JP3830028B2 - Wire actuator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a wire actuator.
[0002]
[Prior art]
A wire actuator that moves a wire in its longitudinal direction is used, for example, to drive a finger joint or the like in a robot hand or the like.
[0003]
This wire actuator includes a wire, a reel around which the wire is wound, a motor (rotary actuator), and a speed reducer that decelerates and transmits the rotational driving force of the motor to the reel, and drives the motor to rotate the reel. By doing so, the wire is moved in the longitudinal direction.
[0004]
However, the conventional wire actuator requires a reel and a speed reducer and has a problem that it is difficult to reduce the size and weight, and particularly to reduce the thickness, because the motor is large. Therefore, for example, a large space is required to mount a plurality of wire actuators for moving a joint, five fingers, etc., and the weight increases, making it more difficult to reduce the size.
[0005]
Furthermore, the motor needs to have special magnetic characteristics for the rotor and the slider, and it is difficult to reduce the long stroke translation mechanism, which is disadvantageous for reduction in size and weight.
[0006]
Moreover, since rotational motion is converted into linear motion, the energy loss accompanying this conversion is large.
[0007]
There is also a problem that the electromagnetic noise of the motor may affect other devices.
[0008]
[Problems to be solved by the invention]
An object of the present invention is to provide a wire actuator that has a simple structure and is advantageous for miniaturization, particularly thinning.
[0009]
[Means for Solving the Problems]
Such an object is achieved by the present inventions (1) to (25) below.
[0010]
(1) a wire and a vibrating body provided in contact with the wire and including a piezoelectric element and a plurality of divided electrodes;
The vibrating body vibrates by applying an alternating voltage to the piezoelectric element through the electrode, and the vibration repeatedly applies force to the wire to move the wire in the longitudinal direction of the wire. ,
The vibration pattern of the vibrating body is changed by selecting an energization pattern to each of the electrodes, and the wire can be moved in either the forward direction or the reverse direction. A wire actuator configured to be able to move the wire by exciting vibration in a direction substantially perpendicular to the moving direction of the wire.
[0011]
(2) The wire actuator according to (1), further including an energization circuit for energizing the electrodes while selecting an energization pattern for the electrodes.
[0012]
(3) The wire actuator according to (1) or (2), including a vibration detection unit that detects vibration of the vibrating body.
[0013]
(4) The wire actuator according to (3), wherein the vibration of the vibrating body is detected using an electrode that is not energized among the electrodes.
[0014]
(5) The wire actuator according to any one of (1) to (4), wherein the vibrating body has a plate shape.
[0015]
(6) The wire actuator according to (5), wherein the vibrating body has a substantially rectangular shape.
[0016]
(7) The vibrator has two electrodes located on one diagonal line and two electrodes located on the other diagonal line. When the wire is moved in the positive direction, one diagonal line is formed. The wire actuator according to (6), which is configured to energize the two electrodes positioned on the other diagonal line when energizing the two electrodes positioned above and moving the wire in the opposite direction. .
[0017]
(8) The wire actuator according to (6) or (7), wherein the vibrating body is installed so that a short side of the vibrating body and the wire are substantially parallel.
[0018]
(9) The wire actuator according to (6) or (7), wherein the vibrating body is installed so that a long side of the vibrating body and the wire are substantially parallel.
[0019]
(10) A wire and a vibrating body provided in contact with the wire and including a piezoelectric element and a plurality of divided electrodes,
The vibrating body is a wire actuator that vibrates by applying an AC voltage to the piezoelectric element through the electrode, and repeatedly applies a force to the wire to move the wire in the longitudinal direction of the wire. There,
A first mode for maintaining the wire in a stopped state, and a second mode that allows the wire to move by exciting the vibrating body in a direction substantially perpendicular to the moving direction of the wire. A third mode in which the wire is moved in the forward direction, and a fourth mode in which the wire is moved in the reverse direction.
The vibration pattern of the vibrating body is changed by selecting an energization pattern to each electrode, and any of the first mode, the second mode, the third mode, and the fourth mode is selected. A wire actuator characterized by being configured to select either of these.
[0020]
(11) The wire actuator according to (10), further including an energization circuit for energizing the electrodes while selecting an energization pattern for the electrodes.
[0021]
(12) The wire actuator according to (10) or (11), including a vibration detection unit that detects vibration of the vibrating body.
[0022]
(13) The wire actuator according to (12), wherein vibration of the vibrating body is detected using an electrode that is not energized among the electrodes.
[0023]
(14) A wire and a vibrating body provided in contact with the wire and including a piezoelectric element and an electrode,
The vibrating body is a wire actuator that vibrates by applying an AC voltage to the piezoelectric element through the electrode, and repeatedly applies a force to the wire to move the wire in the longitudinal direction of the wire. There,
A first mode that does not excite the vibrating body; a second mode that enables movement of the wire by exciting vibration in a direction substantially perpendicular to the moving direction of the wire; A third mode for exciting a vibration having a vibration displacement component in the positive direction of movement of the wire and a fourth mode for exciting a vibration having a vibration displacement component in the direction opposite to the movement direction of the wire; A featured wire actuator.
[0024]
(15) The wire actuator according to any one of (11) to (14), wherein the vibrating body has a plate shape.
[0025]
(16) The wire actuator according to (15), wherein the vibrating body has a substantially rectangular shape.
[0026]
(17) The vibrating body includes two electrodes located on one diagonal line and two electrodes located on the other diagonal line, and in the first mode, any one of the four electrodes In the second mode, all the four electrodes are energized, and in the third mode, the two electrodes positioned on one diagonal line are energized, and the electrodes are not energized. In the fourth mode, the wire actuator according to (16), which is configured to energize two electrodes positioned on the other diagonal line.
[0027]
(18) The wire actuator according to (17), wherein the vibrating body includes a detection electrode that detects a voltage induced in the piezoelectric element at a central portion thereof.
[0028]
(19) The wire actuator according to (18), wherein the detection electrode is used in the second mode.
[0029]
(20) The wire actuator according to any one of (16) to (19), wherein the vibrating body is installed so that a short side of the vibrating body and the wire are substantially parallel.
[0030]
(21) In the second mode, the vibrating body vibrates in the direction of its long side, and the wire does not substantially move by this vibration.
[0031]
(22) The wire actuator according to any one of (1) to (21), wherein the wire actuator includes at least one arm portion protruding from the vibrating body, and the vibrating body is supported by the arm portion. .
[0032]
(23) In any one of the above (1) to (22), wherein the vibrating body is in contact with the wire to bend the wire, and the vibrating body is pressed by a restoring force of the wire. The wire actuator described.
[0033]
(24) The wire actuator according to any one of (1) to (23), further including a movement amount detection unit that detects a movement amount of the wire.
[0034]
(25) The wire actuator according to (24), wherein energization to the electrode is controlled based on a detection value of the movement amount detection means.
[0035]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the wire actuator of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
[0036]
1 is a plan view showing a first embodiment of the wire actuator of the present invention, FIG. 2 is a side view of the wire actuator shown in FIG. 1, and FIG. 3 is a perspective view of a vibrating body in the wire actuator shown in FIG. 4 is a side view of the vibrating body in the wire actuator shown in FIG. 1 (viewed from the direction of arrow A in FIG. 3), and FIGS. 5 and 6 are respectively vibrations of the vibrating body in the wire actuator shown in FIG. FIG. 7 is a block diagram showing a circuit configuration of the wire actuator shown in FIG. In the following description, the upper side in FIG. 1 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.
[0037]
The wire actuator 1 shown in these drawings is an actuator that directly drives (moves) the wire 2, and is a plate-like structure composed of the wire 2 and an actuator body 3 attached so that the wire 2 can move in the longitudinal direction. The actuator unit 10 is provided.
[0038]
Here, the wire is an elongated linear or belt-like body having flexibility, and its cross-sectional shape is not particularly limited, and other than a circle, for example, a semicircle, an ellipse, a semi-ellipse, a square, It may be a polygon such as a rectangle. Moreover, it is preferable that a wire is an elastic body.
[0039]
Moreover, the longitudinal direction of the wire is not limited to the axial direction when the wire is linear, but includes a direction along the wire pattern when the wire is curved or bent, for example.
[0040]
As shown in FIGS. 1, 2, and 7, the actuator body 3 includes a plate-like base 4, a vibrating body 6 that moves the wire 2, and two large-diameter guide rollers (guide means) 51 and 52. Four small-diameter guide rollers (guide means) 53, 54, 55 and 56, a movement amount detection means 7 for detecting the movement amount of the wire 2, and an energization pattern to each electrode described later of the vibrating body 6 are selected. However, it has an energization circuit 20 for energizing the electrodes. The guide roller 53 and the guide roller 54 make a pair, and the guide roller 55 and the guide roller 56 make a pair.
