Patent Publication Number: US-2022221734-A1

Title: Camera module

Description:
TECHNICAL FIELD 
     The present embodiment relates to a camera module. 
     BACKGROUND ART 
     The content described hereinafter provides background information on the present embodiment and does not describe the prior art. 
     As the spread of various portable terminals is widely generalized and wireless Internet services are commercialized, the demands of consumers related to portable terminals are also diversifying, so that various types of additional devices are being installed in the portable terminals. 
     Among them, there is a camera module for photographing a subject as a photograph or a moving picture. 
     Meanwhile, in recent camera modules, handshake correction function to prevent image shaking phenomenon caused by handshake of a photographer, and autofocus function to align the focal length of the lens by automatically adjusting the distance between the image sensor and the lens are being applied. 
     DETAILED DESCRIPTION OF THE INVENTION 
     Technical Subject 
     A subject to be solved by the present invention is to provide a camera module capable of reducing the size of a product. 
     In addition, another subject to be solved by the present invention is to provide a driving device for a camera module capable of providing an excellent OIS function without distortion of an image even when photographing a video, and a camera module including the same. 
     Technical Solution 
     A camera module according to an aspect of the present invention for achieving the above object includes: a stator; a mover disposed inside the stator; a first driving unit disposed on the stator; a second driving unit disposed on the mover and facing the first driving unit; a stiffener including an outer side portion coupled to the stator, an inner side portion coupled to the mover, and a connecting portion connecting the outer side portion and the inner side portion; a substrate coupled to the stator and the mover and disposed on the stiffener; and a lens module coupled to the substrate. 
     In addition, the substrate may include an outer side elastic portion coupled to the stator, an inner side elastic portion coupled to the mover, and a connecting elastic portion connecting the outer side elastic portion and the inner side elastic portion. 
     In addition, the outer side elastic portion and the outer side portion are overlapped in an optical axis direction, the inner side elastic portion and the inner side portion are overlapped in the optical axis direction, and the connecting elastic portion and the connecting portion may be overlapped in the optical axis direction. 
     In addition, the inner side elastic portion includes first to fourth corner regions, and the outer side elastic portion includes fifth to eighth corner regions adjacent to the first to fourth corner regions, respectively, and the connecting elastic portion may include a first connecting elastic portion connecting the first corner region and the sixth corner region, a second connecting elastic portion connecting the second corner region and the seventh corner region, a third connecting elastic portion connecting the third corner region and the eighth corner region, and a fourth connecting elastic portion connecting the fourth corner region and the fifth corner region. 
     In addition, the mover may include a groove formed on an upper surface and a first protruding portion protruding higher than the upper surface from the groove, and the first protruding portion may be coupled to the inner side portion and the inner side elastic portion. 
     In addition, the stator may include a second protruding portion protruding upward from an upper surface, and the second protruding portion may be coupled to the outer side portion and the outer side elastic portion. 
     In addition, an upper end of the second protruding portion may be disposed higher than an upper end of the first protruding portion. 
     In addition, the lens module may include a protrusion protruding from a lower surface, and the protrusion may be coupled to the inner side portion and the inner side elastic portion. 
     In addition, the substrate may include a flexible printed circuit board (FPCB). 
     In addition, it may include a guide ball disposed between the stator and the mover. 
     In addition, the mover may include a seating groove formed on an outer side surface, and at least a portion of the guide ball may be disposed in the seating groove. 
     In addition, a region in contact with the guide ball among inner side surfaces of the stator may be formed as a curved surface. 
     In addition, the first driving unit may be disposed on a bottom surface of an inner side surface of the stator, and the second driving unit may be disposed on a lower surface of the mover. 
     In addition, the second driving unit includes: first to fourth magnets having the 2×2 arrangement; in the first and third magnets, regions adjacent to each other have a first polarity, and regions spaced apart from each other have a second polarity; and in the second and fourth magnets, regions adjacent to each other have the first polarity, and regions spaced apart from each other may have the second polarity. 
     In addition, the first driving unit may include: first and second coils being overlapped with the region having the first polarity among the first to fourth magnets in an optical axis direction; and third and fourth coils being overlapped with the region having the second polarity among the first to fourth magnets in the optical axis direction. 
     In addition, a length in a first direction of the first and second coils is longer than a length in the first direction of the third and fourth coils, and lengths of the first and second coils in a second direction perpendicular to the first direction may be shorter than lengths of the third and fourth coils in the second direction. 
     In addition, the first driving unit may include fifth and sixth coils not being overlapped with the first to fourth magnets in an optical axis direction. 
     A camera module according to an aspect of the present invention for achieving the above object includes: a stator; a mover disposed in the stator; a first driving unit disposed on the stator; a second driving unit disposed on the mover and facing the first driving unit; a stiffener coupled to the stator and the mover; a substrate coupled to the stator and the mover and disposed on the stiffener; and a lens module coupled to the substrate, wherein a region of the substrate being overlapped with the stiffener may have the same shape as the stiffener. 
     A camera driving apparatus according to an aspect of the present invention for achieving the above other object may include: a rotor including a first round surface at the outer side corner and being moved by being provided with a first accommodating portion; a base including a second round surface corresponding to the first round surface at an inner side corner wherein the rotor is disposed spaced apart from the second accommodating portion; a ball disposed between the first round surface of the rotor and the second round surface of the base; a first driving unit being disposed on the rotor; and a second driving unit disposed in the base. 
     In addition, the direction of the first round surface or the direction of the second round surface may be a direction crossing the direction of the optical axis. 
     In addition, an area of the second round surface may be different from an area of the first round surface. 
     In addition, an area of the second round surface may be larger than an area of the first round surface. 
     In addition, it further includes a lens unit coupled to the first inner side accommodating portion of the rotor, wherein the rotor is movable integrally with the lens unit by the first driving unit and the second driving unit. 
     In addition, the lens unit is rotationally moved along the first round surface and the second round surface with respect to the optical axis, and the lens unit may be moved by tilting vertically and horizontally with respect to the optical axis along the first round surface and the second round surface. 
     In addition, the rotor may include a ball accommodating portion on which the ball is disposed. 
     In addition, it may further include an upper spring disposed in contact with the upper side of the base and the rotor. 
     In addition, it further includes a circuit board disposed below the base and controlling the driving unit, wherein the circuit board includes a rigid circuit board and a flexible circuit board, and a portion of the flexible circuit board may be disposed below the rotor. 
     In addition, it further includes an upper spring disposed on the rotor and the base, wherein the upper spring may include an outer side support, a spring portion connected to the inner side of the outer side support part, and an inner side support portion connected to the inner side of the spring portion. 
     In addition, the outer side support portion is fixed to the base, and the inner side support portion may be fixed to the rotor. 
     A camera module according to an aspect of the present invention for achieving the above other object may include any one of the above-mentioned camera driving devices. 
     Advantageous Effects 
     Through the present embodiment, it is possible to provide a camera module capable of reducing the size of a product. 
     In addition, there is a technical effect that can provide excellent OIS function without image distortion even when photographing a video, and since it is a method in which the entire module including the lens and image sensor is being moved, the correction range is wider than that of a lens shift method and since the optical axis of the lens and the axis of the image sensor do not shift, there is a unique technical effect without image distortion by minimizing image deformation. 
     Furthermore, there is a technical effect of providing an excellent OIS function without image distortion and a technical effect of providing a miniature camera module at the same time. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a perspective view of a camera module according to a first embodiment of the present invention. 
         FIG. 2  is an exploded perspective view of a camera module according to a first embodiment of the present invention. 
         FIG. 3  is a side view of a camera module according to a first embodiment of the present invention. 
         FIG. 4  is a plan view of a camera module according to a first embodiment of the present invention. 
         FIG. 5  is a perspective view with a lens module removed from a camera module according to a first embodiment of the present invention. 
         FIG. 6  is a perspective view of a stiffener of a camera module according to a first embodiment of the present invention. 
         FIG. 7  is a plan view in which a lens module and a substrate are removed from  FIG. 4 . 
         FIG. 8  is a plan view with a mover removed in  FIG. 7 . 
         FIG. 9  is a cross-sectional view taken along line A-A′ of  FIG. 7 . 
         FIG. 10  is a bottom view of a partial configuration of a camera module according to a first embodiment of the present invention. 
