JP2005233062A - Bending actuator and camera module - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a bending actuator having a compact configuration and a large amount of displacement. <P>SOLUTION: A rotatable angle adjusting member 30 is provided to the rotating member farthest from the base member by piling a base member 21 and rotating members 22, 24, 26, 28 with a mutually fixed interval in a rotatable state in which a rotating direction of an adjacent rotating member is almost orthogonal to the base member. Wire-like shape memory members 33, 34 are alternatively extended to points near to and far from the rotating center of the rotating member. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a bending actuator and a camera module using a shape memory member such as a shape memory alloy (hereinafter referred to as SMA).

  As a typical multi-degree-of-freedom actuator that performs bending and rotation operations, a long-structure swing mechanism such as an endoscope or a manipulator is known. These swing mechanisms are always required to be downsized and reduced in diameter. In many cases, the swing mechanism is equipped with a swing mechanism and a wire that pulls the tip of the swing mechanism, and the tension and length of this pulling wire is used as a basis. A configuration is adopted in which bending and rotation operations are controlled by a drive source installed on a table or the like, for example, an electromagnetic rotary motor.

  In recent years, an actuator using a shape memory alloy as a drive source has appeared for further miniaturization. (Patent Document 1) In this conventional actuator, a shape memory alloy coil spring (SMA coil spring) and a bias coil spring are connected so as to antagonize each other, and a bendable support body is opposite to each other around the longitudinal axis of the support body. It is attached to be located on the side (front and back). The SMA coil spring is a driving source and is restored to a memory shape by heating. Even if the coil spring for bias is not heated, it returns by elasticity when the load is removed.

When the SMA coil spring is heated and contracted, the support is bent and the bias coil spring is deformed. When heating of the SMA coil spring is stopped, the heat of the SMA coil spring is dissipated to the surroundings, and the support returns to the state before bending due to the elasticity of the bias coil spring.
JP 2001-165036 A FIG.

  However, conventional actuators are limited in miniaturization as follows.

  The amount of displacement (shrinkage) when a general SMA is stably restored to a memorized shape is about 5%. If a straight SMA is simply used, sufficient shrinkage is required for applications that require a large bending motion. The amount is not obtained. For this reason, the conventional actuator uses the SMA in the form of a coil spring to extend the size of the SMA and expand the operating range by increasing the contraction amount.

  However, if this is done, the diameter of the SMA coil spring becomes large, and it is necessary to attach a bias coil spring at the same time, so there is a limit to downsizing. Further, when the SMA coil spring is heated and contracted, the SMA coil spring itself is deformed, so that a large SMA coil spring is necessary to obtain a large displacement of the actuator, and there is a limit to downsizing.

  The present invention has been made to solve the above problems, and an object thereof is to provide a small-sized bending actuator and a camera module having a large displacement.

In order to achieve the above object, a bending actuator according to the present invention is provided with a base member and a plurality of rotating members provided in the base member, with a plurality of rotating members spaced from each other and the rotating members being rotatable. The bent portion and one end are fixed to the base member, and one of the adjacent rotating members is engaged with each other alternately at a point far from the rotation center and the other at a point close to the rotation center. A wire-shaped first shape memory member stretched across the plurality of rotating members stacked, and a return means for returning the bent state of the bent portion, the first shape When the memory member is restored to the memory shape, the rotating member is rotated and the bent portion is bent.

  Further, the bending actuator of the present invention is provided with a base member and the base member, wherein the plurality of rotating members are spaced from each other, and the rotating directions of the adjacent rotating members are substantially orthogonal to each other. One of the rotating members adjacent to each other is fixed to the base member, and one of the adjacent rotating members is a point far from the rotation center, and the other is close to the rotation center. A plurality of wire-shaped shape memory members stretched across the plurality of stacked rotating members so as to engage with each other alternately, and the shape memory member is restored to the memory shape. The rotating member is rotated by the rotation, and the bent portion is bent.

  Further, the bending actuator of the present invention is provided with a base member and the base member, wherein the plurality of rotating members are spaced from each other, and the rotating directions of the adjacent rotating members are substantially orthogonal to each other. Bending portions stacked in a state where the members can rotate, and the rotating member on the opposite side of the bending portion to the base member or the rotating member on the opposite side of the bending portion to the base member. An angle adjustment member that is rotatable in a direction in which the rotation center is the stacking direction of the rotation members, one end fixed to the base member, and the other end fixed to the angle adjustment member, and adjacent to each other. One of the rotating members is a point far from the center of rotation, and the other is a point close to the center of rotation. Wire And a shape memory member, said shape memory member by restoring selectively driven by the stored shape, said angle adjusting member, characterized in that the rotation or the bent portion is bent.