[0041]
The vibrating body 6 is installed on one surface of the base 4 (upper side in FIG. 2) in a posture parallel to the base 4, and includes two guide rollers 51 and 52, two pairs of guide rollers 53, 54, and 55 and 56 are respectively installed on one surface (upper side in FIG. 2) of the base 4 so as to be rotatable in a posture parallel to the base 4. The vibrating body 6 will be described in detail later.
[0042]
On the peripheral surfaces (outer peripheral surfaces) of the guide rollers 51 and 52, grooves (detachment preventing means) 511 and 521 having a concave cross section, for example, an arc shape are formed along the outer periphery.
[0043]
Further, grooves (detachment preventing means) 531, 541, 551, and 561 having a V-shaped cross section, for example, are formed along the outer periphery on the peripheral surfaces (outer peripheral surfaces) of the guide rollers 53, 54, 55, and 56. Has been.
[0044]
The guide roller 51 and the guide roller 52 are arranged in a horizontal direction (the guide roller 51 is on the left side and the guide roller 52 is on the right side) with a predetermined distance therebetween, and the grooves 511 of the guide roller 51 and the guide roller 52 The wires 2 are disposed in the grooves 521, respectively.
[0045]
As shown in FIG. 1, the pair of guide rollers 53 and 54 are arranged in parallel in the vertical direction (the guide roller 53 is on the lower side and the guide roller 54 is on the upper side), that is, the groove 531 of the guide roller 53. The wire 2 is disposed between the groove 541 of the guide roller 54.
[0046]
Similarly, the pair of guide rollers 55 and 56 are arranged side by side in the vertical direction (the guide roller 55 is on the lower side and the guide roller 56 is on the upper side), that is, between the groove 551 of the guide roller 55 and the groove of the guide roller 56. Between the wires 561, the wire 2 is disposed.
[0047]
These two pairs of guide rollers 53, 54 and 55, 56 are disposed outside the guide rollers 51 and 52, respectively. That is, one pair of guide rollers 53 and 54 is disposed on the left side of the guide roller 51, and the other pair of guide rollers 55 and 56 is disposed on the right side of the guide roller 52.
[0048]
The vibrating body 6 is disposed above the guide rollers 51 and 52 so that the convex portion 66 is located between the guide roller 51 and the guide roller 52. The vibrating body 6 has a posture in which the short side 601 of the vibrating body 6 and the wire 2 are substantially parallel, that is, the long side 602 of the vibrating body 6 and the wire 2 are substantially vertical, and the projection 66 is a wire. 2 so as to be in contact with 2.
[0049]
As shown in FIG. 2, the vibrating body 6 and the guide rollers 51, 52, 53, 54, 55 and 56 are all located on substantially the same straight line when viewed from the lower side in FIG. As shown in FIG. 1, the upper ends of the guide rollers 51, 52, 53 and 55 are all arranged on substantially the same straight line.
[0050]
As shown in FIG. 1, the convex portion 66 of the vibrating body 6 abuts on the wire 2, and the wire 2 is pressed against the guide rollers 51 and 52 by the convex portion 66 and bent. And the convex part 66 of the vibrating body 6 receives the restoring force (elastic force) of the wire 2, ie, the reaction force, and is pressed upward.
[0051]
When the vibrating body 6 vibrates, the wire 2 repeatedly receives a frictional force (pressing force) from the vibrating body 6 and moves in the longitudinal direction.
[0052]
The vibrating body 6 is smaller (thin) than a normal motor or the like.
In the present invention, by moving the wire 2 using the vibrating body 6, the wire actuator 1 as a whole can be reduced in size, particularly reduced in thickness (in the vertical direction in FIG. 2).
[0053]
In this wire actuator 1, the electrodes of the vibrating body 6 are divided into a plurality of parts, a voltage is selectively applied to them, and the piezoelectric elements are partially driven to generate longitudinal and bending vibrations in the plane. It can be arbitrarily selected. That is, the vibration pattern (vibration state) of the vibration body 6 is changed by selecting the energization pattern (energization state) to each electrode of the vibration body 6 to change the direction of vibration (vibration displacement) of the convex portion 66 of the vibration body 6. In other words, the wire 2 can be moved in either the right side or the left side (forward direction and reverse direction) (the moving direction of the wire 2 can be switched). Hereinafter, a description will be given based on a specific example.
[0054]
As shown in FIGS. 3 and 4, the vibrating body 6 has a substantially rectangular plate shape. The vibrating body 6 includes four electrodes 61a, 61b, 61c and 61d, a plate-like piezoelectric element 62, a reinforcing plate 63, a plate-like piezoelectric element 64, and four plate-like electrodes from the upper side in FIG. 65a, 65b, 65c and 65d (in FIG. 3, electrodes 65a, 65b, 65c and 65d are not shown, and only the reference numerals are shown in parentheses) are stacked in this order. 3 and 4, the thickness direction is exaggerated.
[0055]
The piezoelectric elements 62 and 64 each have a rectangular shape, and expand and contract in the longitudinal direction (long side direction) by applying an alternating voltage. The constituent materials of the piezoelectric elements 62 and 64 are not particularly limited, and lead zirconate titanate (PZT), crystal, lithium niobate, barium titanate, lead titanate, lead metaniobate, polyvinylidene fluoride, zinc niobate Various materials such as lead and lead scandium niobate can be used.
[0056]
These piezoelectric elements 62 and 64 are fixed to both surfaces of the reinforcing plate 63, respectively.
[0057]
In this vibrating body 6, the piezoelectric element 62 is divided (divided) into four rectangular areas approximately equally, and rectangular electrodes 61a, 61b, 61c and 61d are respectively installed in the divided areas. Similarly, the piezoelectric element 64 is divided (divided) into four regions, and rectangular electrodes 65a, 65b, 65c and 65d are installed in the divided regions. In addition, electrodes 65a, 65b, 65c, and 65d are disposed on the back sides of the electrodes 61a, 61b, 61c, and 61d, respectively.
[0058]
The electrodes 61a and 61c on one diagonal line and the electrodes 65a and 65c located on the back side thereof are all electrically connected. Similarly, the electrodes 61b and 61d on the other diagonal line are located on the back side thereof. The electrodes 65b and 65d to be connected are all electrically connected (hereinafter simply referred to as “connection”).
[0059]
The reinforcing plate 63 has a function of reinforcing the entire vibrating body 6 and prevents the vibrating body 6 from being damaged by over-amplitude, external force, or the like. The constituent material of the reinforcing plate 63 is not particularly limited, but for example, various metal materials such as stainless steel, aluminum or aluminum alloy, titanium or titanium alloy, copper or copper alloy are preferable.
[0060]
The reinforcing plate 63 is preferably thinner (smaller) than the piezoelectric elements 62 and 64. Thereby, the vibrating body 6 can be vibrated with high efficiency.
[0061]
The reinforcing plate 63 also has a function as a common electrode for the piezoelectric elements 62 and 64. That is, an AC voltage is applied to the piezoelectric element 62 by a predetermined electrode among the electrodes 61a, 61b, 61c, and 61d and the reinforcing plate 63, and the piezoelectric element 64 includes the electrodes 65a, 65b, 65c, and 65d. An AC voltage is applied by the predetermined electrode and the reinforcing plate 63.
[0062]
The piezoelectric elements 62 and 64 are repeatedly expanded and contracted in the longitudinal direction when an AC voltage is applied to almost the whole thereof, and accordingly, the reinforcing plate 63 is repeatedly expanded and contracted in the longitudinal direction. That is, when an AC voltage is applied to almost the entire piezoelectric element 62, 64, the vibrating body 6 vibrates (longitudinal vibration) with a minute amplitude in the longitudinal direction (long side direction), and the convex portion 66 vibrates longitudinally (reciprocating). Exercise.
A convex portion 66 is integrally formed at the right end of the reinforcing plate 63 in FIG.
[0063]
As shown in FIGS. 2, 3, and 4, in the present embodiment, a groove (concave) 661 is formed at the tip of the convex portion 66 of the vibrating body 6 along the longitudinal direction of the wire 2. The wire 2 is in contact with the inner surface (concave surface) 662 of the groove 661. Thereby, it can prevent that the convex part 66 of the vibrating body 6 remove | deviates from the wire 2. FIG.