         FIG. 11  is a plan view of a second driving unit of a camera module according to a first embodiment of the present invention. 
         FIG. 12  is a bottom view with a second driving unit removed from  FIG. 10 . 
         FIG. 13 a    is a conceptual diagram of OIS through a lens shift method in a conventional camera module. 
         FIG. 13 b    is a conceptual diagram of OIS through a lens tilt method in a conventional camera module. 
         FIG. 14 a    is a plan view illustrating a camera module according to a second embodiment of the present invention. 
         FIG. 14 b    is an exploded perspective view of a camera module according to a second embodiment of the present invention illustrated in  FIG. 14   a.    
         FIG. 15 a    is a perspective view of an actuator in a camera module according to a second embodiment of the present invention illustrated in  FIG. 14   b.    
         FIG. 15 b    is an exploded perspective view of an actuator in a camera module according to a second embodiment of the present invention illustrated in  FIG. 15   a.    
         FIG. 15 c    is a detailed view of an upper spring in a camera module according to a second embodiment of the present invention illustrated in  FIG. 15   a.    
         FIG. 16  is a perspective view of a rotor and a first driving unit in an actuator illustrated in  FIG. 15   b.    
         FIG. 17  is a perspective view of a base and a second driving unit in an actuator illustrated in  FIG. 15   b.    
         FIG. 18  is an exemplary view illustrating an operation of the base  1320  in the actuator illustrated in  FIG. 15   b.    
         FIG. 19 a    is a perspective view of a lens unit and a sensor unit in a camera module according to a second embodiment of the present invention illustrated in  FIG. 14   b.    
         FIG. 19 b    is an exploded perspective view of  FIG. 18   a.    
         FIG. 20  is an enlarged view of a substrate unit illustrated in  FIG. 19   b.    
         FIG. 21  is a cross-sectional view taken along line A 1 -A 1 ′ of a camera module according to an embodiment illustrated in  FIG. 14   a.    
         FIG. 22  is a cross-sectional perspective view taken along line A 2 -A 2 ′ of a camera module according to an embodiment illustrated in  FIG. 14   a.    
         FIG. 23 a    is a first operation example of a camera module according to an embodiment illustrated in  FIG. 22 . 
         FIG. 23 b    is a second exemplary operation view of a camera module according to an embodiment illustrated in  FIG. 22 . 
     
    
    
     BEST MODE 
     Hereinafter, preferred embodiments of the present invention will be described in detail with respect to the accompanying drawings. 
     However, the technical idea of the present invention is not limited to some embodiments to be described, but may be implemented in various forms, and within the scope of the technical idea of the present invention, one or more of the constituent elements may be selectively combined or substituted between embodiments. 
     In addition, the terms (including technical and scientific terms) used in the embodiments of the present invention, unless explicitly defined and described, can be interpreted as a meaning that can be generally understood by a person skilled in the art, and commonly used terms such as terms defined in the dictionary may be interpreted in consideration of the meaning of the context of the related technology. 
     In addition, terms used in the present specification are for describing embodiments and are not intended to limit the present invention. 
     In the present specification, the singular form may include the plural form unless specifically stated in the phrase, and when described as “at least one (or more than one) of A and B and C”, it may include one or more of all combinations that can be combined with A, B, and C. 
     In addition, in describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are merely intended to distinguish the components from other components, and the terms do not limit the nature, order or sequence of the components. 
     And, when a component is described as being ‘connected’, ‘coupled’ or ‘interconnected’ to another component, the component is not only directly connected, coupled or interconnected to the other component, but may also include cases of being ‘connected’, ‘coupled’, or ‘interconnected’ due that another component between that other components. 
     In addition, when described as being formed or arranged in “on (above)” or “below (under)” of each component, “on (above)” or “below (under)” means that it includes not only the case where the two components are directly in contact with, but also the case where one or more other components are formed or arranged between the two components. In addition, when expressed as “on (above)” or “below (under)”, the meaning of not only an upward direction but also a downward direction based on one component may be included. 
     The ‘optical axis direction’ used below is defined as the optical axis direction of the lens module. Meanwhile, ‘optical axis direction’ may correspond to ‘up and down direction’, ‘z axis direction’ and the like. 
     The ‘handshake correction function’ used below is defined as a function of moving or tilting the lens in a direction perpendicular to the optical axis direction to cancel vibration (movement) generated in the image sensor by an external force. Meanwhile, ‘handshake correction’ can be interchangeably used with ‘optical image stabilization (OIS)’. 
     Hereinafter, the present invention will be described in more detail with respect to the accompanying drawings. 
       FIG. 1  is a perspective view of a camera module according to a first embodiment of the present invention.  FIG. 2  is an exploded perspective view of a camera module according to a first embodiment of the present invention.  FIG. 3  is a side view of a camera module according to a first embodiment of the present invention.  FIG. 4  is a plan view of a camera module according to a first embodiment of the present invention.  FIG. 5  is a perspective view with a lens module removed from a camera module according to a first embodiment of the present invention.  FIG. 6  is a perspective view of a stiffener of a camera module according to a first embodiment of the present invention.  FIG. 7  is a plan view in which a lens module and a substrate are removed from  FIG. 4 .  FIG. 8  is a plan view with a mover removed in  FIG. 7 .  FIG. 9  is a cross-sectional view taken along line A-A′ of  FIG. 7 .  FIG. 10  is a bottom view of a partial configuration of a camera module according to a first embodiment of the present invention.  FIG. 11  is a plan view of a second driving unit of a camera module according to a first embodiment of the present invention.  FIG. 12  is a bottom view with a second driving unit removed from  FIG. 10 . 
     Referring to  FIGS. 1 to 12 , the camera module  10  according to the first embodiment of the present invention may include a stator  100 , a lens module  200 , a substrate  300 , a stiffener  400 , a mover  500 , a guide ball  600 , a second driving unit  700 , and a first driving unit  800 , but it may be implemented except for some of these configurations, and additional configurations are not excluded. 
     The camera module  10  may include a stator  100 . The stator  100  may form the outer appearance of the camera module  10 . The stator  100  may have a hexahedral shape with an open upper portion. Inside the stator  100 , a mover  500 , a guide ball  600 , a second driving unit  700 , and a first driving unit  800  may be disposed. A substrate  300  and a stiffener  400  may be coupled to the stator  100 . 
     The stator  100  may include a second protruding portion  122 . The second protruding portion  122  may be protruded upward from the upper surface of the stator  100 . The second protruding portion  122  may be coupled to the substrate  300  and the stiffener  400 . The second protruding portion  122  may be coupled to the outer side portion  420  of the stiffener  400  and the outer side elastic portion  320  of the substrate  300 . The second protruding portion  122  can be inserted into the fourth coupling hole  422  of the outer side portion  420  of the stiffener  400  and the second coupling hole  322  of the outer side elastic portion  320  of the substrate  300 . Adhesives such as epoxy may be placed between the second protruding portion  122  and the fourth coupling hole  422  of the outer side portion  420 , and between the second protruding portion  122  and the second coupling hole  322  of the outer side elastic portion  320 . The second protruding portion  122  may be inserted and fixed into the fourth coupling hole  422  of the outer side portion  420  and the second coupling hole  322  of the outer side elastic portion  320 . An upper end of the second protruding portion  122  may be disposed higher than an upper end of the first protruding portion  510 . Alternatively, the upper end of the first protruding portion  510  may be protruded higher than the upper end of the second protruding portion  122 . 
     The mover  500  and the first driving unit  800  may be disposed in the inner space  110  of the stator  100 . A region in contact with the guide ball  600  among the inner side surfaces  130  of the stator  100  may be formed as a curved surface  132 . The curved surface  132  may be disposed in a corner region of the stator  100 . The curved surface  132  may be disposed in each of the four corner regions of the stator  100 . Through this, the guide ball  600  can guide the rotation based on the three different axes of the mover  500 . 
     The camera module  10  may include a lens module  200 . The optical axis of the lens module  200  may be aligned with an image sensor (not shown) formed on the substrate  300 . The lens module  200  may be coupled to the substrate  300  and the stiffener  400 . The lens module  200  may include a lens unit  210  including at least one lens for collecting images of an external subject. The lens unit  210  may be spaced apart from the substrate  300  in the optical axis direction. The lens unit  210  may be spaced apart from the image sensor of the substrate  300  in the optical axis direction. 
