JP2000035377A - Characteristic measuring apparatus for mobile vibration actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To continuously measure characteristics of a mobile vibration actuator. SOLUTION: The characteristic measuring apparatus comprises a traveling track 21 on which the mobile vibration actuator 10 travels, a converting means 24 for converting a motion of the actuator 10 into a rotary motion, measuring means 25, 27, and 30 for measuring values of the rotary motion, and calculating means 40 for calculating characteristics of the actuator 10 based on the values measured by the means 25, 27 and 30.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a characteristic measuring device for measuring the characteristics of a self-propelled vibration actuator such as a linear vibration actuator that performs a linear motion.

[0002]

2. Description of the Related Art FIG. 4 is a perspective view showing an example of a linear vibration actuator, and FIG. 5 is a perspective view showing a conventional example of a characteristic measuring device for a linear vibration actuator. As shown in FIG. 4, the linear vibration actuator 10 is a rectangular plate-shaped elastic body 11 and an electromechanical transducer that is joined to one surface of the elastic body 11 and that can convert an electric signal and a mechanical displacement. Certain piezoelectric elements 12a, 12b, 12p, 12p '
And driving force extracting portions 13, 14 and the like provided on the other surface of the elastic body 11 and in pressure contact with a relative movement member (a rail 51 described later).

The elastic body 11 has cutouts 11a on both sides of the side surface for inserting a support pin for supporting the elastic body 11. The linear vibration actuator 10 applies a first drive signal having a predetermined voltage and frequency to a piezoelectric element 12a, and applies a first drive signal to a piezoelectric element 12b.
When a second drive signal having a phase different from that of the first drive signal by approximately 90 degrees is applied, the first-order bending vibration (L1 mode) and the fourth-order longitudinal vibration (B4 mode) are generated in the elastic body 11 in harmony.
As a result, an elliptical motion is generated in the driving force extracting portions 13 and 14, and a relative motion can be generated between the driving force extracting portions 13 and 14. In addition, the driving force extracting portions 13 and 14 are
May be integrally formed in a protruding shape, or may be configured to have a wear-resistant sliding material attached thereto.

Such a vibration actuator is described, for example, in "Piezoelectric Linear Motor for Moving Optical Pickup (Mr. Yoshiro Tomikawa et al .: Proceedings of the 5th Electromagnetic Force-Related Dynamic Symposium, pp. 393-398). ) "
Describes in detail the configuration and the analysis results relating to the load characteristics. On the other hand, the conventional characteristic measuring device 60
Is a linear vibration actuator 1 as shown in FIG.
0, a guide rail 61 that travels in contact therewith, a pressure support mechanism 62 that supports the linear vibration actuator 10 in a state of being pressed against the guide rail 61, and a linear vibration actuator 10 that is provided on the pressure support mechanism 62. And a load mechanism 63 for applying a load in a direction opposite to the traveling direction of the vehicle.

[0005] The pressure support mechanism 62 includes a frame 62a,
A support pin 62b that engages with notches 11a formed on both side surfaces of the elastic body 11, a pressurizer 62c that presses the elastic body 11 from above, and a spring 62d that urges the pressurizer 62c toward the elastic body 11. And an adjusting screw 62e for adjusting the urging force of the spring 62d. Load mechanism 63
Has a weight 63a, a pulley 63b, a wire 63c having one end attached to the pressure support mechanism 62, and the other end attached to the weight 63a.

In the conventional characteristic measuring device 60, the characteristics of the linear vibration actuator 10 are measured by moving the linear vibration actuator 10 linearly on the guide rail 61. For example, when detecting the speed of the linear vibration actuator 10, as shown in FIG.
A sensor 64a is installed on one side of the one end of the sensor 1 and a sensor 64b is installed on the side of the other end.
a has been detected. Then, the linear vibration actuator 10 is connected to the sensor 64a and the sensor 64b.
And the time required to pass through the sensors 64a, 64b
The speed of the actuator 10 was determined from the distance between the two.