[0064]
As shown in FIGS. 3 and 4, the cross-sectional shape of the groove 661 (inner surface 662) has an arc shape. Thereby, the wire 2 is located in the center part of the convex part 66, For this reason, the wire 2 can be driven more smoothly and efficiently.
[0065]
This convex portion 66 is provided on the lower short side 601 side in FIG. 1 and at the center in the width direction of the reinforcing plate 63.
[0066]
The groove 661 of the convex portion 66 can be formed by, for example, etching (overetching) or the like. By using the etching method, the groove 661 can be formed easily and accurately even with a small size.
[0067]
Further, from approximately the center in the longitudinal direction of the reinforcing plate 63, the two arm portions 68 are in a direction substantially perpendicular to the longitudinal direction and project in opposite directions through the vibrating body 6 (in FIG. 1). (Symmetric). A hole 681 into which the bolt 13 is inserted is formed at the tip of each arm 68.
[0068]
As shown in FIGS. 1 and 2, such a vibrating body 6 is installed such that the inner surface 662 of the convex portion 66 contacts the wire 2 from above.
[0069]
The vibrating body 6 is installed in a posture substantially parallel to the base 4. This is particularly advantageous for reducing the overall thickness of the wire actuator 1.
[0070]
The vibrating body 6 is fixed to a screw hole (not shown) provided in the base 4 by a bolt 13 in the vicinity of the hole 681 of each arm portion 68. That is, the vibrating body 6 is supported by the arm portion 68. Thereby, the vibrating body 6 can vibrate freely and vibrates with a relatively large amplitude. The vibrating body 6 is installed in a state where the inner surface 662 of the convex portion 66 is pressed against the wire 2 by the elasticity of the arm portion 68 and the restoring force of the wire 2.
[0071]
With the projection 66 in contact with the wire 2, the electrodes 61 a, 61 c, 65 a and 65 c located on the diagonal of the vibrating body 6 are energized, and these electrodes 61 a, 61 c, 65 a and 65 c, and the reinforcing plate 63 When an AC voltage is applied between the two, the portions corresponding to the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 repeatedly expand and contract in the direction of the arrow a, as shown in FIG. The six convex portions 66 are displaced in an oblique direction indicated by an arrow b, that is, vibrate (reciprocating motion), or, as indicated by an arrow c, are displaced substantially along an ellipse, that is, elliptical vibration (elliptical motion). The wire 2 receives a frictional force (pressing force) from the convex portion 66 when portions corresponding to the electrodes 61a, 61c, 65a, and 65c of the vibrating body 6 extend, and the repeated frictional force (pressing force) 5 Move to the left (reverse direction).
[0072]
At this time, the non-energized electrodes 61 b, 61 d, 65 b and 65 d located on the diagonal line of the vibrating body 6 are used as vibration detecting means for detecting the vibration of the vibrating body 6.
[0073]
Contrary to the above, the electrodes 61b, 61d, 65b and 65d positioned on the diagonal line of the vibrating body 6 are energized, and an AC voltage is applied between the electrodes 61b, 61d, 65b and 65d and the reinforcing plate 63. Then, as shown in FIG. 6, the portions corresponding to the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 repeatedly expand and contract in the direction of the arrow a, whereby the convex portion 66 of the vibrating body 6 Displacement, that is, vibration (reciprocating motion) in an oblique direction indicated by b, or displacement along an ellipse, that is, elliptical vibration (elliptical motion), as indicated by an arrow c. The wire 2 receives a frictional force (pressing force) from the convex portion 66 when the portions corresponding to the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 extend, and the repeated frictional force (pressing force) 6 Move to the right side (forward direction).
[0074]
At this time, the non-energized electrodes 61 a, 61 c, 65 a and 65 c located on the diagonal line of the vibrating body 6 are used as vibration detecting means for detecting the vibration of the vibrating body 6.
[0075]
In FIGS. 5 and 6, the deformation of the vibrating body 6 is exaggerated and the arm portion 68 is not shown.
[0076]
Here, the shape and size of the vibrating body 6 and the position of the convex portion 66 are appropriately selected, and the resonance frequency of bending vibration (lateral vibration in FIGS. 5 and 6) is approximately equal to the frequency of longitudinal vibration. As a result, the longitudinal vibration and the bending vibration of the vibrating body 6 occur simultaneously, and the convex portion 66 is displaced along an ellipse (elliptical vibration) as indicated by an arrow c in FIGS. 5 and 6. Can do. Further, as known in the art, longitudinal vibration and bending vibration are driven with their phases shifted separately, whereby the ratio of the major axis to the minor axis (major axis / minor axis) of elliptical oscillation can be changed.
[0077]
The movement direction of the wire 2 is restricted (guided) by the guide rollers 51, 52, 53, 54, 55, and 56, and separation from the guide rollers is prevented by the grooves.
[0078]
The guide rollers 51 and 52 rotate without slipping with respect to the wire 2 when the wire 2 moves.
[0079]
Further, since the wire 2 is directly driven (moved) by the vibrating body 6, it is particularly advantageous for weight reduction and size reduction (thinning). In addition, the structure can be greatly simplified, and the manufacturing cost can be reduced.
[0080]
Moreover, in this embodiment, since the in-plane vibration of the vibrating body 6 is directly converted into the linear motion (movement) of the wire 2, the energy loss accompanying this conversion is small, and the wire 2 can be driven with high efficiency. it can.
[0081]
In addition, unlike the case where the vibrating body 6 is driven by a magnetic force like a normal motor, the driving force is high because the wire 2 is driven by the frictional force (pressing force) as described above. For this reason, unlike the present embodiment, the wire 2 can be driven with sufficient force without using a speed change mechanism (deceleration mechanism).
[0082]
The frequency of the AC voltage applied to the piezoelectric elements 62 and 64 is not particularly limited, but is preferably approximately the same as the resonance frequency of vibration (longitudinal vibration) of the vibrating body 6. Thereby, the amplitude of the vibrating body 6 becomes large and the wire 2 can be driven with high efficiency.
[0083]
Next, the energizing circuit 20 will be described.
As shown in FIG. 7, the energization circuit 20 includes a drive circuit 8 including an oscillation circuit 81, an amplification circuit 82, and a movement amount control circuit 83, and a switch 9.
[0084]
The switch 9 is a switching unit that switches between an electrode to be energized and an electrode that is used as a vibration detection unit, and switches the moving direction of the wire 2 by switching the switch 9.
[0085]
The switch 9 has two switch parts 91 and 92 that are interlocked. The electrode 61 d of the vibrating body 6 is connected to the terminal 97 of the switch part 91, and the electrode 61 a is connected to the terminal 98 of the switch part 92. Has been.
[0086]
The terminal 93 of the switch unit 91 and the terminal 96 of the switch unit 92 are respectively connected to the output side of the amplifier circuit 82 of the drive circuit 8, and an AC voltage is applied from the amplifier circuit 82 to each of the terminals 93 and 96. It is to be applied.
[0087]
Further, the reinforcing plate 63 of the vibrating body 6 is grounded.
Further, the terminal 94 of the switch unit 91 and the terminal 95 of the switch unit 92 are respectively connected to the input side of the oscillation circuit 81 of the drive circuit 8.
[0088]
Next, the movement amount detection means 7 will be described.
As shown in FIGS. 1 and 2, the movement amount detection means 7 includes a slit plate 71 in which a plurality of slits are formed at regular intervals on the outer periphery, and a sensor 72 having a light emitting part and a light receiving part. .
[0089]
In the present embodiment, as the sensor 72, a light emitting element that irradiates light toward the outer peripheral portion of the slit plate 71 (a portion where the slit is formed), and light emitted from the light emitting element and reflected by the slit plate 71 ( A photo reflector having a light receiving element that receives (photoelectric conversion) light is used. However, the present invention is not limited to this. For example, a light emitting element that emits light toward the outer peripheral portion of the slit plate 71 and the light emitting element A photo interrupter having a light receiving element that receives (photoelectrically converts) light (transmitted light) that is emitted from the light and passes (transmitted) through the slit of the slit plate 71 may be used.
[0090]
The slit plate 71 is fixed to the side surface of the guide roller 51 and rotates integrally with the guide roller 51.
[0091]
On the other hand, as described above, when the wire 2 moves, the guide roller 51 rotates without sliding with respect to the wire 2. Therefore, the movement amount of the wire 2 is the rotation amount of the guide roller 51, that is, the slit plate 71. Corresponding to the rotation amount, the moving speed of the wire 2 corresponds to the rotation speed (rotation speed) of the guide roller 51, that is, the rotation speed (rotation speed) of the slit plate 71.