     When a region exposed to the outside in the lens module  200  is referred to as an upper surface, a protrusion  202  may be provided on the lower surface of the lens module  200  to be coupled to the substrate  300  and the stiffener. The lens module  200  may include a protrusion  202 . The protrusion  202  may be protruded downward from a lower surface of the lens module  200 . The protrusion  202  may be coupled to the substrate  300  and stiffener  400 . The protrusion  202  may be coupled to the inner side elastic portion  310  of the substrate  300  and the inner side portion  410  of the stiffener  400 . The protrusion  202  may be inserted into the first coupling hole  312  of the inner side elastic portion  310  of the substrate  300  and the second coupling hole  412  of the inner side portion  410  of the stiffener  400 . An adhesive such as epoxy can be placed between the protrusion  202  and the first coupling hole  312  of the inner side elastic portion  310  and between the protrusion  202  and the second coupling hole  412  of the inner side portion  410 . The protrusion  202  can be fixed by being inserted into the first coupling hole  312  of the inner side elastic portion  310  of the substrate  300  and the second coupling hole  412  of the inner side portion  410  of the stiffener  400 . 
     The protrusion  202  may include a plurality of protrusions  202 . The protrusion  202  may include two protrusions  202 . The two protrusions  202  may be spaced apart from each other. Each of the two protrusions  202  may be formed in a shape corresponding to each other at positions symmetrical to each other with respect to the optical axis of the lens module  200 . The two protrusions  202  may be spaced apart from the two first protruding portions  510 . An angle between the virtual straight line connecting the two protrusions  202  and the virtual straight line connecting the two first protruding portions  510  may be a right angle. 
     The camera module  10  may include a substrate  300 . The substrate  300  may include a printed circuit board (PCB). The substrate  300  may include a flexible printed circuit board (FPCB). The substrate  300  may be disposed on the stiffener  400 . The substrate  300  may be coupled to the stator  100  and the mover  500 . The lens module  200  may be disposed on the substrate  300 . An image sensor (not shown) may be disposed on an upper surface or a front surface of the substrate  300 . The optical axis of the image sensor and the optical axis of the lens module  200  may be aligned. The image sensor converts an image of a subject gathered in the lens module  200  into an electric signal to obtain a photographed object. In addition to the image sensor, a plurality of electronic components for driving may be mounted on the substrate  300 . 
     Some regions of the substrate  300  may be overlapped with the stiffener  400  in an optical axis direction. The partial region of the substrate  300  may be formed in a shape corresponding to the stiffener  400 . A portion of the substrate  300  corresponding to the stiffener  400  may serve as an elastic member. In this way, it is possible to reduce the number of components, thereby reducing the size of the product and reducing the cost. A region that is not overlapped with the stiffener  400  in the optical axis direction may be extended to the outside of the stator  100  and be electrically connected to the outside of the camera module  10 . A region being overlapped with the stiffener  400  in the optical axis direction and a region not being overlapped with the substrate  300  may be disposed on the same plane. 
     The substrate  300  may include an inner side elastic portion  310  coupled to the mover  500 , an outer side elastic portion  320  coupled to the stator  100 , and a connecting elastic portion  330  connecting the inner side elastic portion  310  and the outer side elastic portion  320 . 
     The substrate  300  may include an inner side elastic portion  310 . The inner side elastic portion  310  may be disposed in a central region of the substrate  300 . An image sensor may be disposed on the inner side elastic portion  310 . The inner side elastic portion  310  may be overlapped with the inner side portion  410  in an optical axis direction. The inner side elastic portion  310  may be formed in a shape corresponding to the inner side portion  410 . The inner side elastic portion  310  may be formed in a square plate shape. The inner side elastic portion  310  may include first to fourth corner regions. Each of the first to fourth corner regions may be disposed adjacent to each of the fifth to eighth corner regions of the outer side elastic portion  320 . 
     The inner side elastic portion  310  may include a first coupling hole  312 . The first coupling hole  312  may be overlapped with the third coupling hole  412  in an optical axis direction. The first coupling hole  312  may be formed to have a size corresponding to that of the third coupling hole  412 . The inner side elastic portion  310  may be coupled to the mover  500 . The first protruding portion  510  may be inserted into the first coupling hole  312  of the inner side elastic portion  310 . The first protruding portion  510  may be inserted and fixed into the first coupling hole  312  of the inner side elastic portion  310 . The inner side elastic portion  310  may be coupled to the lens module  200 . A protrusion  202  may be inserted into the first coupling hole  312  of the inner side elastic portion  310 . A protrusion  202  may be inserted and fixed into the first coupling hole  312  of the inner side elastic portion  310 . The inner side elastic portion  310  may move integrally with the lens module  200 , the inner side portion  410 , and the mover  500 . 
     The inner side elastic portion  310  may include a plurality of first coupling holes  312 . The inner side elastic portion  310  may include four first coupling holes  312 . The four first coupling holes  312  may be spaced apart from each other. The four first coupling holes  312  may be respectively disposed in a corner region of the inner side elastic portion  310 . The first protruding portion  510  may be inserted into two of the four first coupling holes  312  and the protrusions  202  may be inserted into the remaining two. 
     The substrate  300  may include an outer side elastic portion  320 . The outer side elastic portion  320  may be spaced apart from the edge region of the inner side elastic portion  310 . The outer side elastic portion  320  may be formed in a rectangular ring shape. The outer side elastic portion  320  may be overlapped with the outer side portion  420  in an optical axis direction. The outer side elastic portion  320  may be formed in a shape corresponding to the outer side portion  420 . The outer side elastic portion  320  may include fifth to eighth corner regions. Each of the fifth to eighth corner regions of the outer side elastic portion  320  may be disposed adjacent to each of the first to fourth corner regions of the inner side elastic portion  310 . 
     The outer side elastic portion  320  may include a second coupling hole  322 . The second coupling hole  322  may be overlapped with the fourth coupling hole  422  in an optical axis direction. The second coupling hole  322  may be formed to have a size corresponding to that of the fourth coupling hole  422 . The outer side elastic portion  320  may be coupled to the stator  100 . The second protruding portion  122  may be inserted into the second coupling hole  322  of the outer side elastic portion  320 . The second protruding portion  122  may be inserted and fixed into the second coupling hole  322  of the outer side elastic portion  320 . The outer side elastic portion  320  may be fixed to the upper surface  120  of the fixing unit  100 . 
     The outer side elastic portion  320  may include a plurality of second coupling holes  322 . The outer side elastic portion  320  may include four second coupling holes  322 . The four second coupling holes  322  may be spaced apart from each other. The four second coupling holes  322  may be respectively disposed in a corner region of the outer side elastic portion  320 . Four second protruding portions  122  may be respectively inserted into each of the four second coupling holes  322 . 
     The substrate  300  may include a connecting elastic portion  330 . The connecting elastic portion  330  may connect the inner side elastic portion  310  and the outer side elastic portion  320 . The connecting elastic portion  330  may be overlapped with the connecting portion  430  in an optical axis direction. The connecting elastic portion  330  may be formed in a shape corresponding to the connecting portion  430 . The connecting elastic portion  330  may be disposed in a space between the inner side elastic portion  310  and the outer side elastic portion  320 . At least a portion of the connecting elastic portion  330  may be bent. 
     The connecting elastic portion  330  may include a plurality of connecting elastic portions  330 . The connecting elastic portion  330  may include first to fourth connecting elastic portions. The first connecting elastic portion may connect the first corner region of the inner side elastic portion  310  and the sixth corner region of the outer side elastic portion  320 . The second connecting elastic portion may connect the second corner region of the inner side elastic portion  310  and the seventh corner region of the outer side elastic portion  320 . The third connecting elastic portion may connect the third corner region of the inner side elastic portion  310  and the eighth corner region of the outer side elastic portion  320 . The fourth connecting elastic portion may connect the fourth corner region of the inner side elastic portion  310  and the fifth corner region of the outer side elastic portion  320 . 