[0007]

However, in the conventional characteristic measuring device 60, the vibration actuator 10 is changed by changing the load.
When the characteristics of the linear vibration actuator 10 are measured, the weight 63a must be replaced, which complicates the operation. In addition, while the linear vibration actuator 10 is moved in one direction on the guide rail 61 having a limited length, Since the characteristics of the mold vibration actuator 10 are measured, continuous measurement cannot be performed. Therefore, there is a problem that a temporal change in each characteristic cannot be observed.

An object of the present invention is to solve such a problem.

[0009]

In order to achieve the above object, according to the first aspect of the present invention, there is provided a traveling path for a self-propelled vibration actuator to travel, and a movement accompanying the traveling of the self-propelled vibration actuator. To a rotational motion, measuring means for measuring a value related to the rotational motion, and calculating means for calculating characteristics of the self-propelled vibration actuator based on the value measured by the measuring means. A device for measuring the characteristics of a running vibration actuator was constructed.

According to the invention described in claim 2, claim 1
In the characteristic measuring device for a self-propelled vibration actuator according to the above aspect, the conversion unit is formed in a ring shape, and at least a part thereof is fixed to the self-propelled vibration actuator, thereby moving together with the traveling of the self-propelled vibration actuator And at least one guide member rotatably supported and guiding the movement of the belt-shaped member, and the measuring unit measures a value related to the rotational movement of the guide member. I did it.

According to the third aspect of the present invention, there is provided the second aspect.
In the characteristic measuring device for a self-propelled vibration actuator according to the aspect, the guide member may include a contact portion that contacts the belt-shaped member and rotates together with the movement of the belt-shaped member, and a rotation shaft connected to the contact portion. The measuring means detects the rotation speed of the rotating shaft, and outputs the detection result to the calculating means.

According to the fourth aspect of the present invention, in the second aspect,
In the characteristic measuring device for a self-propelled vibration actuator according to the aspect, the guide member may include a contact portion that contacts the belt-shaped member and rotates together with the movement of the belt-shaped member, and a rotation shaft connected to the contact portion. The measuring unit includes a torque measuring device that detects a rotational torque of the rotating shaft and outputs a result of the detection to the calculating unit, and a load setting unit that applies a load to the rotating shaft. The configuration was adopted.

[0013] In the invention described in claim 5, claim 1 is provided.
The characteristic measuring device for a self-propelled vibration actuator according to any one of claims 1 to 4, further comprising a sensor for detecting a position of the self-propelled vibration actuator,
The calculation device is configured to switch the traveling direction of the self-propelled vibration actuator based on a detection result of the sensor, thereby causing the self-propelled vibration actuator to reciprocate.

[0014]

Embodiments of the present invention will be described below in more detail with reference to the drawings. In the following description, an ultrasonic actuator using vibration in an ultrasonic region will be described as an example of the vibration actuator.
FIG. 1 is a perspective view showing a configuration of a characteristic measuring device for a linear ultrasonic actuator according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of the characteristic measuring device of FIG. FIG. 4 is a graph illustrating an example of a measurement result obtained by the characteristic measuring device of the present embodiment.

The characteristic measuring device 20 of the present embodiment measures a linear ultrasonic actuator 1 having a configuration shown in FIG.
It is assumed to be 0. The characteristic measuring device 20 includes a guide rail 21, a pressing mechanism 22, a base 23, a motion converting mechanism 24, a torque measuring unit 25, an oscilloscope 27, a driving circuit 29, a speed measuring unit 30, a sensor 31 and an arithmetic unit 40 and the like.

The guide rail 21 is formed linearly and has a driving surface on which the linear ultrasonic actuator 10 moves. The drive surface of the guide rail 21 is formed of a stainless material having excellent wear resistance and rust prevention. The guide rail 21 is fixed to a base 23. The pressing mechanism 22 is a mechanism for bringing the linear ultrasonic actuator 10 into contact with the guide rail 21 at a predetermined pressure. The pressing mechanism 22 includes a conical indenter 22.
a, a spring (not shown), a set screw 22b, and a bearing block 22c. The distal end of the indenter 22a contacts the linear ultrasonic actuator 10 at substantially the center of the elastic body 11 of the linear ultrasonic actuator 10, and presses the linear ultrasonic actuator 10 against the guide rail 21 with a predetermined pressing force by the spring. This pressing force is
It can be adjusted by the screwing amount of 2b. The source of the pressing force is not limited to a spring. For example, a weight such as a weight, a fluid pressure by a cylinder,
Electromagnetic force or the like by a coil may be used. Guide rail 2
1 is provided with a linear guide (not shown) on the back surface thereof.
The pressing mechanism 22 can move together with the linear ultrasonic actuator 10.

