JP2001227454A - Driving device and mechanical device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving device and a mechanical device simplified in structure, reduced in size and weight and capable of realizing an unexpected operation worthy of calling attention. SOLUTION: These device are provided with a rocking member 16 which is journalled by a sliding shaft 15 rockably on a lower part on a back face side of a case body 11 at one end and has a reciprocating member 12 formed at the other end, a tensile spring 17 as an elastic body for energizing the rocking member 16 so as to be rocked in one direction, wire 18 which energizes the rocking member 16 so as to be rocked in the direction opposite to the one direction against energizing force of the tensile spring 17 by heat deformation and is made of shape memory alloy, a temperature sensor 19 for detecting an ambient temperature of the wire 18 and a control part 30 which has an SMA driving circuit for supplying current to the wire 18 and adjusts a current value to be supplied to the wire 18 according to the detected temperature of the temperature sensor 19.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving device using a shape memory alloy and a mechanism using the same.

[0002]

2. Description of the Related Art A conventional karakuri apparatus comprising a doll or the like provided as a decorative body of a watch is disclosed in, for example, Japanese Patent Application Laid-Open No. H08-208, and
What is described in -68870 gazette etc. is known. The mechanism disclosed in this publication arranges a plurality of dolls in a swingable manner in front of the dial, and sets each doll in a predetermined angle range via a DC motor, a reduction gear train, a cam wheel, a rotating ring, and the like. Is to swing.

Further, a device using a shape memory alloy as a drive source for bending or extending two structural members applied as arms or the like of a manipulator is disclosed in, for example, Japanese Patent Publication No. 63-26279. Are known. In the device disclosed in this publication, one end of two structural members is hinged to each other with a pin, wound around a pulley rotatably provided on the pin, and one end is connected to the other end of each of the two structural members. A linear shape memory alloy is arranged so as to lock the part and the other end, and further,
A tension spring is stretched on the side opposite to the side on which the shape memory alloy is disposed, and the shape memory alloy is heated and cooled, thereby contracting and expanding the shape memory alloy, and extending and bending the two structural members. Is performed.

[0004]

The mechanism disclosed in Japanese Patent Application Laid-Open No. H8-68870 uses a drive mechanism including a DC motor, a reduction gear train, a cam wheel, a rotating ring, and the like as a drive source. Therefore, the structure is complicated and the weight or size of the device is increased. As a result, it is difficult to arrange this mechanism on the front face of the face of a thin watch or the like, and the movement of a doll or the like is at a constant speed set in a reduction gear train or the like. It was difficult to have a surprising effect that evokes.

In the device disclosed in Japanese Patent Publication No. Sho 63-26279, a shape memory alloy is used as a drive device for causing the arms (two structural members) to expand and contract, but the structure is not so large. It simply causes the arm or two hinged hinged structural members to bend or extend. Therefore, it is difficult to provide a surprising action that calls attention with a structure that performs only that movement.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to realize an operation which has a simple structure, can be reduced in size and weight, and has an unexpected operation which draws attention. It is an object of the present invention to provide a possible driving device and a mechanism using the same.

[0007]

In order to achieve the above object, the present invention is a driving device for reciprocating a reciprocating member, which is provided so as to be swingable, and the reciprocating member is attached to a predetermined portion. A swinging member, an elastic body for biasing the swinging member to swing in one direction, and the swinging member against a biasing force of the elastic body by heating deformation according to a supplied current value. A wire made of a shape memory alloy that urges the wire to swing in a direction opposite to the one direction, temperature detecting means for detecting an ambient temperature of the wire, and a wire when the drive signal is supplied. Current supply means for flowing a current, control voltage generation means for generating a control voltage according to the temperature detected by the temperature detection means, wire voltage generation means for generating a wire voltage proportional to the current flowing through the wire,
A control unit for supplying the drive signal to the current supply unit until the wire voltage generated by the wire voltage generation unit reaches the control voltage generated by the control voltage generation unit.