     The camera module  10  may include a stiffener  400 . The stiffener  400  may have a higher rigidity than the substrate  300 . The stiffener  400  may be disposed on the mover  500 . The substrate  300  may be disposed on the stiffener  400 . The stiffener  400  may be coupled to the stator  100  and the mover  500 . The stiffener  400  may be overlapped with a partial region of the substrate  300  in an optical axis direction. The stiffener  400  may be formed in a shape corresponding to a partial region of the substrate  300 . The stiffener  400  may be formed of a metal material. The stiffener  400  may be formed of a material heavier than the substrate  300 . The stiffener  400  may include an outer side portion  420  coupled to the stator  100 , an inner side portion  410  coupled to the mover  500 , and a connecting portion  430  connecting the inner side portion  410  and the outer side portion  420 . Through this, the stiffener  400  may serve to maintain the initial position of the mover  500  and at the same time serve as an elastic member. 
     The stiffener  400  may include an inner side portion  410 . The inner side portion  410  may be disposed in the central region of the stiffener  400 . The inner side portion  410  may be overlapped with the inner side elastic portion  310  in an optical axis direction. The inner side portion  410  may be formed in a shape corresponding to the inner side elastic portion  310 . The inner side portion  410  may be formed in a square plate shape. The inner side portion  410  may include first to fourth corner regions. Each of the first to fourth corner regions may be disposed adjacent to each of the fifth to eighth corner regions of the outer side portion  420 . 
     The inner side portion  410  may include a third coupling hole  412 . The third coupling hole  412  may be overlapped with the first coupling hole  312  in an optical axis direction. The third coupling hole  412  may be formed to have a size corresponding to that of the first coupling hole  312 . The inner side portion  410  may be coupled to the mover  500 . The first protruding portion  510  may be inserted into the third coupling hole  412  of the inner side portion  410 . The first protruding portion  510  may be inserted and fixed into the third coupling hole  412  of the inner side portion  410 . The inner side portion  410  may be coupled to the lens module  200 . A protrusion  202  may be inserted into the third coupling hole  412  of the inner side portion  410 . A protrusion  202  may be inserted and fixed into the third coupling hole  412  of the inner side portion  410 . The inner side portion  410  may be moved integrally with the lens module  200 , the inner side portion  410 , and the mover  500 . 
     The inner side portion  410  may include a plurality of third coupling holes  412 . The inner side portion  410  may include four third coupling holes  412 . The four third coupling holes  412  may be spaced apart from each other. The four third coupling holes  412  may be disposed in a corner region of the inner side portion  410 , respectively. The first protruding portion  510  may be inserted into two of the four third coupling holes  412 , and the protrusions  202  may be inserted into the remaining two. 
     The stiffener  400  may include an outer side portion  420 . The outer side portion  420  may be spaced apart from the edge region of the inner side portion  410 . The outer side portion  420  may have an inner side portion  310  formed in a rectangular ring shape. The outer side portion  420  may be overlapped with the outer side elastic portion  320  in an optical axis direction. The outer side portion  420  may be formed in a shape corresponding to the outer side elastic portion  320 . The outer side portion  420  may include fifth to eighth corner regions. Each of the fifth to eighth corner regions of the outer side portion  420  may be disposed adjacent to each of the first to fourth corner regions of the inner side portion  410 . 
     The outer side portion  420  may include a fourth coupling hole  422 . The fourth coupling hole  422  may be overlapped with the second coupling hole  322  in an optical axis direction. The fourth coupling hole  422  may be formed to have a size corresponding to that of the second coupling hole  322 . The outer side portion  420  may be coupled to the stator  100 . The second protruding portion  122  may be inserted into the fourth coupling hole  422  of the outer side portion  420 . The second protruding portion  122  may be inserted and fixed into the fourth coupling hole  422  of the outer side portion  420 . The outer side portion  420  may be fixed to the upper surface  120  of the fixing unit  100 . 
     The outer side portion  420  may include a plurality of fourth coupling holes  422 . The outer side portion  420  may include four fourth coupling holes  422 . The four fourth coupling holes  422  may be spaced apart from each other. The four fourth coupling holes  422  may be respectively disposed in a corner region of the outer side portion  420 . Four second protruding portions  122  may be respectively inserted into each of the four fourth coupling holes  422 . 
     The stiffener  400  may include a connecting portion  430 . The connecting portion  430  may connect the inner side portion  410  and the outer side portion  420 . The connecting portion  430  may be overlapped with the connecting elastic portion  330  in an optical axis direction. The connecting portion  430  may be formed in a shape corresponding to the connecting elastic portion  330 . The connecting portion  430  may be disposed in a space between the inner side portion  410  and the outer side portion  420 . At least a portion of the connecting portion  430  may be bent. 
     The connecting portion  430  may include a plurality of connecting portions  430 . The connecting portion  430  may include first to fourth connecting elastic portions. The first connecting elastic portion may connect the first corner region of the inner side portion  410  and the sixth corner region of the outer side portion  420 . The second connecting elastic portion may connect the second corner region of the inner side portion  410  and the seventh corner region of the outer side portion  420 . The third connecting elastic portion may connect the third corner region of the inner side portion  410  and the eighth corner region of the outer side portion  420 . The fourth connecting elastic portion may connect the fourth corner region of the inner side portion  410  and the fifth corner region of the outer side portion  420 . 
     The camera module  10  may include a mover  500 . The mover  500  may be disposed inside the stator  100 . The mover  500  may be disposed in an inner space  100  formed between the side surfaces of the stator  100 . The mover  500  may be coupled to the substrate  300  and the stiffener  400 . The mover  500  may be rotated together with the substrate  300  and the stiffener  400  with respect to the three different axes. 
     The mover  500  may include a groove  502  formed on an upper surface and a first protruding portion  510  protruding from the groove  502 . The first protruding portion  510  may be protruded higher than the upper surface of the mover  500 . An upper end of the first protruding portion  510  may be disposed lower than an upper end of the second protruding portion  122 . Through this, it is possible to limit the range in which the mover  500  can be rotated. The first protruding portion  510  of the mover  500  may be coupled to the inner side elastic portion  310  of the substrate  300  and the inner side portion  410  of the stiffener  400 . The first protruding portion  510  may be inserted into the first coupling hole  312  of the inner side elastic portion  310  of the substrate  300  and the third coupling hole  412  of the inner side portion  410  of the stiffener  400 . Adhesives such as epoxy may be placed between the first protruding portion  510  and the first coupling hole  312  of the inner side elastic portion  310  and between the third coupling hole  412  of the first protruding portion  510  and the inner side portion  410 . An adhesive such as epoxy may be placed between the groove  502  of the mover  500  and the lower surface of the stiffener  400 . The first protruding portion  510  can be inserted into and fixed to the first coupling hole  312  of the inner side elastic portion  310  of the substrate  300  and the third coupling hole  412  of the inner side portion  410  of the stiffener  400 . 
     The mover  500  may include a plurality of first protruding portions  510 . The mover  500  may include two first protruding portions  510 . The two first protruding portions  510  may be spaced apart from each other. Each of the two first protruding portions  510  may be formed have a shape corresponding to each other in a position symmetrical to each other with respect to the optical axis of the lens module  200 . The two first protruding portions  510  may be disposed spaced apart from the two protrusions  202 . An angle formed by a virtual straight line connecting the two first protruding portions  510  and a virtual straight line connecting the two first protrusions  202  may be a right angle. 
     The mover  500  may include a seating groove  522  formed on the outer side surface. A region in which the seating groove  522  is disposed among the outer side surfaces of the mover  500  may be formed as a curved surface  520 . The curved surface  520  region of the mover  500  and the seating groove  522  may be formed at a position facing the curved surface  132  region of the stator  100 . The seating groove  522  of the mover  500  may have a guide ball  600  disposed between the curved surface  132  region of the stator  100 . At least a portion of the guide ball  600  may be seated in the seating groove  522  of the mover  500 . The inner side surface of the seating groove  522  of the mover  500  may be formed in a curved shape. Through this, the guide ball  600  can guide the rotation with respect to the three different axes of the mover  500 . Four of the curved surface  520  regions and seating groove  522  of the mover  500  may be formed in each corner region of the mover  500 . 
     The camera module  10  may include a guide ball  600 . The guide ball  600  may be disposed between the stator  100  and the mover  500 . The guide ball  600  may be formed in a spherical shape. A cross-section of the guide ball  600  may be formed in an elliptical shape. The guide ball  600  may be disposed between a corner region of the inner side surface  130  of the stator  100  and a corner region of the mover  500 . At least a portion of the guide ball  600  may be disposed in the seating groove  522 . The guide ball  600  makes it possible to guide the rotation with respect to the three different axes of the mover  500  with respect to the stator  100 . 