  In the camera module of the present invention, the base member and the base member are provided so that the plurality of ring-shaped rotating members have a gap therebetween, and the rotating directions of the adjacent rotating members are substantially orthogonal to each other. Bending portions stacked in a state where the rotating members can rotate, and the rotating member on the opposite side of the bent portion to the base member or the rotating member on the opposite side of the bent portion to the base member. A ring-shaped angle adjusting member provided on the outer side and capable of rotating in a direction in which the rotation center is the stacking direction of the rotating members, one end fixed to the base member, and the other end to the angle adjusting member The plurality of rotating members stacked so as to be alternately engaged with each other at a point far from the rotation center on one side of the rotation members that are fixed and adjacent to each other, and at a point close to the rotation center on the other side. Stretch A plurality of wire-shaped shape memory members that are fixed to the angle adjusting member inside the bent portion, and the direction of the light receiving portion by the bending operation of the bent portion and the rotating operation of the angle adjusting member, And an angle-adjustable image sensor, wherein the shape memory member is selectively driven to restore the memory shape, whereby the angle adjustment member is rotated or the bent portion is bent. .

  According to the present invention, it is possible to provide a small-sized bending actuator and a camera module having a large displacement.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
1 and 2 show a bending actuator according to a first embodiment.

A ring-shaped rotating member 2 is laminated on the base member 1 in a rotatable state with a gap between the base member 1 and the rotating member 2 through the spherical nodes 3a and 3b. Yes. A ring-shaped rotation member 4 is laminated on the rotation member 2 in a rotatable state with a gap between the rotation member 2 and the rotation member 4 through the nodes 5a and 5b having spherical surfaces. Has been. Similarly, the rotation member 4 has a ring-shaped rotation member 6 interposed between the rotation member 4 and the rotation member 6 through a node 7a and a node 7b having spherical surfaces. The ring-shaped rotary member 8 is laminated in a rotatable state with a gap between the rotary member 6 and the rotary member 8 by way of nodes 9a and 9b having spherical surfaces. At this time, the direction of the rotation axis θx (1), the axis θx (2), the axis θx (3), and the axis θx (4), which are the rotation centers of the rotation members, is substantially parallel to each rotation member. It is provided as follows. The joints 3 a, 3 b, 5 a, 5 b, 7 a, 7 b, 9 a, and 9 b are provided on the rotating member 2, the rotating member 4, the rotating member 6, and the rotating member 8. (Not shown) is configured to rotate only in the rotation direction, and prevents the rotation members from being displaced. Thus, the bending part 10 is comprised so that bending is possible by combining each rotation member and each node.

  Using a fixing means provided on the base member 1, for example, a wire fixing screw 11 (not shown in FIG. 1), an SMA wire 12 (first shape memory member), an SMA wire 13 (second return means). One end of the shape memory member is fixed to the base member 1. The fixed positions of the SMA wire 12, the SMA wire 13, and the base member 1 are, for example, point symmetric about the axis θz when viewed from the axis θz direction that is the stacking direction, and the axes θx (1) and θx (2). , A position shifted by about 90 ° from the axis θx (3) and the axis θx (4).

  The SMA wire 12 and the SMA wire 13 are stretched over a point closer to the axis θx (1) of the rotating member 2 (the inner edge of the ring), and then a point farther than the axis θx (2) of the rotating member 4 (the outer edge of the ring). ). Similarly, a point closer to the axis θx (3) of the rotating member 6 and a point farther from the axis θx (4) of the rotating member 8 are alternately stretched. The other ends of the SMA wire 12 and the SMA wire 13 are fixed to the rotating member (the rotating member 8 in the present embodiment) on the side opposite to the base member 1 of the bent portion 10, For example, it fixes using the wire fixing screw 14 grade | etc.,. At this time, the SMA wire 12 and the SMA wire 13 are the inner edge of the rotating member 2 and the rotating member 6 and the outer edge of the rotating member 4, and at least the rotating member 2, the rotating member 4, and the rotating member 6. The SMA wire 12 and the SMA wire 13 are stretched in a slidable state in the length direction.

  When the bent state of the bent portion 10 is linear, the SMA wire 12 and the SMA wire 13 are stretched so as to be deformed in the length direction with respect to the memory shape and stretched. That is, when the SMA wire 12 and the SMA wire 13 are to be restored to the memory shape, the SMA wire 12 and the SMA wire 13 are stretched in a state of being contracted.