[0092]
Further, the sensor 72 is installed on the upper surface of the base 4 in FIG. 2 and in the vicinity of the slit plate 71.
[0093]
When the wire 2 moves and the slit plate 71 rotates, a pulse (pulse signal) is output from the sensor 72 accordingly. This pulse is supplied (input) to the movement amount control circuit 83 of the drive circuit 8, and the movement amount control circuit 83 counts the pulses and obtains the movement amount of the wire 2 based on the count value (number of pulses). . The moving speed of the wire 2 can also be obtained based on the pulse period or the number of pulses within a predetermined time. Information on the moving amount and moving speed of the wire 2 is used for predetermined control and processing.
[0094]
Note that the movement amount detection means 7 is not limited to optical detection, and may be magnetic detection, for example.
[0095]
Next, the operation of the wire actuator 1 will be described based on FIG.
In the state where the power switch is turned on, if there is an instruction for the moving direction and moving amount of the wire 2, the moving amount control circuit 83 of the switch 9 and the drive circuit 8 operates based on the instruction.
[0096]
In the case of an instruction to move the wire 2 upward (in the positive direction) in FIG. 7, the terminal 93 and the terminal 97 of the switch 9 are connected and the terminal 95 and the terminal 98 are connected as shown in FIG. The switch 9 is switched. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are conducted, and the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 and the drive circuit 8 The input side of the oscillation circuit 81 is conducted.
[0097]
The oscillation circuit 81 and the amplification circuit 82 of the drive circuit 8 are controlled by a movement amount control circuit 83, respectively.
[0098]
The AC voltage output from the oscillation circuit 81 is amplified by the amplification circuit 82 and applied between the electrodes 61 b, 61 d, 65 b and 65 d and the reinforcing plate 63. Thereby, as described above, the portions corresponding to the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are repeatedly expanded and contracted, and the convex portion 66 of the vibrating body 6 extends in the oblique direction indicated by the arrow b in FIG. Vibration (reciprocating motion) or elliptical vibration (elliptical motion) as shown by an arrow c, and the wire 2 is convex when the portions corresponding to the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are extended. The frictional force (pressing force) is received from 66, and it moves upward (in the positive direction) in FIG. 7 by this repeated frictional force (pressing force).
[0099]
At this time, the electrodes 61a, 61c, 65a, and 65c that are not energized (not driven) respectively become detection electrodes and are induced between the electrodes 61a, 61c, 65a, and 65c and the reinforcing plate 63. Used to detect voltage (induced voltage).
[0100]
The detected induced voltage (detection voltage) is input to the oscillation circuit 81, and the oscillation circuit 81 has a frequency at which the amplitude of the vibrating body 6 is maximum, that is, the detection voltage is maximum based on the detection voltage. Outputs AC voltage at (resonance frequency). Thereby, the wire 2 can be moved efficiently.
[0101]
The movement amount control circuit 83 controls energization to each electrode based on the detection value of the movement amount detection means 7 and the instructed movement amount (target value) of the wire 2.
[0102]
That is, a pulse (pulse signal) is input from the sensor 72 of the movement amount detection means 7 to the movement amount control circuit 83. The movement amount control circuit 83 counts the pulses, obtains the movement amount (actual value) of the wire 2 based on the count value (number of pulses), and determines the value and the movement amount (target) of the instructed wire 2. The oscillation circuit 81 and the amplification circuit 82 are operated until the actual movement amount of the wire 2 reaches the designated movement amount, the vibrating body 6 is driven, and the wire 2 is moved.
[0103]
On the contrary, in the case of an instruction to move the wire 2 downward (reverse direction) in FIG. 7, the terminal 94 and the terminal 97 of the switch 9 are connected, and the terminal 96 and the terminal 98 are connected. The switch 9 is switched. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 are electrically connected, and the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 and the drive circuit 8 The input side of the oscillation circuit 81 is conducted. The subsequent operation is the same as that in the case of an instruction to move the wire 2 to the upper side in FIG.
[0104]
According to the wire actuator 1 of the first embodiment, in addition to the advantage that the wire actuator 1 can be reduced in size (thinned), a normal motor is not used to move the wire 2. There is also an advantage that there is no electromagnetic noise as in the case of the motor of the present invention, and since there is little or no electromagnetic noise, peripheral devices are not affected.
[0105]
Further, when the wire 2 is not driven (stopped state), that is, when any electrode is not energized, the convex portion 66 presses against the wire 2, and the frictional force between the convex portion 66 and the wire 2 The wire 2 can be maintained in a stopped state. That is, the wire 2 can be prevented from moving and the wire 2 can be held at a predetermined position.
[0106]
Moreover, the moving amount and moving speed of the wire 2 can be detected, and various kinds of control can be performed using the information.
[0107]
Moreover, since the wire 2 can be moved in both forward and reverse directions (both left and right directions), versatility is wide.
[0108]
In addition, since the wire 2 can be moved in both directions with the single vibrating body 6, the number of parts can be reduced compared with the case where a dedicated vibrating body is provided for each moving direction, and the manufacturing is easy. Moreover, it is advantageous for reducing the size and weight of the entire wire actuator 1.
[0109]
Also, as shown in FIG. 2, when assembling, there is no part to be assembled to the base 4 from the lower side in FIG. 2, and it is possible to assemble by assembling the parts from one direction (the upper side in FIG. 2). There is also an advantage that can be done quickly.
[0110]
Further, the arrangement pattern of the wires 2 can be freely set by a guide means such as the guide roller.
[0111]
Next, a second embodiment of the wire actuator of the present invention will be described.
FIG. 8 is a perspective view of a vibrating body in the second embodiment of the wire actuator of the present invention, and FIG. 9 is a block diagram showing a circuit configuration in the second embodiment of the wire actuator of the present invention.
[0112]
Hereinafter, the wire actuator 1 according to the second embodiment will be described with a focus on the differences from the first embodiment described above, and description of similar matters will be omitted.
[0113]
The wire actuator 1 of the second embodiment includes a first mode in which the wire 2 is maintained in a stopped state, a second mode in which the wire 2 can be moved (the wire 2 is in a free state), and the wire 2 in the forward direction. And a fourth mode in which the wire 2 is moved in the reverse direction. The vibration pattern of the vibrating body 6 is changed by selecting the energization pattern to each electrode, and the first mode is changed to the first mode. The mode, the second mode, the third mode, and the fourth mode can be selected. This will be specifically described below.
[0114]
As shown in FIG. 8, the vibrating body 6 includes five plate-like electrodes 61a, 61b, 61c, 61d and 61e on the upper side of the piezoelectric element 62 in FIG. Are provided with five plate-like electrodes 65a, 65b, 65c, 65d and 65e (in FIG. 8, the electrodes 65a, 65b, 65c, 65d and 65e are not shown, and only the reference numerals are shown in parentheses). ing.
[0115]
That is, the piezoelectric element 62 is divided (divided) substantially equally into four rectangular areas, and rectangular electrodes 61a, 61b, 61c and 61d are respectively installed in the divided areas. 64 is divided (divided) into four regions, and rectangular electrodes 65a, 65b, 65c, and 65d are provided in each of the divided regions.
[0116]
A rectangular electrode 61e is installed at the center of the piezoelectric element 62, and similarly, a rectangular electrode 65e is installed at the center of the piezoelectric element 64. Each of the electrodes 61e and 65e is disposed such that the longitudinal direction (long side direction) and the longitudinal direction (long side direction) of the vibrating body 6 substantially coincide with each other. These electrodes 61e and 65e are detection electrodes, respectively. The voltage (induced voltage) induced between the electrodes 61e and 65e and the reinforcing plate 63, that is, the longitudinal component of the vibration of the vibrating body 6 (vertical length). This is used to detect a voltage (induced voltage) induced by a vibration component. The electrodes 61e and 65e are used in the second mode, respectively.
[0117]
In addition, electrodes 65a, 65b, 65c, 65d and 65e are disposed on the back side of the electrodes 61a, 61b, 61c, 61d and 61e, respectively.
[0118]
The electrodes 61a and 61c on one diagonal line and the electrodes 65a and 65c located on the back side thereof are all electrically connected. Similarly, the electrodes 61b and 61d on the other diagonal line are located on the back side thereof. All the electrodes 65b and 65d to be connected are electrically connected. Similarly, the central electrode 61e and the electrode 65e located on the back side are electrically connected (hereinafter simply referred to as “connection”).
[0119]
As shown in FIG. 9, the energization circuit 20 of the wire actuator 1 of the second embodiment includes a drive circuit 8 including an oscillation circuit 81, an amplification circuit 82, and a movement amount control circuit 83, a switch 9, and a switch 16. Have.
