remarkable noise reduction can be achieved. 
         [0110]    With respect to the sizes of the holes, if the holes are larger in size, vibration of the frame is not readily propagated to the surrounding area, and sound is not readily generated. On the other hand, if the holes are too large, the mechanical strength of the frame becomes lower, stable mirror scanning then becomes difficult, the energy near the PZT is not transmitted to cantilever beams through the frame, the mean Young&#39;s modulus appears to become lower (which is equivalent to, for example, that the thickness of the frame becomes smaller), and various divisional vibrations are apt to be generated at high frequencies, resulting that the vibration energy is easily dispersed at the mirror resonant frequency, which causes such a problem that a scan angle of the mirror is decreased. Thus, it is necessary to select an appropriate aperture size and an appropriate aperture ratio (a ratio between the opening areas and the frame area). 
         [0111]    As for the aperture ratio L, a high efficiency is achieved with an aperture ratio that is preferably 0.1&lt;L&lt;0.9, and an even higher efficiency is achieved with an aperture ratio that is more preferably 0.2&lt;L&lt;0.5. 
         [0112]    With respect to achieving size reduction and making higher performance of the optical scanning device, the apparent hardness and the like of the frame are lowered, by forming the holes, and the vibration mode of the frame is more easily transmitted. Accordingly, the distance from the cantilever beams to the supporting member can be made shorter by 30% or more. Further, for the same reason as above, the drive voltage can be lowered by 13%. 
       Example 2 
       [0113]      FIG. 14  is a plan view showing Example 2 according to the present invention, which is a modification of Example 1. Similar to Example 1, with respect to the perforated structure, 0.3-mm square holes are formed in the entire substrate main body and the entire two cantilever beams. The distance between each two adjacent holes is 0.2 mm. The piezoelectric body PZT is 4-mm square in size. Example 2 differs from Example 1 in that holes are not formed in the portion that forms the piezoelectric body in the substrate main body. The size of the unperforated portion is larger by 0.5 mm than the size of the piezoelectric body. 
         [0114]    In Example 2, the same level of noise reduction as that of Example 1 is achieved, and the distance from the cantilever beams to the supporting member can be made shorter. 
       Examples 3 and 4 
       [0115]      FIG. 15  shows Example 3 in which holes are formed in the vicinity of node of the vibration mode of the frame.  FIG. 16  shows Example 4 in which holes are formed in the vicinity of antinode of the vibration mode of the frame. By forming holes not in the entire frame but in part of the frame, the apparent hardness and the like of the frame can also be made lower, and the vibration mode of the frame is more easily transmitted. Accordingly, the same level of the effects as above can be obtained. The scan performance of the mirror can be improved, by forming holes in the area where would be in the vicinity of node or in the vicinity of antinode of the vibration mode of the frame. It is also possible to apply those two in combination. 
         [0116]    In the examples illustrated in  FIGS. 15 and 16 , holes are formed in the vicinity of node or antinode of the vibration mode of the frame. However, in a case where holes are formed in almost the entire frame as in the example illustrated in  FIG. 12  (Example 1) or  FIG. 14  (Example 2), the efficiency of vibration transmission can be made higher, by making the holes in the vicinity of node or antinode of the vibration mode larger or smaller than the holes in the other portions. 
       Example 5 
       [0117]    In a case where the scanning speed is high at 20 kHz or higher, a large number of vibration modes of the frame exist, and it is more difficult to transmit the vibration modes of the frame than to transmit the vibration modes at a lower scanning speed. Therefore, the apparent hardness and the like of the frame are made lower, and the vibration mode of the frame is more easily transmitted, by forming holes in the frame. Accordingly, the effects can be further improved. 
         [0118]    For example, in an unperforated optical scanning device of Comparative Example 2, as illustrated in  FIG. 17 , the resonant frequency is 29.6 kHz, the drive voltage is 20 V, and the scan angle is 40 degrees. In a perforated optical scanning device of Example 5, as illustrated in  FIG. 18 , the resonant frequency is 29.3 kHz, the drive voltage is 20 V, and the scan angle is 90 degrees. Thus, it was confirmed that, by forming holes, the apparent hardness and the like of the frame are made lower, the resonant frequency is lowered by approximately 0.3 kHz, and the scan angle becomes larger by 50 degrees. 
       INDUSTRIAL APPLICABILITY 
       [0119]    The present invention is to reduce the size and noise, to improve scan performance, by providing holes in the vibrating substrate main body of an optical scanning device that performs a scan with an optical beam. However, the present invention can be applied to devices other than devices for performing optical scanning, as long as the devices include vibrating substrates. The present invention can be applied to those devices to reduce sizes and noises, and adjust amplitudes and resonant frequencies. 
       REFERENCE SIGNS LIST 
       [0000]    
       
         
           
               10  Substrate 
               11  Piezoelectric film 
               12  Torsion bar 
               13  Mirror 
               14  Upper electrode 
               15  Power source 
               16  Supporting member 
               17  Laser beam 
               18  Laser light 
               19  Cantilever beam 
               20  Substrate main body 
               21  Fixed end 
               22  Substrate fixing frame 
               23  Substrate connecting bar 
               24  Edge portion of the substrate