     The camera module  10  may include a second driving unit  700 . The second driving unit  700  may be disposed on the mover  500 . The second driving unit  700  may be disposed at a lower portion of the mover  500 . The second driving unit  700  may be disposed on a lower surface of the mover  500 . The second driving unit  700  may face the first driving unit. The second driving unit  700  enables the mover  500  to be rotated with respect to the three different axes with respect to the stator  100  through electromagnetic interaction with the first driving unit  800 . 
     The second driving unit  700  may include first to fourth magnets  710 ,  720 ,  730 , and  740 . The first to fourth magnets  710 ,  720 ,  730 , and  740  may have a 2×2 arrangement. For example, the second magnet  720  is disposed on the right side of the first magnet  710 , the third magnet  730  is disposed below the first magnet  710 , and the fourth magnet  740  may be disposed on a diagonal line of the first magnet  710 . Regions of the first magnet  710  and the third magnet  730  adjacent to each other may be magnetized to a first polarity. Regions of the first magnet  710  and the third magnet  730  spaced apart from each other may be magnetized to a second polarity. 
     Regions of the second magnet  720  and the fourth magnet  740  adjacent to each other may be magnetized to a first polarity. Regions of the second magnet  720  and the fourth magnet  740  spaced apart from each other may be magnetized to a second polarity. In the first embodiment of the present invention, the first to fourth magnets  710 ,  720 ,  730 , and  740  are described as an example that they have the same size as each other, but the first to fourth magnets  710 ,  720 ,  730 , and  740  may be of different sizes, or some of them may be of the same size. 
     A region magnetized to a first polarity among the first to fourth magnets  710 ,  720 ,  730 , and  740  may face the first coil unit  810 . A region magnetized to the first polarity among the first to fourth magnets  710 ,  720 ,  730 , and  740  may be overlapped with the first coil unit  810  in an optical axis direction. Through electromagnetic interaction of a region magnetized to a first polarity among the first to fourth magnets  710 ,  720 ,  730 , and  740  with the first coil unit  810 , the mover  500  may be rotated with respect to a first axis. 
     A region among the first to fourth magnets  710 ,  720 ,  730 , and  740  magnetized to a second polarity may face the second coil unit  820 . A region magnetized to the second polarity among the first to fourth magnets  710 ,  720 ,  730 , and  740  may be overlapped with the second coil unit  820  in an optical axis direction. Through electromagnetic interaction of the region magnetized to the second polarity among the first to fourth magnets  710 ,  720 ,  730 , and  740  with the second coil unit  820 , the mover  500  can be rotated with respect to a second axis perpendicular to the first axis. 
     The first to fourth magnets  710 ,  720 ,  730 , and  740  may face the third coil unit  830 . A region magnetized to a second polarity of the first to fourth magnets  710 ,  720 ,  730 , and  740  may face the third coil unit  830 . The first to fourth magnets  710 ,  720 ,  730 , and  740  may not be overlapped with the third coil unit  830  in an optical axis direction. Through electromagnetic interaction of the first to fourth magnets  710 ,  720 ,  730 , and  740  and the third coil unit  830 , the mover  500  may be rotated with respect to a third axis perpendicular to the first axis and the second axis. 
     The camera module  10  may include a first driving unit  800 . The first driving unit  800  may be disposed on the stator  100 . The first driving unit  800  may be disposed on the bottom surface of the inner side surface of the stator  100 . The first driving unit  800  may face the second driving unit  700 . The first driving unit  800  may rotate the mover  500  with respect to the three different axes through electromagnetic interaction with the second driving unit  700 . The first driving unit  800  may include a first coil unit  810 , a second coil unit  820 , and a third coil unit  830 . 
     The first coil unit  810  may face a region magnetized to a first polarity among the first to fourth magnets  710 ,  720 ,  730 , and  740 . The first coil unit  810  may be overlapped with a region among the first to fourth magnets  710 ,  720 ,  730 , and  740  magnetized to a first polarity in an optical axis direction. The first coil unit  810  may include a first coil  812  and a second coil  814 . The first coil  812  and the second coil  814  may have sizes corresponding to each other. The first coil  812  and the second coil  814  may be formed in a rectangular ring shape. Through electromagnetic interaction of the first coil  812  and the second coil  814  with the region magnetized to a first polarity among the first to fourth magnets  710 ,  720 ,  730 , and  740 , the mover  500  can be rotated with respect to a first axis. 
     The second coil unit  820  may face a region magnetized to the second polarity among the first to fourth magnets  710 ,  720 ,  730 , and  740 . The second coil unit  820  may be overlapped with a region among the first to fourth magnets  710 ,  720 ,  730 , and  740  magnetized to the second polarity in an optical axis direction. The second coil unit  820  may include a third coil  822  and a fourth coil  824 . The third coil  822  may be disposed on one side of the first and second coils  812  and  814 . The fourth coil  824  may be disposed on one side of the first and second coils  812  and  814 . The third and fourth coils  822  and  824  may be formed in a rectangular ring shape. The lengths in a first direction of the third and fourth coils  822  and  824  are shorter than the lengths in a first direction of the first and second coils  812  and  814 , and the lengths of the third and fourth coils  822  and  824  in a second direction perpendicular to the first direction may be longer than the lengths in a second direction of the first and second coils  812  and  814 . Through electromagnetic interaction of a region among the first to fourth magnets  710 ,  720 ,  730 , and  740  magnetized to a second polarity with the second coil unit  820  the mover  500  can be rotated with respect to a second axis perpendicular to the first axis. 
     The third coil unit  830  may face the first to fourth magnets  710 ,  720 ,  730 , and  740 . The third coil unit  830  may face a region of the first to fourth magnets  710 ,  720 ,  730 , and  740  magnetized to a second polarity. The third coil unit  830  may not be overlapped with the first to fourth magnets  710 ,  720 ,  730 , and  740  in an optical axis direction. The third coil unit  830  may include a fifth coil  832  and a sixth coil  834 . The fifth coil  832  may be disposed on one side of the third coil  822 . The sixth coil  834  may be disposed on the other side of the fourth coil  824 . The fifth coil  832  may be disposed to face the regions of the first and second magnets  710  and  720  magnetized to a second polarity. The sixth coil  834  may be disposed to face the regions of the third and fourth magnets  730  and  740  magnetized to a second polarity. Through the electromagnetic interaction of the third coil unit  830  with the first to fourth magnets  710 ,  720 ,  730 , and  740 , the mover  500  may be rotated with respect to a third axis perpendicular to the first axis and the second axis. The rotation angles of the first axis, the second axis, and the third axis may be between −1 degree and +1 degree, respectively, but is not limited thereto. 
     In a first embodiment of the present invention, a first axis may mean an x-axis, a second axis may mean a y-axis, and a third axis may mean a z-axis, but is not limited thereto. 
     According to a camera module  10  according to a first embodiment of the present invention, the lens module  300  and the image sensor disposed on the substrate may be rotated with respect to the three different axes to implement a handshake correction function. In this case, since it may serve as an elastic member through the material and/or structural characteristics of the substrate  300  and the stiffener  400 , it is possible to reduce the size of the product and reduce the cost. 
     As described above, the camera module according to a first embodiment of the present invention has been described with respect to  FIGS. 1 to 12 . Hereinafter, a camera module according to a second embodiment of the present invention will be described with respect to  FIGS. 13 to 23 . The detailed description of the camera module according to a second embodiment of the present invention is based on the camera module and names, terms, and functions according to the first embodiment of the present invention and the detailed description of each embodiment, and it may be the same as or different from each other. 
       FIG. 13 a    is a conceptual diagram of OIS through a lens shift method in a conventional camera module, and  FIG. 13 b    is a conceptual diagram of OIS through a lens tilt method in a conventional camera module. 
     Referring to  FIG. 13 a   , in the case of the conventional lens shift method, according to the movement of the lens Ls, as the optical axis Z, which is the reference of the point with the highest spatial resolution value in the image sensor IS, is repeatedly moved from Z 1  to Z 2  and from Z 2  to Z 1 , the distortion of the video become significant, and it is causing even nausea to users and others. 