[0120]
The switch 9 is a switching unit that switches between an electrode to be energized and an electrode that is used as a vibration detection unit, and switches the moving direction of the wire 2 by switching the switch 9.
[0121]
The switch 9 has two switch parts 91 and 92 that are interlocked. The electrode 61 d of the vibrating body 6 is connected to the terminal 97 of the switch part 91, and the electrode 61 a is connected to the terminal 98 of the switch part 92. Has been.
[0122]
The terminal 93 of the switch unit 91 and the terminal 96 of the switch unit 92 are respectively connected to the output side of the amplifier circuit 82 of the drive circuit 8, and an AC voltage is applied from the amplifier circuit 82 to each of the terminals 93 and 96. It is to be applied.
[0123]
Further, the reinforcing plate 63 of the vibrating body 6 is grounded.
Further, the terminal 94 of the switch unit 91 and the terminal 95 of the switch unit 92 are respectively connected to the input side of the oscillation circuit 81 of the drive circuit 8.
[0124]
The switch 16 has two switch portions 161 and 162 that are interlocked.
[0125]
The terminal 163 of the switch unit 161 is connected to the terminals 94 and 95 of the switch 9, and the terminal 164 is connected to the electrode 61 e of the vibrating body 6.
[0126]
The terminal 163 of the switch unit 161 is connected to the input side of the oscillation circuit 81 of the drive circuit 8.
[0127]
Further, the terminal 166 of the switch unit 162 is connected to the terminal 98 of the switch 9 and the electrode 61 a of the vibrating body 6, and the terminal 168 is connected to the terminal 97 of the switch 9 and the electrode 61 d of the vibrating body 6.
[0128]
Since the drive circuit 8 and the movement amount detection means 7 are the same as those in the first embodiment described above, the description thereof is omitted.
[0129]
Next, each mode will be described.
In the first mode, the vibrating body 6 is not excited. That is, no current is supplied to any electrode of the vibrating body 6. In this case, the convex portion 66 of the vibrating body 6 is pressed against the wire 2, and the wire 2 can be maintained in a stopped state by the frictional force between the convex portion 66 and the wire 2. That is, the wire 2 can be prevented from moving and the wire 2 can be held at a predetermined position.
[0130]
In the second mode, vibration in a direction substantially perpendicular to the moving direction of the wire 2 is excited. That is, the electrodes 61a, 61b, 61c, 61d, 65a, 65b, 65c and 65d on the diagonal lines of the vibrating body 6 are energized, and these electrodes 61a, 61b, 61c, 61d, 65a, 65b, 65c and 65d, An AC voltage is applied between the reinforcing plate 63. Thereby, the vibrating body 6 repeatedly expands and contracts in the longitudinal direction (long side direction), that is, vibrates (longitudinal vibration) with a minute amplitude in the longitudinal direction. In other words, the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the longitudinal direction (long side direction).
[0131]
When the vibrating body 6 contracts, the wire 2 is separated from the convex portion 66 and the frictional force between the wire 2 and the convex portion 66 disappears, or the frictional force decreases and becomes free, as shown in FIG. It can move freely in either the upper or lower direction. On the other hand, when the vibrating body 6 extends, the wire 2 receives a pressing force from the convex portion 66, but since the direction is a direction substantially perpendicular to the longitudinal direction of the wire 2, the wire 2 is elastic. It only deforms, that is, curves or bends, and does not move in either the upper or lower direction in FIG.
[0132]
Accordingly, the vibration of the vibrating body 6 causes the wire 2 to be in a free state and can freely move in either the upper side or the lower side in FIG.
[0133]
In the third mode, vibration having at least a vibration displacement component in the positive direction of movement of the wire 2 is excited. That is, the electrodes 61 b, 61 d, 65 b and 65 d positioned on the diagonal line of the vibrating body 6 are energized, and an AC voltage is applied between the electrodes 61 b, 61 d, 65 b and 65 d and the reinforcing plate 63. Thereby, as described in the first embodiment, the wire 2 moves upward (in the positive direction) in FIG. At this time, the non-energized electrodes 61 a, 61 c, 65 a and 65 c located on the diagonal line of the vibrating body 6 are used as vibration detecting means for detecting the vibration of the vibrating body 6.
[0134]
Further, in the fourth mode, vibration having at least a vibration displacement component in the direction opposite to the moving direction of the wire 2 is excited. That is, the electrodes 61 a, 61 c, 65 a and 65 c positioned on the diagonal line of the vibrating body 6 are energized, and an alternating voltage is applied between the electrodes 61 a, 61 c, 65 a and 65 c and the reinforcing plate 63. Thereby, as described in the first embodiment, the wire 2 moves downward (in the reverse direction) in FIG. At this time, the non-energized electrodes 61 b, 61 d, 65 b and 65 d located on the diagonal line of the vibrating body 6 are used as vibration detecting means for detecting the vibration of the vibrating body 6.
[0135]
Next, the operation of the wire actuator 1 will be described based on FIG.
In the state where the power switch is turned on, if there is an instruction to stop / free the wire 2 or an instruction of the moving direction and moving amount of the wire 2, the moving amount control circuit 83 of the switches 9 and 16 and the drive circuit 8 is based on the instruction. Operates. That is, any one of the first mode, the second mode, the third mode, and the fourth mode is set.
[0136]
In the case of an instruction (third mode) to move the wire 2 upward (in the positive direction) in FIG. 9, the terminal 163 and the terminal 167 of the switch 16 are connected as shown in FIG. The switch 16 is switched so that the terminal 9 and the terminal 168 are connected, the terminal 93 and the terminal 97 of the switch 9 are connected, and the switch 9 is switched so that the terminal 95 and the terminal 98 are connected. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are conducted, and the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 and the drive circuit 8 The input side of the oscillation circuit 81 is conducted.
[0137]
The oscillation circuit 81 and the amplification circuit 82 of the drive circuit 8 are controlled by a movement amount control circuit 83, respectively.
[0138]
The AC voltage output from the oscillation circuit 81 is amplified by the amplification circuit 82 and applied between the electrodes 61 b, 61 d, 65 b and 65 d and the reinforcing plate 63. Thereby, as described above, the portions corresponding to the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are repeatedly expanded and contracted, and the convex portion 66 of the vibrating body 6 extends in the oblique direction indicated by the arrow b in FIG. Vibration (reciprocating motion) or elliptical vibration (elliptical motion) as shown by an arrow c, and the wire 2 is convex when the portions corresponding to the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are extended. A frictional force (pressing force) is received from 66, and the repetitive frictional force (pressing force) moves upward (in the positive direction) in FIG.
[0139]
At this time, the electrodes 61a, 61c, 65a, and 65c that are not energized (not driven) respectively become detection electrodes and are induced between the electrodes 61a, 61c, 65a, and 65c and the reinforcing plate 63. Used to detect voltage (induced voltage).
[0140]
The detected induced voltage (detection voltage) is input to the oscillation circuit 81, and the oscillation circuit 81 has a frequency at which the amplitude of the vibrating body 6 is maximum, that is, the detection voltage is maximum based on the detection voltage. Outputs AC voltage at (resonance frequency). Thereby, the wire 2 can be moved efficiently.
[0141]
The movement amount control circuit 83 controls energization to each electrode based on the detection value of the movement amount detection means 7 and the instructed movement amount (target value) of the wire 2.
[0142]
That is, a pulse (pulse signal) is input from the sensor 72 of the movement amount detection means 7 to the movement amount control circuit 83. The movement amount control circuit 83 counts the pulses, obtains the movement amount (actual value) of the wire 2 based on the count value (number of pulses), and determines the value and the movement amount (target) of the instructed wire 2. The oscillation circuit 81 and the amplification circuit 82 are operated until the actual movement amount of the wire 2 reaches the designated movement amount, the vibrating body 6 is driven, and the wire 2 is moved.
[0143]
On the contrary, in the case of an instruction to move the wire 2 downward (reverse direction) in FIG. 9 (fourth mode), the terminal 163 and the terminal 167 of the switch 16 are connected, The switch 16 is switched so that the terminal 168 is connected, the terminal 94 and the terminal 97 of the switch 9 are connected, and the switch 9 is switched so that the terminal 96 and the terminal 98 are connected. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 are electrically connected, and the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 and the drive circuit 8 The input side of the oscillation circuit 81 is conducted. The subsequent operation is the same as that in the case of the instruction to move the wire 2 to the upper side in FIG.