The present invention also relates to a mechanism for reciprocating a reciprocating member, comprising a base, a movable body disposed on the base and at least a part of which is movable, and a hinge with respect to the movable body. A reciprocating member coupled and reciprocated;
A swinging member having one end swingably connected to the base and the other end connected to the reciprocating member, an elastic body for urging the swinging member to swing in one direction, A wire made of a shape memory alloy that urges the swinging member to swing in a direction opposite to the one direction against a biasing force of the elastic body by heating deformation according to the supplied current value, Temperature detection means for detecting an ambient temperature of the wire, current supply means for supplying a current to the wire when a drive signal is supplied, and a control voltage for generating a control voltage corresponding to a temperature detected by the temperature detection means Generating means, a wire voltage generating means for generating a wire voltage proportional to the current flowing through the wire, and a wire voltage generated by the wire voltage generating means until the wire voltage reaches the control voltage generated by the control voltage generating means. Drive And a control unit having a comparison means for supplying a signal to the current supply means.

Further, in the present invention, the temperature detecting means is a temperature sensor whose resistance value changes according to an ambient temperature, and the control unit further includes a constant voltage generating means for generating a constant voltage based on a power supply voltage. The control voltage generation means has a resistance network including a resistance value of the temperature detection means, and divides the constant voltage by the constant voltage generation means to generate the control voltage by the resistance network. I do.

Further, in the present invention, the control voltage generating means generates a lower control voltage as the temperature detected by the temperature detecting means is higher, and generates a higher control voltage as the detected temperature is lower.

Further, according to the present invention, there is provided position detecting means for detecting that the reciprocating member has reached a predetermined position by the urging force of the wire, and the control unit receives the detection of the position detecting means. The supply of current to the wire is stopped.

In the present invention, the control unit may stop supplying the current to the wire, and then restart supplying the current to the wire after a time corresponding to the temperature detected by the temperature detecting means. I do.

Further, in the present invention, the control means repeats stopping and restarting the supply of the current to the wire by a set number of times.

[0014] According to the present invention, from the rest state in which the urging force of the elastic body and the urging force of the wire are balanced, the temperature of the wire, which is a shape memory alloy, is detected by the control unit, for example, by the temperature detecting means. An electric current of a corresponding value is supplied. Specifically, in the control unit, the control voltage generation unit generates a control voltage corresponding to the temperature detected by the temperature detection unit,
It is supplied to the comparison means. At this time, the wire voltage supplied to the comparing means by the wire voltage generating means is lower than the control voltage, and the driving signal is supplied from the comparing means to the current supply means. As a result, a current flows through the wire, and a wire voltage proportional to the current is generated by the wire voltage generating means and supplied to the comparing means. Then, a drive signal is output by the comparing means until the wire voltage value reaches the control voltage value, and a current flows through the wire.

[0015] The wire is heated in accordance with the supplied current value in accordance with the supply of electric current, and when heated to near its transformation point temperature, the wire undergoes contraction deformation. Thus, the reciprocating member supported by the swing member starts to move in the direction opposite to the biasing direction of the elastic body. When the predetermined position is reached, for example, the position detecting means detects that the reciprocating member has reached the predetermined position by the urging force of the wire, and the detecting means outputs the result to the control unit. In the control unit that has received the detection signal, the supply of the current to the wire is stopped. That is, the heating operation of the wire is stopped, the wire is cooled and starts to extend, and the reciprocating member returns to the initial rest position by the urging force of the elastic body. When the current supply to the wire is stopped and restarted by the control unit, and the heating operation is performed intermittently, the reciprocating member reciprocates while being connected to the movable body.
In the control unit, the time from when the current supply to the wire is stopped to when it is restarted is set according to the temperature detected by the temperature detecting means. In addition, by appropriately adjusting the value of the current flowing through the wire, the deformation speed and the amount of the shrinkage deformation due to the heating of the wire due to the electric heating are appropriately adjusted. Thereby, the reciprocating member can be variably moved at a desired speed.