  For the sake of explanation, FIG. 1 shows an example in which four rotating members of the rotating member 2, the rotating member 4, the rotating member 6, and the rotating member 8 are used. As shown in FIG. 2, the six rotating members are similarly stacked, and the rotating member has a diameter of 40 mm, and the stacking thickness (bending portion 10) of the rotating member is 21 mm. Yes.

  Next, the operation of the bending actuator according to this embodiment will be described.

When the SMA wire 12 is heated by passing an electric current through the SMA wire 12, the SMA wire 12 contracts to restore the memory shape. When the SMA wire 12 contracts, the rotating member rotates, and the bent portion 10 enters a bent state. At this time, in the bending actuator shown in FIG. 2, when the SMA wire 12 is not stretched alternately between a point close to and a point far from the rotation center of the rotation member, but is linearly stretched, In order to bend 3 °, the SMA wire 12 needs to shrink 5.0%. However, in the case where the SMA wire 12 is alternately stretched between a point close to and far from the rotation center of the rotation member, the SMA wire 12 is 0. A shrinkage of 4% is sufficient.

  The bending amount of the bending portion 10 is controlled by controlling parameters such as current, voltage, and time flowing through the SMA wire in consideration of the heat radiation from the SMA wire and the load applied to the SMA wire, for example, the temperature of the SMA wire, that is, the SMA. It can be controlled by adjusting the amount of shrinkage of the wire.

  Such a bending actuator is capable of a large displacement, that is, a large bending motion despite its small size. In addition, since the SMA wire is alternately stretched between a point close to and far from the rotation center of the rotation member, it is not necessary to greatly contract the SMA wire during the bending operation of the bending actuator. This contributes to extending the life of the bending actuator because the SMA wire does not require large deformation.

  In the present embodiment, the example in which the SMA wire 13 is used as the return means has been described. In order to return the bending actuator bent by contracting the SMA wire 12 from the bent state again, a method similar to that for bending the bending actuator is used. That is, when the SMA wire 13 is heated by passing a current through the SMA wire 13, the SMA wire 13 contracts to restore the memory shape. When the SMA wire 13 contracts, the rotating member rotates, and the bending actuator bends in a direction to return from the bent state. At this time, similarly to the control of the bending amount of the bending actuator, by controlling parameters such as current, voltage, and time flowing through the SMA wire 13, the bending state can be restored to the linear shape again.

  In the present embodiment, the other ends of the SMA wire 12 and the SMA wire 13 are fixed to the rotating member 8 on the opposite side of the base member 1 of the bent portion 10. You may fix with the other member provided in the further outer side from the rotation member 8 of the other side.

In addition, an elastic body such as rubber or a coil spring can be used as the return means, and the elastic force of the elastic body can be used as a force for returning the bent state of the bending actuator to a straight line.
(Second Embodiment)
3 to 5 show a bending actuator according to the second embodiment.

  A ring-shaped rotation member 22 is laminated on the base member 21 in a rotatable state with a gap between the base member 21 and the rotation member 22 through the nodes 23a and 23b having spherical surfaces. Yes. A ring-shaped rotation member 24 is laminated on the rotation member 22 in a rotatable state with a gap between the rotation member 22 and the rotation member 24 through the nodes 25a and 25b having spherical surfaces. Has been. At this time, the rotation axis θx (21), which is the rotation center of the rotation member 22 determined by the positions of the nodes 23a and 23b, and the rotation member 24 determined by the positions of the nodes 25a and 25b. The axis of rotation θy (21) is in a substantially orthogonal direction. As with the rotating member 22 and the rotating member 24, the rotating member 26 and the rotating member 28 are connected to the nodes 27a, 27b, and 27 so that the axes θx (22) and θy (22) are alternately substantially orthogonal to each other. The layers 29a and 29b are stacked so as to be rotatable with a gap therebetween. The joints 23 a, 23 b, 25 a, 25 b, 27 a, 27 b, 29 a, and 29 b are provided on the rotation member 22, the rotation member 24, the rotation member 26, and the rotation member 28. (Not shown) prevents rotation of each rotating member in a state in which it can rotate only in the respective rotating directions around the rotating shafts in the X and Y directions orthogonal to each other between adjacent rotating members. Yes. Thus, the bending part 31 is comprised so that bending is possible by combining each rotation member and each node.