[0144]
In the case of an instruction to maintain the wire 2 in the stopped state (first mode), as shown in FIG. 9, the terminal 163 and the terminal 167 of the switch 16 are connected, and the terminal 165 and the terminal 168 are connected. The switch 16 is switched as described above.
[0145]
Then, the movement amount control circuit 83 does not operate the oscillation circuit 81 and the amplification circuit 82. That is, no AC voltage is applied to any electrode of the vibrating body 6.
[0146]
The convex portion 66 of the vibrating body 6 is pressed (contacted) on the wire 2, and the wire 2 is maintained in a stopped state by the frictional force between the convex portion 66 and the wire 2. That is, the wire 2 is prevented from moving, and the wire 2 is held at a predetermined position.
[0147]
In the case of the first mode, the switches 9 and 16 may be switched in any way as long as no AC voltage is applied to any electrode of the vibrator 6.
[0148]
Further, in the case of an instruction to set the wire 2 in a free state (second mode), the switch 16 is switched so that the terminal 164 and the terminal 167 of the switch 16 are connected and the terminal 166 and the terminal 168 are connected. Thereby, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61a, 61b, 61c, 61d, 65a, 65b, 65c and 65d of the vibrating body 6 are electrically connected, and the electrodes 61e and 65e of the vibrating body 6 are electrically connected. The drive circuit 8 is electrically connected to the input side of the oscillation circuit 81.
[0149]
The alternating voltage output from the oscillation circuit 81 is amplified by the amplifier circuit 82 and applied between the reinforcing plate 63 and 61a, 61b, 61c, 61d, 65a, 65b, 65c and 65d. Thereby, as described above, the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the longitudinal direction, and the wire 2 enters a free state, and can freely move in either the upper or lower direction in FIG. Can move.
[0150]
At this time, a voltage (induced voltage) induced between the electrodes 61e and 65e and the reinforcing plate 63 is detected from each of the electrodes 61e and 65e. The detected induced voltage (detection voltage) is input to the oscillation circuit 81, and the oscillation circuit 81 has the maximum amplitude of longitudinal vibration of the vibrating body 6 based on the detection voltage, that is, the detection voltage is maximum. An AC voltage with such a frequency is output. Thereby, the wire 2 can be moved more smoothly.
[0151]
In the second mode, the switch 9 may be switched in any way.
[0152]
According to the wire actuator 1 of this 2nd Embodiment, the effect similar to 1st Embodiment mentioned above is acquired.
[0153]
And in this wire actuator 1, the state which maintains the stop state of the wire 2, ie, a high friction state, the state which enables the movement of the wire 2 (the wire 2 is in a free state), ie, the low friction state, and the wire 2 Since any state can be selected from the four states of the state of moving in the forward direction and the state of moving the wire 2 in the reverse direction, versatility is wide.
[0154]
In the present invention, the vibrating body 6 is provided with portions that come into contact with the wire 2, that is, convex portions 66 at two or more locations, and the plurality of convex portions 66 apply frictional force (pressing force) to the wire 2. ) And the wire 2 may be moved.
[0155]
Here, in the above-described vibrating body 6, the case where the driving electrode is divided into four parts has been described, but this shows an example for selectively exciting longitudinal vibration and bending vibration. In the present invention, the structure of the vibrating body 6 and the driving method are not limited to those described above.
[0156]
When such a wire actuator 1 is used for driving a joint of a robot hand, for example, the position of the joint is moved in the second mode, and at the same time, the movement amount detecting means 7 detects the movement amount and teaches it. it can. In the third mode and the fourth mode, the joint can be moved forward and backward, and in the first mode, the joint can be fixed at a desired position.
[0157]
Next, a third embodiment of the wire actuator of the present invention will be described.
FIG. 10 is a plan view showing a third embodiment of the wire actuator of the present invention. In the following description, the upper side in FIG. 10 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.
[0158]
Hereinafter, the wire actuator 1 of the third embodiment will be described focusing on the differences from the first embodiment described above, and the description of the same matters will be omitted.
[0159]
As shown in the figure, in the wire actuator 1 according to the third embodiment, the vibrating body 6 has the long side 602 of the vibrating body 6 and the wire 2 substantially parallel, that is, the short side 601 of the vibrating body 6 and the wire 2. Is installed so as to be substantially vertical.
[0160]
Thereby, the wire actuator 1 can be further reduced in size (smaller in the vertical direction).
[0161]
One arm portion 68 is provided on the upper side of the reinforcing plate 63, and the vibrating body 6 has a screw hole (not shown) provided in the base 4 by the bolt 13 in the vicinity of the hole 681 of the arm portion 68. It is fixed to.
[0162]
Further, the convex portion 66 is provided at the right end of the long side 602 below the reinforcing plate 63.
[0163]
According to the wire actuator 1 of the third embodiment, the same effects as those of the first embodiment described above can be obtained.
[0164]
Although illustration and description are omitted, it is preferable that the third embodiment also includes the movement amount detection means 7 in the first embodiment described above.
[0165]
Next, a fourth embodiment of the wire actuator of the present invention will be described.
FIG. 11 is a plan view showing a fourth embodiment of the wire actuator of the present invention. In the following description, the upper side in FIG. 11 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.
[0166]
Hereinafter, the wire actuator 1 of the fourth embodiment will be described focusing on the differences from the third embodiment described above, and the description of the same matters will be omitted.
[0167]
As shown in the figure, in the wire actuator 1 of the fourth embodiment, the convex portions 66 of the vibrating body 6 are provided at a plurality of locations (two locations in the illustrated configuration) of the reinforcing plate 63. One convex portion 66 is provided at the right end of the long side 602 below the reinforcing plate 63, and the other convex portion 66 is the left end of the long side 602 below the reinforcing plate 63. Is provided.
[0168]
The vibrating body 6 is disposed such that the right convex portion 66 is positioned between the guide roller 51 and the guide rollers 55 and 56, and the left convex portion 66 is positioned between the guide roller 51 and the guide rollers 53 and 54. Has been.
[0169]
Further, the guide roller 51 is located at the center of the vibrating body 6 in the longitudinal direction, and the guide rollers 53 and 54 and the guide rollers 55 and 56 are disposed at a substantially equal distance from the guide roller 51.
[0170]
Each protrusion 66 of the vibrating body 6 abuts on the wire 2, and the wire 2 is pressed against the guide rollers 51, 53 and 55 by each protrusion 66 and bent. And each convex part 66 of the vibrating body 6 receives the restoring force (elastic force), ie, reaction force, of the wire 2, and is pressed upward.
[0171]
When the vibrating body 6 vibrates, the wire 2 alternately receives a frictional force (pressing force) from each convex portion 66 of the vibrating body 6 and moves to the right side or the left side.
[0172]
According to the wire actuator 1 of this 4th Embodiment, the effect similar to 3rd Embodiment mentioned above is acquired.
[0173]
In this wire actuator 1, the frictional force (pressing force) is alternately applied to the wire 2 by the two protruding portions 66 separated from the vibrating body 6 to move the wire 2. As compared with the case of moving the wire 2, the wire 2 can be moved with a strong force.
[0174]
Although illustration and description are omitted, it is preferable that the fourth embodiment also includes the movement amount detection means 7 in the first embodiment described above.
[0175]
Next, a fifth embodiment of the wire actuator of the present invention will be described.
FIG. 12 is a plan view showing a fifth embodiment of the wire actuator of the present invention, in which one base is removed, FIG. 13 is a side view of the wire actuator shown in FIG. 12, and FIG. FIG. 13 is a cross-sectional view taken along line BB in FIG. In the following description, the upper side in FIG. 15 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.
[0176]
Hereinafter, the wire actuator 1 according to the fifth embodiment will be described with a focus on differences from the first or second embodiment described above, and description of similar matters will be omitted.
[0177]
As shown in these drawings, the wire actuator 1 of the fifth embodiment has a plurality of plate-like actuator units (three actuator units 10a, 10b, and 10c in the illustrated configuration).
[0178]
In this case, the wire actuator 1 has a pair of plate-like bases 41 and 42 arranged to be parallel to each other, and the bases 41 and 42 are shared by the actuator units 10a, 10b, and 10c. ing. The base 41 is disposed at the left end in FIG. 14, and the base 42 is disposed at the right end in FIG.
[0179]
As shown in FIG. 13 and FIG. 14, the actuator units 10 a, 10 b, and 10 c have the same arrangement direction of the wires 2 and the thickness direction of the vibrating body 6 (actuator units 10 a, 10 b, and 10 c). They are arranged so as to overlap. The actuator units 10a, 10b and 10c are arranged in the order of the actuator units 10a, 10b and 10c from the left side to the right side in FIG. Moreover, as shown in FIG. 14, each wire 2 is located in a line in the horizontal direction in FIG.