[0016]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

First Embodiment FIG. 1A is a front view showing a first embodiment of a driving device according to the present invention, and FIG. 1B is a first view of the driving device according to the present invention.
1 (c) is a rear view showing a first embodiment of the driving device according to the present invention, FIG. 2 (a) is a diagram showing a main part of the driving device according to the present invention, 2B is a lateral side view of FIG. 2A, and FIG. 2C is a bottom side view.

The driving device 10 is formed in a square shape.
As shown in FIG. 1A, a guide window 13 is formed on the front surface of the case body 11 so that the reciprocating member 12 can reciprocate in a predetermined circular arc on the left and right sides in the drawing. As shown in FIG. 1B, an operation switch 14 of a break prevention lever as a wire break prevention means described later is provided on the back side of the case body 11.

Then, in the case body 11, FIG.
As shown in (c), a swing member 16 having one end pivotally supported by a sliding shaft 15 at the lower portion on the back side of the case body 11 and a reciprocating member 12 formed at the other end. Oscillating member 16
Spring 17 as an elastic body that urges the rocking member 16 to swing in one direction (clockwise in FIG. 2), and the swing member 16 in one direction against the biasing force of the tension spring 17 due to heat deformation. A wire 18 made of a shape memory alloy that is urged to swing in the opposite direction (counterclockwise in FIG. 2), and a temperature sensor 19 as temperature detecting means for detecting the ambient temperature of the wire 18 are provided. Have been.

The tension spring 17 is, as shown in FIG.
A locking pin 20 protruding from a region slightly above the center of the swinging member 16 and a pulley 21 around which the wire 18 is wound
And is extended to a predetermined initial tension by being engaged with an engaging pin 22 protruding from the arm.

One end of the wire 18 made of a shape memory alloy is locked by a locking pin 23 projecting into the case body 11 near an area slightly above the center of the swinging member 16. The middle part is wound around a rotatably provided pulley 21, and the other end is locked in the vicinity of a slide shaft 15 that supports one end of the swing member 16, and a predetermined initial tension is applied. It is stretched to be. Wiring (not shown) from a power supply is connected to both ends of the wire 18, and a desired current is applied to the wire 18 by a control unit 30 described later to bring the wire 18 itself to a temperature near the transformation point temperature. It can be heated up to the current.

Therefore, in the rest state, the urging force of the tension spring 17 and the urging force of the wire 18 are balanced, that is, in FIG. 2, the swinging member 16 swings clockwise and the reciprocating member 12 Moves to the right, Figure 1
As shown in (a), the guide window 13 is in contact with the right end. When the wire 18 is heated to around the transformation point temperature and starts to contract from the rest state, the swinging member 16 swings counterclockwise against the urging force of the extension spring 17, and the reciprocating member 12 moves to the left. It moves and contacts the left end of the guide window 13. Thereafter, when the heating of the wire 18 is released, the wire 18 is extended again, and the swinging member 16 swings clockwise by the urging force of the tension spring 17 to rotate the reciprocating member 12.
Moves to the right and returns to sleep again.

Here, as the wire (SMA) 18 made of the shape memory alloy, for example, the outer diameter is about 75 μm, the length is about 100 mm, and the transformation point temperature (Af point) is 6
A material having a temperature of 5 ° C., a used strain of 3% (3 mm), and a resistance value of 20Ω at normal temperature (for example, 20 ° C.) can be used. The tension spring 17 has, for example, a spring constant k of 0.6 gf / mm and an initial tension F ₀ of 34 g.
f, the initial tension設長of X ₀ can be used ones of 12.9 mm.