     In addition, the problem of video distortion in the lens shift method is also occurring in the sensor shift method. 
     Next, referring to  FIG. 13 b   , in the case of the conventional lens tilt method, the optical axis Z is repeatedly shifted from Z 1  to Z 2  according to the tilting of the lens Ls, and as a result, the distance between the lens Ls and the image sensor IS varies, and as the optical axis Z, which is the reference of the spatial resolution value, is repeatedly moved from Z 1  to Z 2  and from Z 2  to Z 1 , distortion of the moving image become more significant. 
     The problem of video distortion in the lens tilt method is also a problem in the sensor tilt method. 
       FIG. 14 a    is a plan view illustrating a camera module  1000  according to a second embodiment of the present invention, and  FIG. 14 b    is an exploded perspective view of a camera module  1000  according to a second embodiment of the present invention illustrated in  FIG. 14   a.    
     Referring to  FIGS. 14 a  and 14 b   , the camera module  1000  according to a second embodiment of the present invention may include any one or more of a sensor unit  1100 , a lens unit  1200 , an actuator  1300 , and a cover  1400 . 
     Referring to  FIG. 14 b   , in an embodiment, a direction parallel to an optical axis of light may be referred to as a z-axis, a plane perpendicular to the optical axis may be referred to as an xy-plane, and in the xy-plane, the x-axis and the y-axis may be defined as directions mutually perpendicular to each other, but is not limited thereto. At this time, the x-axis may be defined as a horizontal coordinate axis, and the y-axis may be defined as a vertical coordinate axis, but is not limited thereto. 
     The movement of a camera module may largely include a linear movement that moves along an axis and a rotational movement that rotates about the axis. 
     The above mentioned linear movement may include, as shown in  FIG. 14 b   , a movement in a horizontal coordinate axis (x-axis) direction of the camera module, a movement in a vertical coordinate axis (y-axis) direction of the camera module, and a movement in an optical axis (z-axis) direction disposed along the front-rear direction of the camera module. 
     Next, the rotational movement, as shown in  FIG. 14 b   , may include: pitch, which means a vertical rotational movement using the horizontal coordinate axis (x-axis) of the camera module as the rotation axis; yaw, which means a rotational movement in the left and right directions using the vertical coordinate axis (y-axis) of the camera module as the rotation axis; and roll, which means a rotational movement using the optical axis (z-axis) passing in the front-rear direction of the camera module as the rotation axis. The pitch and yaw may be rotations in the x-axis or y-direction. 
     The camera module according to the embodiment may be applied to the front or the rear, or both the bottom and the rear of the mobile phone. 
     Referring to  FIG. 14 b   , in an embodiment, the lens unit  1200  and the actuator  1300  may be disposed inside the cover  1400 . The cover  1400  may be referred to as a cover housing or a shield can. The cover  1400  may be formed of a metal material such as steel (SUS), and the like, and can shield electromagnetic waves flowing into and out of a camera module, and may also prevent the inflow of foreign substances into the camera module. 
     Next,  FIG. 15 a    is a perspective view of an actuator  1300  in a camera module according to a second embodiment of the present invention illustrated in  FIG. 14 b   , and  FIG. 15 b    is an exploded perspective view of an actuator  1300  in a camera module according to a second embodiment of the present invention illustrated in  FIG. 15   a.    
     Referring to  FIGS. 15 a  and 15 b   , in a camera module according to a second embodiment of the present invention, the actuator  1300  may include a rotor  1310 , a base  1320  on which the rotor  1310  is disposed, a ball  1316  disposed between the rotor  1310  and the base  1320 , a first driving unit  1311 M disposed in the rotor  1310 , and a second driving unit  1322 C disposed in the base  1320 . 
     In addition, in a camera module according to a second embodiment of the present invention, the actuator  1300  may include an upper spring  1350  disposed in contact with the base and an upper side of the rotor. 
     For example,  FIG. 15 c    is a detailed view of an upper spring  1350  in a camera module according to a second embodiment of the present invention illustrated in  FIG. 15 a   ,  FIG. 16  is a perspective view of a rotor  1310  and a first driving unit  1311 M in an actuator illustrated in  FIG. 15 b   , and  FIG. 17  is a perspective view of a base  1320  and a second driving unit  1322 C in an actuator illustrated in  FIG. 15   b.    
     First, the upper spring  1350  will be described with respect to  FIGS. 15 c    and  15   a.    
     The rotor  1310  and the base  1320  may be connected by the upper spring  1350 , and an initial position of the lens unit  1200  may be set through a preload of the upper spring  1350 . 
     The upper spring  1350  may include an outer side support part  1351 , a spring part  1352 , and an inner side support part  1353 . 
     For example, the upper spring  1350  may include an outer side support part  1351 , a spring part  1352  connected to an inner side of the outer side support part  1351 , and an inner side support part  1353  connected to the inner side of the spring part  1352 . 
     The outer side support part  1351  may be fixed to the base  1320 , and the inner side support part  1353  may be fixed to the rotor  1310 . 
     Meanwhile, in another embodiment, the initial position of the lens unit  1200  may be set between the rotor  1310  and the base  1320  by a predetermined magnetic force. 
     In addition, in an embodiment, an open loop driving method may be performed using the upper spring  1350 . 
     Next,  FIG. 16  is a perspective view of a rotor  1310  and a first driving unit  1311 M in an actuator illustrated in  FIG. 15 b   , and  FIG. 17  is a perspective view of a base  1320  and a second driving unit  1322 C in an actuator illustrated in  FIG. 15   b.    
     The camera driving device of an embodiment may include a rotor  1310  supporting and driving the lens unit  1200 , a base  1320  accommodating the rotor  1310 , a first driving unit  1311 M driving the rotor  1310 , and a second driving unit  1322 C. 
     The camera driving device may make the lens unit  1200  being coupled to the rotor  1310  move pitch, yaw, and roll with respect to x, y, and z axes. 
     For example, the rotor  1310  supports the lens unit  1200  and the configuration of the first driving unit  1311 M, for example, a magnet, and the like, pitch, yaw, and roll operations may be performed together with the AF function of the lens unit  1200 . 
     The base  1320  accommodates the rotor  1310  but may be a fixing unit for performing pitch, yaw, and roll operations of the lens unit  1200  through the rotor  1310 . 
     Specifically, referring to  FIG. 16 , in an embodiment, the rotor  1310  may include a first accommodating portion therein, and the lens unit  1200  may be disposed on the first accommodating portion. 
     A ball accommodating portion  1315  may be provided at an outer side corner of the first bracket  1311  of the rotor  1310 , and a ball  1316  may be disposed on the ball accommodating portion  1315 . 
     For example, first protruding portions  1314 P may be formed at four corners of the outer side of the first bracket  1311 , ball accommodating portions  1315  may be secured by the first protruding portions  1314 P, respectively, and a total of four balls  1316  can be placed, one each in the four corners of the outer side, but is not limited thereto. 
     In addition, in an embodiment, there is a technical effect in that the first protruding portion  1314 P at the four corners of the outer side of the first bracket  1311  can perform the function of a stopper in the corner direction of the base  1320  or a shake fixing unit when the rotor  1310  is driven. 
     For example, in an embodiment, there are special technical effects in that the first protruding portion  1314 P of the first bracket  1311  can perform the function of a stopper in the corner direction of the base  1320  or a shake fixing unit when the yaw or pitch of the rotor  1310  is driven. 
     Referring momentarily to  FIG. 21 , in an embodiment the rotor  1310  has a ball accommodating portion  1315  at its outer side corner, the cross-section of the ball accommodating portion  1315  may include a first round surface  1310 R. 
     Referring back to  FIG. 16 , next, a first coupling protrusion  1313  may be formed on an upper side of the first bracket  1311 , and the first coupling protrusion  1313  can be fixed to the inner side support part  1353  of the upper spring  1350 . 
     Next, the first bracket  1311  may have a first recess  1312 R on an outer side of the sidewall. In addition, an embodiment may include a first driving unit  1311 M disposed in the rotor  1310 . 
     For example, the first bracket  1311  may include a first recess  1312 R on an outer side of a sidewall, and a first driving unit  1311 M may be disposed in the first recess  1312 R. The first driving unit  1311 M may be a magnet driving unit such as a permanent magnet, but is not limited thereto. 