[0180]
In this way, by overlapping the actuator units 10a, 10b, and 10c, the wires 2 can be concentrated (integrated).
[0181]
As shown in FIG. 14, the vibration body 6 is located at a position corresponding to the hole 681 of the right arm portion 68 in FIG. 12, between the base 41 and the vibration body 6 of the actuator unit 10a, and between the vibration body 6 of the actuator unit 10a. Spacers 145 are provided between the vibrating member 6 of the actuator unit 10b, between the vibrating member 6 of the actuator unit 10b and the vibrating member 6 of the actuator unit 10c, and between the actuator unit 10c and the base 42, respectively. 141, 142, 143 and 144 are installed. Similarly, four spacers (not shown) provided with holes are also installed at positions corresponding to the holes 681 of the arm portion 68 on the left side in FIG.
[0182]
Two bolts 15 (one bolt is not shown) are inserted into the holes 411 provided in the base 41, the holes 145 of the spacers 141 to 144, and the holes 681 of the arm portions 68, respectively. The vibrating bodies 6 are fixed by the two bolts 15 which are screwed into the screw holes 421 provided in the screw holes 421.
[0183]
Note that the structure and operation of each actuator unit 10a to 10c are substantially the same as those in the first or second embodiment described above, and therefore the description thereof is omitted.
[0184]
According to the wire actuator 1 of the fifth embodiment, the same effects as those of the first or second embodiment described above can be obtained.
[0185]
And in this wire actuator 1, since each actuator unit 10a-10c has overlapped in the thickness direction of the vibrating body 6, the wire actuator 1 can be reduced more in size.
[0186]
Moreover, in this wire actuator 1, since each actuator unit 10a-10c has comprised plate shape (planar shape), they can be piled up easily (lamination), and an assembly can be performed easily.
[0187]
Although illustration and description are omitted, also in the fifth embodiment, each actuator unit 10a, 10b, and 10c preferably has the movement amount detection means 7 in the first embodiment described above.
[0188]
Next, a sixth embodiment of the wire actuator of the present invention will be described.
FIG. 15 is a cross-sectional view (corresponding to FIG. 14 of the fifth embodiment) showing a sixth embodiment of the wire actuator of the present invention.
[0189]
Hereinafter, the wire actuator 1 of the sixth embodiment will be described focusing on the differences from the first or second embodiment described above, and the description of the same matters will be omitted.
[0190]
As shown in the figure, the wire actuator 1 of the sixth embodiment has a plurality of plate-like (four in the illustrated configuration) actuator units 10.
[0191]
Each actuator unit 10 is arranged so that the arrangement directions of the wires 2 are substantially coincident with each other and the wires 2 are gathered at the center, that is, radially around the convex portion 66 (wire 2) side of the vibrating body 6. (In the configuration shown, 90 ° intervals).
[0192]
Note that the structure and operation of each actuator unit 10 are substantially the same as those in the first or second embodiment described above, and a description thereof will be omitted.
[0193]
According to the wire actuator 1 of the sixth embodiment, the same effects as those of the first or second embodiment described above can be obtained.
[0194]
And in this wire actuator 1, each wire 2 can be concentrated by arrange | positioning each actuator unit 10 radially.
[0195]
Although illustration and description are omitted, also in the sixth embodiment, each actuator unit 10 preferably has the movement amount detecting means 7 in the first embodiment described above.
[0196]
In the present embodiment, the angle (center angle) between the actuator units 10 is an equiangular angle. However, in the present invention, the angle may not be equal.
[0197]
Next, a seventh embodiment of the wire actuator of the present invention will be described.
FIG. 16 is a plan view showing a seventh embodiment of the wire actuator of the present invention.
[0198]
Hereinafter, the wire actuator 1 according to the seventh embodiment will be described focusing on the differences from the first or second embodiment described above, and description of similar matters will be omitted.
[0199]
As shown in the figure, the wire actuator 1 of the seventh embodiment is an actuator that directly drives (moves) the annular wire 2, and the annular wire 2 and the wire 2 can move in a direction along the pattern. The actuator unit 10 is composed of an actuator body 3 attached to the actuator unit 3.
[0200]
The actuator body 3 includes a plate-like base 4, a vibrating body 6 that moves the wire 2, guide rollers (guide means) 51, 52, 57, 58, 59, 111, and 112, and a driven roller 12. ing.
[0201]
The vibrating body 6 is installed on one surface of the base 4 in a posture parallel to the base 4, and the guide rollers 51, 52, 57, 58, 59, 111, and 112 are respectively connected to the one side of the base 4. It is installed on the surface in a rotatable manner in a posture parallel to the base 4.
[0202]
On the other hand, the driven roller 12 is rotatably installed in a position parallel to the base 4, the vibrating body 6, and each guide roller at a predetermined distance from the vibrating body 6 (base 4). That is, the vibrating body 6 (base 4) is located on one end side, and the driven roller 12 is located on the other end side.
[0203]
The wire 2 is hung on the driven roller 12, and is held by the driven roller 12 and the guide rollers 51, 52, 57, 58, 59, 111 and 112 in a pattern (shape) shown in FIG. The moving direction is restricted (guided). That is, the wire 2 circulates while holding the illustrated pattern by the vibration of the vibrating body 6.
[0204]
Further, grooves (detachment preventing means) 511, 521, 571, 581, 591 and 121 are provided along the outer periphery of the peripheral surfaces (outer peripheral surfaces) of the guide rollers 51, 52, 57, 58, 59 and the driven roller 12, respectively. The wire 2 is disposed in the grooves 511, 521, 571, 581, 591 and 121. Thereby, detachment of the wire 2 from the driven roller 12 and each guide roller is prevented.
[0205]
The vibrating body 6 is positioned inside the wire 2, and the convex portion 66 of the vibrating body 6 is in contact with the inside of the wire 2. Thereby, compared with the case where the vibrating body 6 is provided in the outer side of the wire 2, the wire actuator 1 can be reduced in size.
[0206]
When the wire 2 moves (circulates) in the direction of the arrow d due to vibration of the vibrating body 6, the driven roller 12 rotates counterclockwise in FIG. Force (output) can be taken out.
[0207]
Conversely, when the wire 2 moves (circulates) in the direction of the arrow e due to the vibration of the vibrating body 6, the driven roller 12 rotates clockwise in FIG. 16, and similarly from the driven roller 12 (the driven roller 12 The driving force (output) can be taken out.
[0208]
According to the wire actuator 1 of the seventh embodiment, the same effects as those of the first or second embodiment described above can be obtained.
[0209]
Although illustration and description are omitted, it is preferable that the seventh embodiment also includes the movement amount detecting means 7 in the first embodiment described above.
[0210]
Further, in the present embodiment, the vibrating body 6 is configured such that the short side 601 of the vibrating body 6 and the wire 2 (tangent line where the convex portion 66 of the wire 2 is in contact) are substantially parallel, that is, the length of the vibrating body 6 is long. The side 602 and the wire 2 (tangent line at the portion where the convex portion 66 of the wire 2 abuts) are installed so as to be substantially vertical. However, the present invention is not limited to this, and the vibrating body 6 is, for example, the vibrating body 6. The long side 602 and the wire 2 (tangent line where the convex portion 66 of the wire 2 abuts) are substantially parallel, that is, the short side 601 of the vibrating body 6 and the wire 2 (the convex portion 66 of the wire 2 abut). It may be installed so that the tangent line in the portion is substantially vertical.
[0211]
Further, as in the above-described fourth embodiment, the vibrating body 6 may be provided with two or more portions that are in contact with the wire 2, that is, convex portions 66.
[0212]
Further, as in the fifth embodiment and the sixth embodiment described above, a plurality of actuator units may be provided, and for example, they may be arranged so as to overlap in the thickness direction or radially.
[0213]
As mentioned above, although the wire actuator of the present invention has been described based on the illustrated embodiments, the present invention is not limited to these, and the configuration of each part is replaced with an arbitrary configuration having the same function. can do.
[0214]
The wire actuator of the present invention may be a combination of any two or more configurations (features) of the above embodiments.
[0215]
Further, in the present invention, the shape and structure of the vibrating body are not limited to the configuration shown in the figure. It may be of a shape that gradually decreases.
[0216]
In the embodiment, one vibrating body 6 is installed in one actuator unit 10. However, in the present invention, a plurality of vibrating bodies 6 may be provided in one actuator unit 10.