A break prevention lever 25 interlocked with the operation switch 14 is provided in a region slightly below the center of the swing member 16. During normal use, the operation switch is set to the off state, whereby the break prevention lever 25 is moved to the swinging member 16 as shown in FIG.
And is kept in a non-contact state. On the other hand, when not in use,
For example, when there is a possibility that external vibration or impact is applied to the wire 18 made of the shape memory alloy during transportation or the like and the wire 18 is broken, the operation switch 14 is set to an ON state. Thus, the break prevention lever 25 presses the swing member 16 in a direction opposite to the biasing direction of the tension spring 17 as an elastic body, as shown in FIG. 3B. As a result, the wire is slackened, and the wire is prevented from breaking even if it is subjected to vibration or impact from the outside during transportation or the like.

FIG. 2A shows one end of the swinging member 16.
In the vicinity of the middle left side, a detector 26 composed of, for example, a photo interrupter is provided as a position detecting means. The detector 26 detects that the reciprocating member 12 has reached a predetermined position by the urging force of the wire 18, specifically, the vicinity of the left end of the guide window 13.
Crosses the sensor unit, and sends a detection signal to the control unit 30. As the detector 26, various sensors such as an optical sensor (a light transmission sensor or a light reflection sensor), a magnetic detection sensor, and a mechanical contact sensor can be used.

Further, the driving device 10 includes a control unit 30 for controlling the heating operation of the wire 18 in addition to the above configuration. The control unit 30 operates, for example, in response to a start signal, and has an SMA drive circuit 36 described later that supplies a current for heating and deforming the wire 18.
The value of the current supplied to the wire 18 is adjusted according to the detected temperature 9. Specifically, when the temperature detected by the temperature sensor 19 is higher than a preset reference temperature Tref (for example, normal temperature, 20 ° C.), the control unit 30 adjusts the current value supplied to the wire to the reference temperature Tref. If the detected temperature is lower than the reference temperature Tref, the supply current value is adjusted to be higher than the reference current value Iref.

FIG. 4 shows a wire (S) made of a shape memory alloy.
MA) has an outer diameter of about 75 μm and a length of 100 mm
The applied voltage, operating time, and the like when the temperature, the transformation point temperature (Af point) is 65 ° C., the used strain amount is 3% (3 mm), and the resistance value is 20Ω at normal temperature (for example, 20 ° C.). FIG. In the figure, the horizontal axis indicates the operation time,
The vertical axis indicates the voltage.

The characteristics (1) to (4) shown in FIG. 4 show the results of measuring the time required to reach an operating angle of 80 degrees for each temperature when a DC (direct current) voltage is directly applied to the wire.
The characteristic indicated by is -10 ° C., the characteristic indicated by ０ is 0 ° C., the characteristic indicated by １０ is 10 ° C., the characteristic indicated by ２０ is 20 ° C. (normal temperature), and the characteristic indicated by は is 30 °. C
, The characteristic shown at 40 ° C. and the characteristic shown at 50 ° C.

FIG. 5 is a diagram showing the operation time at each temperature when a DC voltage of 3 V is applied.

As can be seen from FIGS. 4 and 5, the SMA
When the same voltage is applied, the higher the temperature, the shorter the operation time. Therefore, in order to ensure a uniform operation time irrespective of the temperature, it is necessary to set the applied voltage lower as the temperature becomes higher, and to set the applied voltage higher as the temperature becomes lower.

Based on such observation results, the control unit 3
0 is configured to adjust the supply current value according to the temperature detected by the temperature sensor 19 described above. FIG. 6 shows that the operation time is constant (for example, 0.3 when the operation angle is 35 degrees).
FIG. 6 is a diagram illustrating an example of a supply current value to the SMA at each temperature in the case of (sec). In this way, the control unit 30 sets the supply current value lower as the temperature is higher, and sets the supply current value higher as the temperature is lower, according to the temperature detected by the temperature sensor 19.