  The rotation member 28 opposite to the base member 21 of the bent portion 31 includes a rotation member 22, a rotation member 24, a rotation member 26, and a rotation member θ 28. (21), an axis θy (21), an axis θx (22), and a state in which the axis θz (21) substantially orthogonal to the axis θy (22) can be rotated using, for example, a bearing (not shown). An angle adjusting member 30 is provided. By combining the bent portion 31 and the angle adjusting member 30 in this way, the direction of the tip of the angle adjusting member 30 can be adjusted in either the X direction or the Y direction, and the Z direction is the center axis. It can be turned.

  Using a fixing means provided on the base member 21, for example, a wire fixing screw 32 (not shown in FIG. 3), an SMA wire (shape memory member) 33, an SMA wire (shape memory member) 34, an SMA wire (shape memory). One end of a member 35 (not shown in FIG. 3) and an SMA wire (shape memory member) 36 (not shown in FIG. 3) are fixed to the base member 21. As shown in FIG. 5, for example, the fixed position of the one end of the SMA wires 33 to 36 and the base member 21 is point-symmetric with respect to the axis θz (21) when viewed from the axis θz (21) direction, and from the axis θz direction. When viewed, the axes θx (21), the axes θy (21), the axes θx (22), and the axes θy (22) are each shifted by about 45 °. However, for convenience of explanation, FIGS. 3 and 4 are shifted from the axis θx (21), the axis θy (21), the axis θx (22), and the axis θy (22) by about 45 ° as viewed from the axis θz direction. It is written in the position where there is no.

  The SMA wires 33 to 36 are stretched over a point (inner edge of the ring) closer to the axis θx (21) or the axis θy (21) of the rotating member 22, and then the axis x (21) or the axis θy of the rotating member 24. (21) It is stretched over a far point (outer edge of the ring). Similarly, a point closer to the axis θx (22) or the axis θy (22) of the rotating member 26 and a point farther than the axis θx (22) or the axis θy (22) of the rotating member 28 are alternately stretched. . At this time, the extending direction of the bent portions 31 of the SMA wires 33 to 36 is substantially parallel to the axis θz (21). Midway portions of the SMA wires 33 to 36 are slidably stretched between the engagement point 37a, the engagement point 37b, the engagement point 37c (not shown), and the engagement point 37d (not shown) of the rotating member 28. Then, it is bent in a direction substantially orthogonal to the axis θz (21) and stretched along the outer edge of the angle adjusting member 30, and the other ends of the SMA wires 33 to 36 are connected to the axis θx (22) of the angle adjusting member 30. It is fixed using a wire fixing screw 38 or the like at a close position. At this time, the SMA wires 33 to 36 are inner edges of the rotating member 22 and the rotating member 26 and outer edges of the rotating member 24 and the rotating member 28, and the rotating members 22 to 28 and at least the SMA wires 33 to 36. It is stretched in a slidable state in the length direction.

  When the bent state of the bent portion 31 is linear, the SMA wires 33 to 36 are stretched so as to be deformed in the length direction with respect to the memory shape and stretched. That is, when the SMA wires 33 to 36 are to be restored to the memory shape, the SMA wires 33 to 36 are stretched in a state of being contracted.

  For convenience of explanation, FIG. 3 shows an example in which four rotating members of the rotating member 22, the rotating member 24, the rotating member 26, and the rotating member 28 are used. As shown in FIG. 4, ten rotating members are similarly stacked, and the diameter of the rotating member is 40 mm, and the stacking thickness (bending portion 31) of the rotating member is 19 mm. ing.

  Next, the operation of the bending actuator according to this embodiment will be described. In FIG. 4, for convenience of explanation, illustration of the SMA wire 34, the SMA wire 35, and the SMA wire 36 is omitted, and only the SMA wire 33 is illustrated. In addition, the SMA wire 33 is originally stretched at a position shifted by about 45 ° from the axis θx (21), the axis θy (21), the axis θx (22), and the axis θy (22) as seen from the direction of the axis θz. Although it has been handed over, it is described at a position that is not deviated for convenience of explanation.

  When the SMA wire 33 is heated by supplying current to the SMA wire 33, the SMA wire 33 contracts to restore the memory shape. When the SMA wire 33 contracts, the rotating member rotates and the bending actuator is in a bent state. At this time, in the bending actuator shown in FIG. 4, when the SMA wire 33 is not provided alternately at a point close to and far from the rotation center of the rotation member but is provided linearly, the bending actuator 2 In order to bend 5 °, the SMA wire 33 needs to shrink 4.6%. However, when the SMA wire 33 is alternately engaged at a point far from the rotation center of the rotation member and close to the point, the SMA wire 33 is 0 in order to bend the bending actuator by 2.5 °. .2% shrinkage is sufficient.