The base 23 is provided with two sensors 31a and 31b at positions separated from each other along the guide rail 21. The sensor 31a is connected to the guide rail 21.
The sensor 31b is arranged on the other end side of the guide rail 21. These sensors 31a and 31b detect a mark (not shown) provided on a part of the pressurizing mechanism 22, and detect whether or not the linear ultrasonic actuator 10 has passed each of the sensors 31a and 31b. , And outputs the result to the arithmetic unit 40. The arithmetic unit 40 includes the linear ultrasonic actuator 1
When it is detected that 0 has passed through one of the sensors 31a and 31b, the moving direction of the linear ultrasonic actuator 10 is reversed by the drive circuit 29 described later. Thereby, the linear ultrasonic actuator 10 reciprocates on the guide rail 21.

The motion conversion mechanism 24 is a mechanism for converting a linear motion of the linear ultrasonic actuator 10 moving on the guide rail 21 into a rotary motion. The motion conversion mechanism 24 includes a first pulley 24a, a second pulley 24b, a third pulley 24c, and a belt 24d.
And tension adjusting means 24e for the belt 24d. The belt 24d is formed in a ring shape, a part of which is fixed to the bearing block 22c of the pressurizing mechanism 22, and is hung on the first pulley 24a, the second pulley 24b, and the third pulley 24c. , And can be moved together with the linear ultrasonic actuator 10. The belt 24d is wound around the first pulley 24a several times. Second pulley 24b
And the third pulley 24c are arranged on the base 23 on an extension of the center axis of the guide rail 21 and at a position substantially symmetrical with respect to the center point of the reciprocating motion of the linear ultrasonic actuator 10. . When the first pulley 24a forms an isosceles triangle on the base 23 between the second pulley 24b and the third pulley 24c, the first pulley 24a is arranged at a position corresponding to the vertex thereof. The second pulley 24b is provided with a tension adjusting means 24e. The tension adjusting means 24e can set the tension of the belt 24d to an appropriate value. In addition, the belt 24d is not particularly limited as long as it is a cord-shaped member that is hard to cut and has little elongation. With such a motion conversion mechanism 24,
The linear motion of the linear ultrasonic actuator 10 is the first motion.
Is converted into a rotational motion about the rotary shaft 24f of the pulley 24a.

The speed measuring means 30 includes a first pulley 24
The rotation speed a is detected, and the result is output to the arithmetic unit 40. The speed measuring means 30 includes a first pulley 24a
And a F / V converter 3 that converts the output of the rotary encoder 30a into a voltage and outputs the voltage to the arithmetic unit 40.
0b. Note that a laser Doppler velocimeter may be used instead of the rotary encoder 30a. Since the laser Doppler velocimeter can measure the rotation speed of the first pulley 24a in a non-contact manner, the laser Doppler velocimeter is hardly affected by inertia and is suitable for performing high-precision measurement.

The torque measuring means 25 includes a first pulley 2
The rotation torque transmitted to 4a is detected, and the result is output to the arithmetic unit 40. This torque measuring means 25
And a brake 25b provided on the side of the rotary shaft 24f of the pulley 24a where the rotary encoder 30a is not installed. The brake 25b can adjust the strength of the brake, and thereby functions as a load setting unit that can appropriately set the load of the linear ultrasonic actuator 10. The output of the torque meter 25a and the information on the strength of the brake set by the brake 25b are output to the arithmetic unit 40.

The driving circuit 29 includes a transmitter 29a and an amplifier 2
9b. The oscillator 29a is configured to control the linear ultrasonic actuator 1 based on a control signal from the arithmetic device 40.
A drive signal (voltage, phase difference, frequency, etc.) to be applied to 0 is generated. This transmitter 29a includes RS232C, GPI
A programmable oscillator that can be controlled by B or the like can be used. The amplifier 29b is for amplifying the drive signal output from the oscillator 29a, and the output of the amplifier 29b is output from the piezoelectric element 1 of the linear ultrasonic actuator 10.
2a and 12b are input. Although not shown in FIG. 2, the drive signal applied to the linear ultrasonic actuator 10 includes a first drive signal applied to the piezoelectric element 12a and a first drive signal applied to the piezoelectric element 12b. , And a second drive signal having the same voltage and frequency but a phase difference of about 90 degrees.