Further, the control unit 30 controls the reciprocating member 12 to move the reciprocating member 12 to a predetermined position, specifically, the guide window 13 by the urging force of the wire 18.
Receiving the detection signal DT26 from the detector 26 indicating that it has reached the vicinity of the left end of the wire 18, the supply of the current to the wire 18 is stopped. Furthermore, after stopping the supply of the current to the wire 18, the control unit 30 restarts the supply of the current to the wire 18 after a time corresponding to the temperature detected by the temperature sensor 19. The setting of the time according to the detected temperature is set longer as the temperature is higher and shorter as the temperature is lower. This is S
As described above, it is based on the observation that the higher the temperature of the MA, the faster the operation time, and the lower the temperature, the longer the operation time.

Specifically, when the reciprocating member 12 reaches just before the left end in FIG. 2A due to the heating deformation of the wire 18, the detector 26 detects that fact and outputs a detection signal. Then, based on this detection signal, control unit 30 electrically cuts off the current supply path from the power supply unit and stops heating of wire 18. Thereafter, when the heating is stopped, the wire 18 is extended, and the urging force of the tension spring 17 is applied, so that the reciprocating member 12 reaches the right end in FIG. 2A. Electrically connects the current supply path to start heating the wire 18. Control unit 30
Repeats stopping and restarting the supply of the current to the wire 18 for a set number of times n, and then inputting a stop signal to the current source to put the current source in a stopped state.

FIG. 7 is a block diagram showing a specific configuration example of the control unit 30. As shown in FIG. 7, the control unit 30 includes an SMA power supply unit 31, a delay circuit (DLY) 32,
It has ND gates 33 and 34, an OR gate 35, an SMA drive circuit 36, a timer 37, and an n-time counter 38.

The temperature sensor 19 shown in FIG. 7 is composed of a thermistor whose resistance changes according to the ambient temperature. Specifically, the temperature sensor 19 is formed of, for example, a thermistor having a resistance of 1 kΩ at 25 ° C., and as shown in FIG.
Ω, 1.97 kΩ at 10 degree C, 3.22 kΩ at 0 degree C,
It changes to 5.46 kΩ at -10 degrees C. That is, 25
The lower the temperature is, the higher the resistance value is. Also, 2
It changes to 0.81 kΩ at 30 ° C higher than 5 ° C, 0.54 kΩ at 40 ° C, and 0.37 kΩ at 50 ° C. That is, as the temperature is higher than 25 ° C., the resistance value decreases.

The power supply section 31 receives the start signal STR, and outputs the enable signal ENB to the AND gates 33 and 34.
And output to the SMA drive circuit 36. The power supply unit 3
When 1 receives the stop signal S38 from the counter 38 n times, it stops outputting the enable signal ENB.

When the SMA drive circuit 36 receives the output of the OR gate 35 at a high level while receiving the enable signal ENB from the power supply unit 31, the SMA drive circuit 36 supplies a current having a value corresponding to the temperature detected by the temperature sensor 19 to the wire 18. To supply. When receiving the detection signal DT26 from the detector 26, the supply of the current to the wire 18 is stopped.

FIG. 9 is a circuit diagram showing a specific configuration example of the SMA drive circuit 36. This SMA drive circuit 36
As shown in FIG. 9, the power supply 361 and the constant voltage generation circuit 36
2, a control voltage generation circuit 363, an operational amplifier 364 as a comparison means, a current supply circuit 365, and a wire voltage generation circuit 366.

The power supply 361 has a power supply voltage V _CC , for example, 3
Generate V. For example, the power supply 361 is configured by connecting two 1.5V batteries in series, and the positive side is a constant voltage generation circuit 362, an operational amplifier 364, and a current supply circuit 36.
6, the negative side is grounded, and the control voltage generation circuit 36
3 and a wire voltage generation circuit 366.