     The first driving unit  1311 M may be a magnet driving unit, and may be disposed on an outer side of the four side surfaces of the first bracket  1311 . 
     One pair of the first driving units  1311 M facing each other may be a pitch magnet, and the remaining pair facing each other may be a yaw magnet, but is not limited thereto. 
     Next, referring to  FIG. 17 , in an embodiment, the base  1320  includes a second round surface  1324 R corresponding to the first round surface  1310 R at an inner side corner, and a ball  1316  may be disposed between the first round surface  1310 R of the rotor and the second round surface  1324 R of the base. 
     The base  1320  accommodates the rotor  1310  but may be a fixing unit for performing pitch, yaw, and roll operations of the lens unit  1200  through the rotor  1310 . To this end, the embodiment may include a second driving unit  1322 C disposed in the base  1320 . The second driving unit  1322 C may be a coil driving unit. 
     For example, the second driving unit  1322 C may include a second bracket  1321  and provided with a through hole  132211  passing through a sidewall of the first bracket  1321 , and a second driving unit  1322 C may be disposed in the through hole  132211 . 
     One pair of the second driving units  1322 C facing each other may be a pitch coil, and the remaining pair facing each other may be a yaw coil, but is not limited thereto. 
     In addition, in an embodiment, the base  1320  is provided with a second recess  1323 R on the outside of the corner, so that precision injection is possible, and it can contribute to miniaturization, and the operation speed can be improved according to the weight reduction. 
     Next,  FIG. 18  is an exemplary view illustrating an operation of the base  1320  in the actuator illustrated in  FIG. 15   b.    
     The second round surface  1324 R of the base  1320  of an embodiment may allow the ball  1316  to move by rolling in the first direction DR 1  and the second direction DR 2 . 
     For example, the lens unit  1200  is rotationally moved along the first round surface  1310 R and the second round surface  1324 R with respect to the optical axis, and the lens unit  1200  may be moved by tilting vertically and horizontally with respect to the optical axis along the first round surface  1310 R and the second round surface  1324 R. 
     The embodiment is a tilting method of the entire module including the lens and the image sensor, and the correction range is wider than the lens movement method, and since the optical axis of the lens and the axis of the image sensor are not tilted, there is a unique technical effect of minimizing image distortion and eliminating image distortion. 
     Accordingly, according to the driving device of the camera module and the camera module including the same according to an embodiment, there is a technical effect that can provide an excellent OIS function without distortion of the image even when photographing a video. 
     In our previous technology, although a rotational driving of a lens is implemented, this previous technology is limited to a level at which rotational driving in one direction, such as a direction parallel to or perpendicular to the Z-axis, which is the optical axis, is possible. 
     On the other hand, in the camera driving device according to an embodiment, there is a technical effect of being able to rotate in a plurality of directions. 
     For example, the lens unit  1200  is rotationally moved along the first round surface  1310 R and the second round surface  1324 R with respect to the optical axis, and the lens unit  1200  may be moved by tilting vertically and horizontally with respect to the optical axis along the first round surface  1310 R and the second round surface  1324 R. 
     That is, as shown in  FIG. 18 , the second round surface  1324 R of the base  1320  may be formed wider than the first round surface  1310 R of the rotor  1310 . 
     In addition, the second round surface  1324 R of the base  1320  and the first round surface  1310 R of the rotor  1310  are disposed in an oblique direction so that the round surface direction is crossed with the Z axis, so there is a special technical effect that the rotor  1310  can be rotated in a plurality of directions. 
     Next,  FIG. 19 a    is a perspective view of a lens unit  1200  and a sensor unit  1100  in a camera module according to a second embodiment of the present invention illustrated in  FIG. 14 b   , and  FIG. 19 b    is an exploded perspective view of  FIG. 18   a.    
     Referring to  FIG. 19 b   , in the embodiment, the sensor unit  1100  may include a substrate unit  1110 , an image sensor  1120 , and a stiffener  1130 . 
     For example, in an embodiment, the sensor unit  1100  may include a substrate unit  1110 , an image sensor  1120  disposed on the substrate unit  1110  to be overlapped with the lens unit  1200 , and a stiffener  1130  disposed below the substrate  1110 . 
     The image sensor  1120  may include a solid-state imaging device such as a complementary metal oxide semiconductor image sensor (CMOS) or a charge coupled device (CCD) and an analog-to-digital conversion unit that converts and outputs an analog electrical signal output from the solid-state image sensor into a digital value. 
     The stiffener  1130  is disposed at a lower side of the substrate unit  1110  may perform the function of a stiffener to increase strength and rigidity of the substrate unit  1110 . 
     Next,  FIG. 20  is an enlarged view of a substrate unit  1110  illustrated in  FIG. 19   b.    
     In an embodiment, the substrate  1110  may include a rigid PCB, a flexible PCB, and all boards with wiring patterns that can be electrically connected, such as rigid flexible PCB. 
     For example, in an embodiment, the substrate unit  1110  may include a first circuit board  1111 , a second circuit board  1112 , and a third circuit board  1113 . 
     For example, the substrate  1110  may include a first circuit board  1111  on which the actuator  1300  is disposed, a second circuit board  1112  being extended in one direction from the first circuit board  1111  and on which a control semiconductor chip (not shown) is disposed, and a third circuit board  1113  being extended from the second circuit board  1112  toward one side and electrically connected to a predetermined main circuit board (not shown). 
     The first circuit board  1111  may include a first-first circuit board  1111   a , a first-second circuit board  1111   b , and a first-third circuit board  1111   c.    
     For example, the first circuit board  1111  may include a first-first circuit board  1111   a  disposed on the outer portion and being extended from the second circuit board  1112 , a first-second circuit board  1111   b  being extended from the first-first circuit board  1111   a  toward an inner side and having elasticity, and a first-third circuit board  1111   c  connected to the inner side of the first-second circuit board  1111   b  and disposed with an image sensor  1120 . 
     For example, referring to  FIG. 20 , the first-first circuit board  1111   a  may be a rigid printed circuit board, and the first-second circuit board  1111   b  may be a flexible PCB or a rigid flexible PCB, and the first-third circuit board  1111   c  may be a rigid circuit board, but is not limited thereto. 
     At this time, the first-second circuit board  1111   b  may be disposed in a curved shape in the form of a flexible circuit board. 
     The first-first circuit board  1111   a  may be fixed to the base  1320 , and the first-third circuit board  1111   c  may be electrically connected to the image sensor  1120 , but is not limited thereto. 
     In addition, an embodiment may include a gyro sensor (not shown) disposed on the substrate unit  1110  to detect movement, and a driving circuit element (not shown) for driving the actuator  1300  according to the input/output signal of the gyro sensor. 
     In an embodiment, the gyro sensor may employ a two-axis gyro sensor that detects two amounts of rotational movement, a pitch and a yaw, indicating a large movement in a two-dimensional image frame, and for more accurate image stabilization, a 3-axis gyro sensor that detects both pitch, yaw, and roll movements can be employed. The motion corresponding to the pitch, yaw, and roll detected by the gyro sensor may be converted into an appropriate physical quantity according to a handshake correction method and a correction direction. 
     Next,  FIG. 21  is a cross-sectional view taken along line A 1 -A 1 ′ of a camera module according to an embodiment illustrated in  FIG. 14   a.    
     Referring to  FIGS. 21, 16, and 17  together, the camera module according to the embodiment may include: a rotor  1310  including a first round surface  1310 R at an outer side corner and moving with a first accommodating portion; a base  1320  including a second round surface  1324 R corresponding to the first round surface  1310 R at an inner side corner, and the rotor  1310  being spaced apart from each other in a second accommodating portion; a ball  1316  disposed between the first round surface  1310 R of the rotor  1310  and the second round surface  1324 R of the base  1320 ; a first driving unit  1311 M disposed in the rotor  1310 ; and a second driving unit  1322 C disposed in the base  1320 . 
     According to the embodiment, the posture can be controlled by using the roll of the ball  1316 , and it can also serve to prevent the vibration applied from the upper spring  1350 . 
     In addition, according to an embodiment, the driving force may be improved by disposing the first driving unit  1311 M, which is a magnet driving unit, and the second driving unit  1322 C, which is a coil driving unit, to face each other. 