  FIG. 5 is a view of the bending actuator as viewed from the angle adjusting member 30 side with respect to a method of controlling the bending and rotation direction of the bending actuator using the four SMA wires 33 to 36 (the view from the left side in FIG. 3). ).

  As shown in FIG. 5A, when the bending actuator is bent in the θx axis direction in FIG. 5A, the SMA wire 34 and the SMA wire 35 are contracted simultaneously, or the SMA wire 33 and the SMA wire 36 are contracted simultaneously. . When the bending actuator is bent in the θy-axis direction in FIG. 5B, the SMA wire 33 and the SMA wire 34 are contracted simultaneously, or the SMA wire 35 and the SMA wire 36 are contracted simultaneously. When the angle adjusting member 30 in FIG. 5C is rotated around the θz axis (21), the SMA wire 33 and the SMA wire 35 are contracted simultaneously, or the SMA wire 34 and the SMA wire 36 are contracted simultaneously.

  The amount of bending of the bending actuator and the amount of rotation of the angle adjusting member 30 take into consideration the amount of heat released from the SMA wire and the load applied to the SMA wire, and control parameters such as current, voltage and time flowing through the SMA wire. It can be controlled by adjusting the temperature, that is, the amount of shrinkage of the SMA wire.

  Such a bending actuator is capable of a large displacement, that is, a large bending motion despite its small size. For example, in FIG. 5, the SMA wire 33, the SMA wire 34, and the SMA wire 35 are simultaneously contracted (the contraction ratio of the SMA wire 33, the SMA wire 34, and the SMA wire 35 is 1: 2: 1). Can be bent in any direction of 360 ° by combining the shrinkage amount of four SMA wires so that it can be bent in the direction in which the wire is stretched (45 ° diagonally upward to the right in FIG. 5) The tip of the actuator can be rotated to an arbitrary angle. Further, since the SMA wire is alternately stretched between a point close to and far from the rotation center of the rotation member, the SMA wire is greatly contracted during the bending operation of the bending actuator and the rotation operation of the tip of the bending actuator. There is no need. This contributes to extending the life of the bending actuator because the SMA wire does not require large deformation.

  In the present embodiment, the configuration using four SMA wires has been described, but a configuration other than four may be used. The configuration such as the number of SMA wires may be changed in consideration of the bending direction and the maximum load applied to the bending actuator.

  Further, it is possible to provide return means for recovering the bent actuator again to a straight line. For example, by providing an elastic body made of synthetic rubber, when the SMA wire is cooled, the elastic body returns to the origin (the state before bending) by the restoring force of the elastic body.

Further, in the present embodiment, the other ends of the SMA wires 33 to 36 are slidably stretched over the rotating member 28 on the opposite side of the base member 21 of the bent portion 31. 21 may be slidably stretched on another member provided on the outer side of the rotating member 28 on the opposite side of the member 21.

  Further, for example, in order to improve the response speed of the bending actuator, it is possible to increase the surface area of the SMA wire by increasing the number of SMA wires (for example, 8) and to improve the heat dissipation rate of the SMA wire.

  Here, FIG. 6 shows a modification of the rotating member. In FIG. 6, only three rotating members are shown as representatives, and the other configurations are the same as those of the bending actuator shown in FIGS.

  First, FIG. 6A shows a first modification. The pivot member 22a has a node 23c and a node 23d so that they can be laminated with the base 21 (not shown) in a rotatable state. A node 25f is provided. Nodes 27e and 27f are connected to the rotating member 24a so that the nodes 25c and 25d can be stacked with the rotating member 26a so that they can be stacked with the rotating member 22a. Is provided. Similarly, a node 27c and a node 27d can be stacked with a rotating member 28a (not shown) in a rotatable state so that the rotating member 26a can be stacked with the rotating member 24a. As shown, nodes 29e and 29f are provided.

  A method of laminating the two rotating members will be described by taking the nodes 27e and 27c as an example. A pin (not shown) is provided so as to penetrate the nodes 27e and 27c, and the rotating member 24a and the rotating member 26a are stacked in a rotatable state like a hinge.