The constant voltage generation circuit 362 receives the power supply voltage V _CC , generates a constant voltage Vc, and supplies it to the control voltage generation circuit 363. As shown in FIG. 9, the constant voltage generation circuit 362 includes a resistance element R1 and a Zener diode ZD1 having a breakdown voltage of, for example, 2V. One end of the resistance element R1 is connected to the positive electrode side of the power supply 361, the other end is connected to the cathode of the zener diode ZD1, and the anode of the zener diode ZD1 is grounded (connected to the negative electrode side of the power supply). Then, the resistance element R1
Is connected to the cathode of the Zener diode ZD1 to form a supply node ND1 for the constant voltage Vc.

The control voltage generation circuit 363 is connected to the temperature sensor 1
9, a resistive network including a thermistor as a variable resistor. The resistive network divides the constant voltage Vc by the constant voltage generating circuit 362 to generate a control voltage VCL, and the non-inverting input terminal of the operational amplifier 364 ( +).

As shown in FIG. 9, the control voltage generation circuit 363 includes resistance elements R2 to R6 and a thermistor resistance RT.
It consists of. One end of the resistance element R2 is connected to the supply node ND1 of the constant voltage Vc, and the other end is connected to the thermistor resistance R
One end of T, one end of resistance element R3, and one end of resistance element R4. One end of the resistance element R4 is connected to one end of the resistance element R5, and the other end of the resistance element R5 is connected to one end of the resistance element R6. The other end of the thermistor resistor RT, the other end of the resistance element R3, and the other end of the resistance element R6 are grounded, and the connection point between the other end of the resistance element R5 and one end of the resistance element R6 connects the supply node ND2 of the control voltage VCL. It is configured.

In the control voltage generating circuit 363 having such a configuration, the resistance element R2 and the thermistor resistance R
T and the resistance element R3 divide the constant voltage Vc into a control voltage corresponding to the ambient temperature, and control the control voltage VCL adjusted to a predetermined voltage by the resistance elements R4 to R6 from the supply node ND2 to the non-inversion of the operational amplifier 364. Input terminal (+)
To supply.

As described above, the operational amplifier 364 inputs the control voltage VCL generated by the control voltage generating circuit 363 to the non-inverting input terminal (+), and inputs the control voltage VCL to the inverting input terminal (-) by the wire voltage generating circuit 365. The voltage VSMA is input, the two are compared, and until the wire voltage VSMA generated by the wire voltage generation circuit 365 reaches the control voltage VCL, for example, a high level, specifically, sufficient to turn on the npn-type transistor. Level drive signal S36
4 is supplied to the current supply circuit 366.

The wire voltage generation circuit 365 is connected to the wire 18
And generates a wire voltage VSMA proportional to the current flowing through the inverting input terminal (-) of the operational amplifier 364. The wire voltage generation circuit 365 includes, for example, as shown in FIG.
It is constituted by a current detection resistance element R7. The resistance value of resistance element R7 is set to, for example, 1Ω. When the resistance value RV7 of the current detection resistance element R7 is set to 1Ω, for example, when the control voltage VCL supplied to the non-inverting input terminal (+) of the operational amplifier 364 is 140 mV, the value of the current ISMA flowing through the wire 18 is obtained. Is 1 by the following equation
It becomes 40 mA.

[0046]

## EQU1 ## ISMA = VCL / RV7 = 140 mV / 1Ω

The current supply circuit 366 includes an operational amplifier 364
When the driving signal S364 is supplied, the current ISMA flows through the wire 18. Current supply circuit 366 includes, for example, a resistance element R8 and npn transistors Q1 and Q2, as shown in FIG. Resistance element R
8 has one end connected to the positive electrode side of the power supply 361, and the other end connected to the collector of the transistor Q1. The base of the transistor Q1 is connected to the supply line of the drive signal S364, and the emitter is connected to the base of the transistor Q2. The collector of the transistor Q2 is connected to one end of the wire 18, and the emitter is connected to one end of the resistor R7 constituting the wire voltage generating circuit 365.