     In an embodiment, the lens unit  1200  may include a predetermined barrel  1220  and a lens  1210 . The lens  1210  may include a single or a plurality of lenses. For example, the lens  1210  may include a first lens  1211 , a second lens  1212 , and a third lens  1213 . The lens  1210  may include a liquid lens. For example, the first lens  1211  and the third lens  1213  may be solid lenses, and the second lens  1212  may be a liquid lens, but is not limited thereto. For example, in the second lens  1212 , a lens liquid may be disposed between predetermined frames, and the curvature of the lens liquid may be controlled by a predetermined electrode, but is not limited thereto. 
     In an embodiment, a lens actuator (not shown) capable of driving the lens unit  1200  may be disposed. The lens actuator may be a voice coil motor, a micro actuator, a silicon actuator, a shape memory alloy (SAM), and the like, and it can be applied in various ways such as electrostatic method, thermal method, bimorph method, electrostatic force method, piezo type actuator, and the like, but is not limited thereto. 
     For example, according to an embodiment, the lens actuator supports the lens unit  1200  to move the lens up and down in response to a control signal from a predetermined control unit, thereby performing an auto-focusing function. 
     The lens unit  1200  may include a voice coil motor that moves the lens up and down, a MEMS actuator, and a piezo actuator, and another embodiment may include a liquid lens in addition to the lens without a separate actuator. 
     The voice coil motor moves the entire lens of the lens module up and down, MEMS and piezo actuators move some lenses of the lens module up and down, and the liquid lens may function to adjust the focus by changing the curvature of the interface between two liquids. 
     According to an embodiment, the OIS may be implemented by module tilt caused by the rotor  1310 , the first driving unit  1311 M, and the second driving unit  1322 C, and the AF may be implemented using a variable lens. 
     For example, the variable lens may be a variable focus lens. In addition, the variable lens may be a lens whose focus is adjusted. The variable lens may be at least one of a liquid lens, a polymer lens, a liquid crystal lens, a VCM type, and an SMA type. 
     The liquid lens may include a liquid lens containing one liquid and a liquid lens containing two liquids. A liquid lens containing one liquid can vary the focus by adjusting a membrane disposed at a position corresponding to the liquid, and for example, the focus can be varied by pressing the membrane by the electromagnetic force of a magnet and coil. 
     A liquid lens including two liquids may control an interface between the conductive liquid and the non-conductive liquid by using a voltage applied to the liquid lens including the conductive liquid and the non-conductive liquid. 
     The polymer lens may vary the focus of a polymer material through a driving unit such as a piezo. The liquid crystal lens may vary the focus by controlling the liquid crystal by electromagnetic force. The VCM type may vary the focus by adjusting a solid lens or a lens assembly including a solid lens through electromagnetic force between a magnet and a coil. In the SMA type, a focus can be varied by controlling a solid lens or a lens assembly including a solid lens by using a shape memory alloy. 
     Continuing to refer to  FIG. 21 , in the embodiment, the direction of the first round surface  1310 R of the rotor  1310  or the direction of the second round surface  1324 R of the base  1320  may be a direction crossing the direction of the optical axis Z. 
     For example, in an embodiment, the direction of the first round surface  1310 R of the rotor  1310  may be a cross direction that is not parallel to the direction of the optical axis Z. For example, the direction of the first round surface  1310 R of the rotor  1310  may be oblique to the optical axis Z. 
     In addition, the direction of the second round surface  1324 R of the base  1320  may be a crossed direction that is not parallel to the direction of the optical axis Z. For example, the direction of the second round surface  1324 R of the base  1320  may be oblique to the optical axis Z. 
     The lens unit  1200  is rotationally moving along the first round surface  1310 R and the second round surface  1324 R with respect to the optical axis, and the lens unit  1200  may move by tilting vertically and horizontally along the first round surface  1310 R and the second round surface  1324 R with respect to the optical axis. 
     The embodiment is a method of moving the entire module including the lens and the image sensor, and the correction range is wider than that of the lens movement method, and since the optical axis of the lens and the axis of the image sensor are not shifted, there is a unique technical effect of minimizing image distortion and eliminating image distortion. 
     Accordingly, according to the driving device of the camera module according to an embodiment and the camera module including the same, there is a technical effect that can provide an excellent OIS function without image distortion even during video photographing. 
     While our previous technology enables rotational driving in one direction, such as a direction parallel to or perpendicular to the Z-axis, which is an optical axis, in the camera driving device according to the embodiment, there is a technical effect of being able to rotate in a plurality of directions. 
     For example, the lens unit  1200  is rotationally moved along the first round surface  1310 R and the second round surface  1324 R with respect to an optical axis, and the lens unit  1200  may be moved by tilting vertically and horizontally with respect to the optical axis along the first round surface  1310 R and the second round surface  1324 R. 
     In addition, the second round surface  1324 R of the base  1320  and the first round surface  1310 R of the rotor  1310  are disposed in an oblique direction so that the round surface direction is crossed with the Z axis, so that there is a special technical effect that the rotor  1310  can be rotated in a plurality of directions. 
     Referring to  FIGS. 21 and 18 , in an embodiment, the lens unit  1200  is rotationally moved along the first round surface  1310 R and the second round surface  1324 R with respect to the optical axis, and the lens unit  1200  may be moved by tilting up, down, left, and right with respect to the optical axis Z along the first round surface  1310 R and the second round surface  1324 R. 
     Next,  FIG. 22  is a cross-sectional perspective view taken along line A 2 -A 2 ′ of the camera module according to an embodiment illustrated in  FIG. 14 a   , in which the tilting angle is 0°. 
     Through this, as illustrated in  FIGS. 23 a  and 23 b   , it is a method in which the entire module including the lens and the image sensor is moved, having wider correction range than that of the lens movement method, and since the optical axis of the lens and the axis of the image sensor are not tilted, there is a unique technical effect of minimizing image distortion and eliminating image distortion. 
     According to an embodiment, it is possible to secure a rotation angle of about ±0.8° to ±2.0° by a method in which an entire module including the lens and the image sensor is driven, and through this, an effective OIS function can be performed. 
     For example,  FIG. 23 a    is an exemplary view illustrating a first operation of the camera module according to an embodiment illustrated in  FIG. 22 , in which the tilting angle is ±1°. 
     In addition,  FIG. 23 b    is a second exemplary view illustrating a second operation of the camera module according to an embodiment illustrated in  FIG. 22 , in which the tilting angle is ±2°. 
     Normally, the required rotation angle when photographing a video while walking is ±1°, according to an embodiment, but it is possible to implement up to ±2° by moving the entire module including the lens and the image sensor, so that the correction range is wider than that of the lens shift method, and since the optical axis of the lens and the axis of the image sensor do not tilted even when photographing a video while running, there is a unique technical effect having no image distortion by minimizing image deformation. 
     In addition, the embodiment has a technical effect of providing an excellent OIS function having no image distortion and at the same time a technical effect of providing a miniature camera module. 
     The technical effects of the embodiments are not limited to the contents described in the present description, and include those identified from the illustration of the invention. 
     Modified embodiments according to the present embodiments may include some components of the first embodiment and some components of the second embodiment together. That is, modified embodiments may include the first embodiment, but some configurations of the first embodiment may be omitted, and may include some configurations of the corresponding second embodiment. Alternatively, the modified embodiments may include the second embodiment, but some components of the second embodiment are omitted and include some components of the corresponding first embodiment. 
     Features, structures, effects, and the like described in the above embodiments are included in at least one embodiment of the present invention, and are not necessarily limited to only one embodiment. In addition, the features, structures, effects, and the like illustrated in the embodiments may be combined or modified with respect to other embodiments by those skilled in the art to which the embodiments belong. Therefore, contents related to such combinations and modifications should be construed as being included in the scope of the present invention. 
     In addition, the above description has been made with respect to the embodiments, which are merely examples and are not intended to limit the embodiments, and those of ordinary skill in the art to which the embodiment belongs will appreciate that various modifications and applications not illustrated above are possible without departing from the essential characteristics of the present embodiment. For example, each component specifically illustrated in the embodiments may be modified. And differences relating to such modifications and applications will have to be construed as being included in the scope of the invention defined in the appended claims.