[0217]
The use of the wire actuator of the present invention is not particularly limited. For example, in the case of a device including a plurality of actuator units, it is possible to pull a finger of a robot (drive).
[0218]
【The invention's effect】
As described above, according to the present invention, the wire actuator can be moved using the vibrating body, and in particular, the wire actuator can be directly driven using the vibrating body, thereby reducing the overall size of the wire actuator, in particular, reducing the thickness. it can.
[0219]
Further, the structure can be simplified, and the manufacturing cost can be reduced.
In addition, the wire can be moved in either the forward direction or the reverse direction, and in particular, a first mode for maintaining the wire in a stopped state, a second mode for allowing the wire to move, and a wire Since the third mode for moving the wire in the forward direction and the fourth mode for moving the wire in the reverse direction are versatile.
[0220]
In addition, by using a vibrating body provided with a plurality of divided electrodes, the wire can be moved in both forward and reverse directions with a single vibrating body, and in particular, the first mode and Since the second mode, the third mode, and the fourth mode can be adopted, the number of parts can be reduced, which is advantageous for downsizing of the entire wire actuator.
[0221]
Further, since a normal motor is not used, there is no electromagnetic noise at all, or even a small amount, so that it is possible to prevent peripheral devices from being affected.
[Brief description of the drawings]
FIG. 1 is a plan view showing a wire actuator according to a first embodiment of the present invention.
FIG. 2 is a side view of the wire actuator shown in FIG.
3 is a perspective view of a vibrating body in the wire actuator shown in FIG. 1. FIG.
4 is a side view of the vibrating body in the wire actuator shown in FIG. 1 (viewed from the direction of arrow A in FIG. 3).
5 is a plan view showing a state in which a vibrating body in the wire actuator shown in FIG. 1 vibrates. FIG.
6 is a plan view showing a state in which a vibrating body in the wire actuator shown in FIG. 1 vibrates. FIG.
7 is a block diagram showing a circuit configuration of the wire actuator shown in FIG. 1. FIG.
FIG. 8 is a perspective view of a vibrating body according to a second embodiment of the wire actuator of the present invention.
FIG. 9 is a block diagram showing a circuit configuration in a second embodiment of the wire actuator of the present invention.
FIG. 10 is a plan view showing a third embodiment of the wire actuator of the present invention.
FIG. 11 is a plan view showing a fourth embodiment of the wire actuator of the present invention.
FIG. 12 is a plan view showing a fifth embodiment of the wire actuator of the present invention, and showing a state where one base is removed.
13 is a side view of the wire actuator shown in FIG.
14 is a cross-sectional view taken along line BB in FIG.
FIG. 15 is a cross-sectional view (corresponding to FIG. 14 of the fifth embodiment) showing the sixth embodiment of the wire actuator of the present invention.
FIG. 16 is a plan view showing a seventh embodiment of the wire actuator of the present invention.
[Explanation of symbols]
1 Wire actuator
10, 10a-10c Actuator unit
2 wires
3 Actuator body
4, 41 base
411 hole
42 base
421 screw holes
51-59 Guide roller
511 to 591 groove
6 Vibrating body
601 short side
602 long side
61, 65 electrodes
61a-61e electrode
65a-65e electrode
62, 64 Piezoelectric element
63 Reinforcing plate
66 Convex
661 groove
662 inner surface
68 arms
681 hole
7 Movement amount detection means
71 Slit plate
72 sensors
8 Drive circuit
81 Oscillator circuit
82 Amplifier circuit
83 Movement amount control circuit
9 switch
91, 92 Switch part
93 to 98 terminals
111, 112 Guide roller
12 Followed roller
121 groove
13 volts
141-144 Spacer
145 holes
15 volts
16 switches
161, 162 Switch part
163 to 168 terminals
20 Energizing circuit

Claims (25)

A wire and a vibrating body provided in contact with the wire and including a piezoelectric element and a plurality of divided electrodes;
The vibrating body vibrates by applying an alternating voltage to the piezoelectric element through the electrode, and the vibration repeatedly applies force to the wire to move the wire in the longitudinal direction of the wire. ,
The vibration pattern of the vibrating body is changed by selecting an energization pattern to each of the electrodes, and the wire can be moved in either the forward direction or the reverse direction. A wire actuator configured to be able to move the wire by exciting vibration in a direction substantially perpendicular to the moving direction of the wire.   The wire actuator according to claim 1, further comprising an energization circuit for energizing the electrodes while selecting an energization pattern for the electrodes.   The wire actuator according to claim 1, further comprising vibration detection means for detecting vibration of the vibrating body.   The wire actuator according to claim 3, wherein vibration of the vibrating body is detected using an electrode that is not energized among the electrodes.   The wire actuator according to claim 1, wherein the vibrating body has a plate shape.   The wire actuator according to claim 5, wherein the vibrating body has a substantially rectangular shape.   The vibrator has two electrodes located on one diagonal line and two electrodes located on the other diagonal line. When the wire is moved in the positive direction, the vibrating body is located on one diagonal line. The wire actuator according to claim 6, wherein when the two electrodes are energized and the wire is moved in the opposite direction, the two electrodes located on the other diagonal line are energized.   The wire actuator according to claim 6 or 7, wherein the vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel to each other.   The wire actuator according to claim 6 or 7, wherein the vibrating body is installed such that a long side of the vibrating body and the wire are substantially parallel to each other. A wire and a vibrating body provided in contact with the wire and including a piezoelectric element and a plurality of divided electrodes;
The vibrating body is a wire actuator that vibrates by applying an AC voltage to the piezoelectric element through the electrode, and repeatedly applies a force to the wire to move the wire in the longitudinal direction of the wire. There,
A first mode for maintaining the wire in a stopped state, and a second mode that allows the wire to move by exciting the vibrating body in a direction substantially perpendicular to the moving direction of the wire. A third mode in which the wire is moved in the forward direction, and a fourth mode in which the wire is moved in the reverse direction.
The vibration pattern of the vibrating body is changed by selecting an energization pattern to each electrode, and any of the first mode, the second mode, the third mode, and the fourth mode is selected. A wire actuator characterized by being configured to select either of these.   The wire actuator according to claim 10, further comprising an energization circuit for energizing the electrodes while selecting an energization pattern for the electrodes.   The wire actuator according to claim 10, further comprising vibration detection means for detecting vibration of the vibrating body.   The wire actuator according to claim 12, wherein vibration of the vibrating body is detected using an electrode that is not energized among the electrodes. A wire and a vibrating body provided in contact with the wire and including a piezoelectric element and an electrode;
The vibrating body is a wire actuator that vibrates by applying an AC voltage to the piezoelectric element through the electrode, and repeatedly applies a force to the wire to move the wire in the longitudinal direction of the wire. There,
A first mode that does not excite the vibrating body; a second mode that enables movement of the wire by exciting vibration in a direction substantially perpendicular to the moving direction of the wire; A third mode for exciting a vibration having a vibration displacement component in the positive direction of movement of the wire and a fourth mode for exciting a vibration having a vibration displacement component in the direction opposite to the movement direction of the wire; A featured wire actuator.   The wire actuator according to claim 11, wherein the vibrating body has a plate shape.   The wire actuator according to claim 15, wherein the vibrating body has a substantially rectangular shape.   The vibrating body has two electrodes located on one diagonal line and two electrodes located on the other diagonal line. In the first mode, the vibrating body is connected to any of the four electrodes. In the second mode, all the four electrodes are energized in the second mode, and in the third mode, the two electrodes located on one diagonal line are energized, and the fourth mode The wire actuator according to claim 16, wherein the wire actuator is configured to energize two electrodes positioned on the other diagonal line in the mode.   The wire actuator according to claim 17, wherein the vibrating body has a detection electrode that detects a voltage induced in the piezoelectric element at a central portion thereof.   The wire actuator according to claim 18, wherein the detection electrode is used in the second mode.   The wire actuator according to any one of claims 16 to 19, wherein the vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel to each other.   21. The wire actuator according to claim 20, wherein in the second mode, the vibrating body vibrates in a direction of a long side thereof, and the wire does not substantially move by the vibration.   The wire actuator according to any one of claims 1 to 21, further comprising at least one arm portion protruding from the vibrating body, wherein the vibrating body is supported by the arm portion.   The wire actuator according to any one of claims 1 to 22, wherein the vibrating body is configured to abut on the wire to bend the wire, and the vibrating body is pressed by a restoring force of the wire.   The wire actuator according to claim 1, further comprising movement amount detection means for detecting the movement amount of the wire.   The wire actuator according to claim 24, wherein energization to the electrode is controlled based on a detection value of the movement amount detection means.

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