  Next, FIG. 6B shows a second modification. In order to be able to be stacked with the base 21 (not shown) in a rotatable state on the rotating member 22b, the nodes 23g and 23h are connected to the rotating member 24b so as to be stacked in a rotatable state. , Node 25j is provided. Nodes 27i and 27j are arranged on the rotating member 24b so that the nodes 25g and 25h can be laminated with the rotating member 26b so that they can be laminated with the rotating member 22b. Is provided. Similarly, the node 27g and the node 27h can be stacked with the rotating member 28b (not shown) in a rotatable state so that the rotating member 26b can be stacked with the rotating member 24b. As shown, nodes 29i and 29j are provided.

  A method of stacking the two rotating members will be described by taking the nodes 27i and 27g as an example. The node 27i and the node 27g are brought into contact with each other, and the rotation member 24b and the rotation member 26b are stacked in a rotatable state like a hinge.

As described above, in this modification, the rotation member has been described as an example. However, other shape memory members, angle adjustment members, and the like can be modified, and the modifications can be made without departing from the scope of the present invention. can do.
(Third embodiment)
FIG. 7 shows a cross section of a camera module according to the third embodiment. Note that the bending actuator portion inside the camera module is almost the same as that of the second embodiment, and therefore, detailed description thereof is omitted.

The camera module 52 is provided with a bending actuator 51 according to the second embodiment. The bending actuator 51 is configured by laminating ring-shaped rotating members, and the inside of the bending actuator is hollow like a pipe. A camera (or imaging device) 53 including a CCD sensor, a lens, and the like is accommodated in the hollow portion of the bending actuator 51. The camera 53 is fixed to the angle adjustment member 30 with its light receiving surface facing the light receiving direction 54. At least a part of the inner peripheral part and at least a part of the outer peripheral part of the bending actuator 51 are covered with, for example, an elastic body 55 made of synthetic rubber.

  Next, FIGS. 8 to 10 are block diagrams for controlling the camera module according to the third embodiment.

  First, the block diagram shown in FIG. 8 will be described. Target values (θx (51), θy (51), θz (51)) of the camera module input by the operator and position signals (θx (52), θy (52), From θz (52)), error signals (θx (53), θy () which are bending amounts necessary for the camera module 52 to reach the target values (θx (51), θy (51), θz (51))). 53), θz (53)).

The computing unit 57 operates the operation signal (S ₁ , S ₂ ,...) That is the operation amount of the SMA wire provided in the bending actuator 51 from the error signal (θx (53), θy (53), θz (53)). S _n ) is generated, converted into an applied current (I ₁ , I ₂ , I ₃ ,... I _n ) applied to the SMA wire by the driver 58 and supplied to the bending actuator 51.

  As a result, the bending actuator 51 is bent, and feedback control is performed until the position after bending, that is, the position signals (θx (52), θy (52), θz (52)) reach the target value. Although not shown, the position sensor 56 detects which direction the bending actuator 51 is currently facing.

  Next, the block diagram shown in FIG. 9 will be described. The same blocks as those in the block diagram of FIG. When the operator inputs target values (θx (51), θy (51), θz (51)) of the camera module 52 for the current position of the camera module 52 visually confirmed, the current position and the target value are calculated. Then, correction signals (θx (59), θy (59), θz (59)) are output.

The calculator 57 operates the operation signals (S ₁ , S ₂ ,...) That are the operation amounts of the SMA wires provided in the bending actuator 51 from the correction signals (θx (59), θy (59), θz (59)). S _n ) is generated, converted into an applied current (I ₁ , I ₂ , I ₃ ,... I _n ) applied to the SMA wire by the driver 58 and supplied to the bending actuator 51.

  As a result, the bending actuator 51 bends and outputs the image received by the camera 53 in a state where it can be viewed on, for example, a display (not shown) so that the operator can check the image.

  Next, the block diagram shown in FIG. 10 will be described. The same reference numerals are used for the same blocks as those in the block diagram of FIG. 8 and the block diagram of FIG. 9, and the description thereof is omitted. Target values (θx (51), θy (51), θz (51)) of the camera module input by the operator, and position signals (θx (52), θy (52)) that are output values from the image processor 60 , Θz (52)), an error signal (θx (53), θy) that is the amount of bending necessary for the camera module 52 to reach the target values (θx (51), θy (51), θz (51)). (53), θz (53)) is generated.

The computing unit 57 operates the operation signal (S ₁ , S ₂ ,...) That is the operation amount of the SMA wire provided in the bending actuator 51 from the error signal (θx (53), θy (53), θz (53)). S _n ) is generated, converted into an applied current (I ₁ , I ₂ , I ₃ ,... I _n ) applied to the SMA wire by the driver 58 and supplied to the bending actuator 51.