The oscilloscope 27 measures the voltage, phase difference, frequency and the like of the drive signal applied to the linear ultrasonic actuator 10 and outputs the measurement result to the arithmetic unit 40 through GPIB. The oscilloscope preferably has a digital storage. The arithmetic unit 40 is connected to the linear ultrasonic actuator 10 via the drive circuit 29.
And a program for inputting the outputs of the sensor 31, the speed measuring means 30, the torque measuring means 25, and the oscilloscope 27 and performing predetermined arithmetic processing.

In the characteristic measuring device 20, the driving circuit 29 drives the linear ultrasonic actuator 10 based on a command from the arithmetic device 40. When the linear ultrasonic actuator 10 moves, the bearing block 22c of the pressurizing mechanism 22 moves together with the actuator 10. Therefore, the belt 24 fixed to the bearing block 22c
d moves together with the linear actuator 10. The movement of the belt 24d is converted into a rotational movement of the first pulley 24a of the movement conversion mechanism 24. In addition, sensor 3
1. The linear ultrasonic actuator 10 automatically reciprocates on the guide rail 21 by the arithmetic unit 40 and the drive circuit 29. Therefore, there is no need to manually change the load as in the conventional case. During the reciprocation, the speed measuring means 30 and the torque measuring means 25 can continuously measure the speed and the torque of the linear ultrasonic actuator 10. Therefore, even if the characteristics of the linear ultrasonic actuator 10 change during the reciprocating motion, it is possible to confirm that the linear ultrasonic actuator 10 has entered a steady state, and to obtain measurement data in the steady state. Therefore, highly reliable measurement can be performed.

The characteristic measuring device 20 can continuously measure, for example, the characteristics of the linear ultrasonic actuator 10 as described below. (1) The speed of the linear ultrasonic actuator 10 is measured by measuring the rotational speed of the first pulley 24a by the speed detecting means 30 and performing an arithmetic operation on the assumed result by an arithmetic unit 40 using a preset arithmetic expression. Can be requested. (2) The torque measuring means 25 measures the rotational torque transmitted to the first pulley 24a, and the arithmetic device 40
The driving force of the linear ultrasonic actuator 10 can be obtained by performing arithmetic processing on the measurement result using a predetermined arithmetic expression. (3) The voltage and current supplied to the linear ultrasonic actuator 10 are measured by the oscilloscope 27 and
0, the expected result is calculated by a predetermined calculation formula, thereby obtaining the linear ultrasonic actuator 10.
Driving efficiency can be obtained.

FIG. 4 is a graph showing an example of a measurement result obtained by the arithmetic unit 40. FIG. 4A is a graph showing the relationship between the frequency of the drive signal applied to the linear type ultrasonic actuator 10, the speed, and the inflow current.
4B is a graph showing a relationship between the voltage of the drive signal, speed, and inflow current, and FIG. 4C is a graph showing a relationship between the frequency of the drive signal and the driving force of the linear ultrasonic actuator 10. FIG. 4D is a graph showing the relationship between the load, speed, and efficiency characteristics of the linear ultrasonic actuator 10, and FIG.
6 is a graph showing the change over time of the speed of the slab. In addition, the composite characteristics and speed rise characteristics of these items can also be obtained.

As described above, in the characteristic measuring device 20 of the first embodiment, the load of the linear vibration actuator 10 is reduced.
Speed characteristics, power consumption, efficiency characteristics, and the like can be measured under continuous driving conditions. Therefore, even if the characteristics of the linear vibration actuator 10 change, measurement after entering the steady state is possible, and the reliability of the measurement result is improved. In addition, since a long guide rail or the like is not required, the size of the apparatus can be reduced.