  As a result, the bending actuator 51 performs bending and angle adjustment, and the position after bending and angle adjustment, that is, position signals (θx (52), θy (52), θz (52)) is received based on an image received by the camera 53. Feedback control is performed until the error signal (θx (53), θy (53), θz (53)) is detected by the image processor 60 and becomes zero.

  Such a camera module 52 has a large amount of displacement, that is, a large bending operation despite its small size. In addition, the camera 53 can be bent in any direction, and the angle of the camera 53 can be rotated to an arbitrary angle. That is, it is possible to provide a small and compact camera module having a posture changing function. Further, it is not necessary to greatly contract the SMA wire when the camera module 52 is bent or the camera 53 is rotated. This contributes to extending the life of the camera module 52 because no major deformation is required for the SMA wire.

  In addition, since at least a part of the inner peripheral part and at least a part of the outer peripheral part of the bending actuator 51 are covered with the elastic body 55, foreign matter contamination from the outside is prevented, and the long-term stability is excellent. In addition, since the elasticity of the elastic body 55 acts as a return force when the camera module 52 returns from the bent state to the origin, the response of the bending operation is also excellent.

1 is an exploded perspective view showing a first embodiment of the present invention. The partial side view which shows the 1st Embodiment of this invention Exploded perspective view showing a second embodiment of the present invention The partial side view which shows the 2nd Embodiment of this invention Operation explanatory diagram showing the second embodiment of the present invention The partial exploded perspective view which shows the modification of the 2nd Embodiment of this invention Sectional drawing which shows the 3rd Embodiment of this invention The block diagram which shows the 3rd Embodiment of this invention The block diagram which shows the modification of the 3rd Embodiment of this invention The block diagram which shows the modification of the 3rd Embodiment of this invention

Explanation of symbols

1 Base members 2, 4, 6, 8 Rotating members 3a, 3b, 5a, 5b, 7a, 7b, 9a, 9b Node 10 Bending actuator 11, 14 Wire fixing screw 12, 13 SMA wire 21 Base members 22, 24, Rotating members 23a, 23b, 25a, 25b, 27a, 27b, 29a, 29b 22a, 22b, 24a, 24b, 26a, 26b, 28a, 28b Rotating members 23c, 23d, 23g, 23h 25d, 25e, 25f, 25g, 25h, 25i, 25j Node 27c, 27d, 27e, 27f, 27g, 27h, 27i, 27j Node 29e, 29f, 29i, 29j Node 30 Angle adjusting member 31, 31a, 31b Bending portion 32 , 38 Wire fixing screws 33, 34, 35, 36 SMA wires 37a, 37b, 37c, 3 d Engagement point 51 Bending actuator 52 Camera module 53 Camera 54 Light receiving direction 55 Elastic body 56 Position sensor 57 Calculator 58 Driver 60 Image processor θx (1), θx (2), θx (3), θx (4), θz (1) Axes θx (21), θy (21), θx (22), θy (22), θz (21) Axes θx, θy, θz Bending positions θx (51), θy (51), θz (51) target value θx (52), θy (52 ), θz (52) position signal θx (53), θy (53 ), θz (53) error signals _{S 1, S 2, ···· S} n operation signals I _{1 , I 2, I 3, ····} I n applied current

Claims (10)

A base member;
A bent portion provided on the base member, wherein the plurality of rotating members are stacked with a gap between each other, and the rotating members are respectively rotatable;
The one end is fixed to the base member, and the rotating members adjacent to each other are stacked so as to alternately engage with each other at a point far from the rotation center on one side and a point close to the rotation center on the other side. A wire-shaped first shape memory member stretched across a plurality of rotating members;
A return means for returning the bent state of the bent portion,
A bending actuator characterized in that when the first shape memory member is restored to a memory shape, the rotating member is rotated and the bent portion is bent. At least a part of the rotating member has a ring shape,
The first shape memory members are stacked so as to be alternately engaged at a point far from the rotation center on one side of the rotation members adjacent to each other and at a point close to the rotation center on the other side. When stretched across a plurality of rotating members, the point far from the rotation center of the rotating member is on the outer edge of the rotating member, and the point near the rotation center of the rotating member is on the inner edge of the rotating member. The bending actuator according to claim 1, wherein the bending actuator is stretched so as to be engaged with each other. The return means is fixed to the base member at one end, so that one of the rotating members adjacent to each other is alternately engaged at a point far from the center of rotation and the other at a point close to the center of rotation. A wire-shaped second shape memory member stretched across the plurality of stacked rotating members;
3. The bending actuator according to claim 1, wherein when the second shape memory member is restored to the memory shape, the rotating member is rotated and the bent state of the bent portion is restored. . 4. The second shape memory member is provided at a position where the bent portion is bent in a direction different from a direction in which the first shape memory member bends the bent portion. The bending actuator described in 1. At least a part of the rotating member has a ring shape,
The second shape memory members are stacked so as to alternately engage each other at a point far from the rotation center on one side of the rotation members adjacent to each other and at a point close to the rotation center on the other side. When stretched across a plurality of rotating members, the point far from the rotation center of the rotating member is on the outer edge of the rotating member, and the point near the rotation center of the rotating member is on the inner edge of the rotating member. The bending actuator according to claim 3 or 4, wherein the bending actuator is stretched so as to be engaged with each other. A base member;
Bending provided in the base member, wherein a plurality of rotating members are spaced from each other, and the rotating members are rotated so that the rotating directions of the adjacent rotating members are substantially orthogonal to each other. And
The one end is fixed to the base member, and the rotating members adjacent to each other are stacked so as to alternately engage with each other at a point far from the rotation center on one side and a point close to the rotation center on the other side. A plurality of wire-shaped shape memory members stretched across a plurality of rotating members;
A bending actuator characterized in that when the shape memory member is restored to a memory shape, the rotating member is rotated and the bent portion is bent. A base member;
Bending provided in the base member, wherein a plurality of rotating members are spaced from each other, and the rotating members are rotated so that the rotating directions of the adjacent rotating members are substantially orthogonal to each other. And
The turning part is provided on the outer side of the turning member on the opposite side to the base member of the bent part or the turning member on the opposite side of the bent part to the base member, and the turning center thereof is the stacking direction of the turning members An angle adjusting member that is rotatable in the direction of
One end is fixed to the base member and the other end is fixed to the angle adjustment member. One of the adjacent rotating members is alternately at a point far from the rotation center and the other at a point close to the rotation center. And a plurality of wire-shaped shape memory members stretched across the plurality of rotating members stacked,
A bending actuator, wherein the shape memory member is selectively driven and restored to a memory shape, whereby the angle adjusting member is rotated or the bent portion is bent. At least a part of the rotating member has a ring shape, and the shape memory members are alternately arranged at a point far from the rotation center on one of the adjacent rotation members and a point close to the rotation center on the other. When extending over the plurality of stacked rotating members so as to engage with each other, a point far from the rotating center of the rotating member is at the outer edge of the rotating member, and the rotating center of the rotating member is The bending actuator according to claim 7, wherein a point close to is stretched so as to engage with an inner edge of the rotating member. The shape memory members are arranged in such a way that the rotating members adjacent to each other are alternately engaged at a point far from the rotation center on one side and at a point close to the rotation center on the other side. When stretched across the moving member, it is stretched substantially parallel to the laminating direction of the rotating member,
The outer edge of the angle adjustment member in a direction substantially perpendicular to the stacking direction of the rotation members when stretched between the rotation member on the opposite side of the bent portion to the base member and the angle adjustment member The bending actuator according to claim 8, wherein the bending actuator is stretched in a direction along the axis. A base member;
A plurality of ring-shaped rotating members provided on the base member are stacked in a state in which the rotating members are rotatable so that the rotating directions of adjacent rotating members are substantially orthogonal to each other with a gap therebetween. Bent portions,
The turning part is provided on the outer side of the turning member on the opposite side to the base member of the bent part or the turning member on the opposite side of the bent part to the base member, and the turning center thereof is the stacking direction of the turning members A ring-shaped angle adjustment member that is rotatable in a direction to be
One end is fixed to the base member and the other end is fixed to the angle adjustment member. One of the adjacent rotating members is alternately at a point far from the rotation center and the other at a point close to the rotation center. A plurality of wire-shaped shape memory members stretched over the plurality of stacked rotating members,
An image sensor that is fixed inside the bent portion and fixed to the angle adjusting member, and capable of adjusting the direction and angle of the light receiving portion by the bending operation of the bent portion and the rotating operation of the angle adjusting member; The camera module, wherein the shape memory member is selectively driven and restored to a memory shape, whereby the angle adjusting member is rotated or the bent portion is bent.

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