Further, since the measurement can be performed continuously, it is possible to calculate an integrated value or an average value based on a large amount of data. In the embodiment, the case of measuring the characteristics of the linear type ultrasonic actuator performing the linear motion has been described, but the present invention is not limited to such a configuration. For example, even when the vibration actuator travels along an arc-shaped guide rail, if a guide substantially equal to the path drawn by the vibration actuator is provided on the movement locus of the belt (for example, on the back surface of the guide rail), The movement accompanying the running can be converted into the corresponding rotation movement. Therefore, by measuring the speed of the rotational motion and the rotational torque, it is possible to determine the characteristics of the vibration actuator that travels along an arc-shaped locus.

[0028]

As described above, according to the present invention, the characteristics of the self-propelled vibration actuator can be continuously measured. Therefore, it is possible to observe changes over time in each characteristic, and it is not necessary to change the load by hand as in the related art, thereby improving work efficiency.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing a device for measuring characteristics of a linear ultrasonic actuator according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of the characteristic measuring device of FIG.

FIG. 3 is a schematic perspective view showing the configuration of the linear ultrasonic actuator used in FIG.

FIG. 4 is a graph showing an example of a measurement result obtained by the characteristic measuring device of the linear type ultrasonic actuator of the embodiment.

FIG. 5 is a schematic perspective view showing a configuration of a conventional example of a linear vibration actuator and its characteristic measuring device.

[Explanation of Signs of Main Parts]

 DESCRIPTION OF SYMBOLS 10 Linear ultrasonic actuator 20 Characteristic measuring device 21 Guide rail (runway part) 22 Pressurizing mechanism 23 Base 24 Motion conversion mechanism 24a First pulley (guide member) 24d Belt 24f Rotating shaft 25 Torque measuring means 25a Torque meter 25b Brake (Load setting means) 27 Oscilloscope 29 Drive circuit 30 Speed measuring means 30a Rotary encoder 31 Sensor 40 Arithmetic unit (Calculating means)

Continued on front page F term (reference) 2F051 AA00 AB06 AC09 BA03 2G024 AD01 BA11 CA08 CA09 CA12 DA09 FA01 5H680 BB13 CC02 DD01 DD15 DD23 DD53 DD55 DD59 DD74 DD82 DD92 EE10 FF04 FF33

Claims (5)

[Claims] 1. A self-propelled vibration actuator characteristic measuring device for measuring characteristics of a self-propelled vibration actuator, comprising: a traveling path section on which the self-propelled vibration actuator travels; Conversion means for converting a movement associated with running into rotational movement; measuring means for measuring a value related to the rotational movement; calculating means for calculating characteristics of the self-propelled vibration actuator based on the value measured by the measuring means. And a characteristic measuring device for a self-propelled vibration actuator. 2. The belt-like member, which is formed in a ring shape and at least a part of which is fixed to the self-propelled vibration actuator, moves as the self-propelled vibration actuator travels, 2. The apparatus according to claim 1, further comprising: at least one guide member that is supported so as to guide the movement of the belt-like member when the belt-like member is moved, wherein the measuring unit measures a value related to a rotational movement of the guide member. A device for measuring characteristics of a self-propelled vibration actuator described in the above. 3. The contact member which contacts the belt-shaped member and rotates with the movement of the belt-shaped member,
3. The apparatus according to claim 2, further comprising: a rotating shaft connected to the contact portion, wherein the measuring unit detects a rotation speed of the rotating shaft, and outputs a detection result to the calculating unit. Measuring device for self-propelled vibration actuator. 4. The contact member, wherein the guide member contacts the belt-shaped member and rotates with the movement of the belt-shaped member;
A rotating shaft connected to the contact portion, wherein the measuring means detects a rotating torque of the rotating shaft, and outputs a detection result to the calculating means;
The characteristic measuring device for a self-propelled vibration actuator according to claim 2, further comprising a load setting unit configured to apply a load to the rotating shaft. 5. The self-propelled vibration actuator further includes a sensor for detecting a position of the self-propelled vibration actuator, wherein the calculating device switches a traveling direction of the self-propelled vibration actuator based on a detection result of the sensor, and The characteristic measuring device for a self-propelled vibration actuator according to any one of claims 1 to 4, wherein the running vibration actuator reciprocates.