In the current supply circuit 366 having such a configuration, when the drive signal S364 is supplied, the transistor Q
1 is turned on, and accordingly, the base of the transistor Q2 is held at a predetermined potential, and the transistor Q2 is also turned on, whereby the driving current ISMA is supplied to the wire 18. In other words, the wire 18 is driven at a constant current. Drive signal S3
When the supply of the current 64 is stopped, the transistors Q1 and Q2 are turned off, and the supply of the driving current ISMA to the wire 18 is stopped.

In the SMA drive circuit 36 having the above-described configuration, by changing the voltage division ratio of the resistance elements R5 and R6 in the control voltage generation circuit 363, the wire 1
8, the drive amount ISMA can be made variable. Further, by changing the voltage dividing ratio including the resistance element R4, the driving amount ISMA of the wire 18 can be varied over a wider range. In this case, the total resistance value of the resistance elements R4 to R6 is:
For example, it is desirable to set it to about 50 kΩ to 100 kΩ.

The timer 37 detects the detection signal DT of the detector 26.
Upon receiving the signal 26, after a lapse of a predetermined time set according to the temperature detected by the temperature sensor 19 from the input thereof, the controller 30 generates a retrigger signal S 37 and outputs it to the AND gate 33.

The n-times counter 38 counts the detection signal DT26 of the detector 26, and when the count reaches n, generates a pulse-like stop signal S38 and outputs it to the power supply unit 31.

Next, the operation of the first embodiment including the operation of the control unit 30 will be described.

First, the operation switch 14 is turned off. As a result, the breaking prevention lever 24 is
6 is kept in a non-contact state. The oscillating member 16 is shown in FIG.
As shown in (a), the reciprocating member 12 formed at the initial position and on the other end is in a state of being in contact with the right end of the guide window 13 (resting state). From this state, when a start signal STR generated by power-on or operation of a start switch (not shown) is input to the power supply unit 31 and the delay circuit 32, the power supply unit 31 is activated, and the enable signal ENB is output to the AND gate 33, 34, SMA
It is output to the drive circuit 36 and the position detector 26. Then, the start signal STR delayed by the delay circuit 32 is input to the AND gate 34, and the output goes high. As a result, the start signal S35 is input to the SMA drive circuit 36 via the OR gate 35.

The temperature detected by the temperature sensor 19 is supplied to the SMA drive circuit 36 as a thermistor resistance value. As a result, the drive current ISMA having a value corresponding to the detected temperature is supplied to the wire (SMA) 18 from the SMA drive circuit 36 that has received the enable signal ENB and the start signal STR. Specifically, in the control unit 30,
In the control voltage generating circuit 363, the constant voltage generating circuit 362 is formed by a resistor network including a thermistor as a variable resistor.
Is divided to generate a control voltage VCL,
It is supplied to the non-inverting input terminal (+) of the operational amplifier 364. At this time, the wire voltage VSMA supplied to the inverting input terminal (−) of the operational amplifier 364 by the wire voltage generating circuit 365 is lower than the control voltage VCL, and the operational signal 364 is supplied from the operational amplifier 364 as a comparison means to the current supply circuit 366. Supplied. As a result, the drive current ISMA flows through the wire 18, and the wire voltage generation circuit 365 generates a wire voltage VSMA proportional to the drive current ISMA, and supplies the wire voltage VSMA to the inverting input terminal (−) of the operational amplifier 364. The wire voltage value VSMA is equal to the control voltage value VCL.
Is reached from the operational amplifier 364 until the drive signal S364
Is output, and the wire 18 is driven at a constant current.

The drive current ISM controlled as described above
With the supply of A, the wire 18 is heated to around the transformation point temperature, the wire 18 starts contracting and deforming, and the tension spring 17
The swinging member 16 is swung counterclockwise in FIG. 2A against the urging force of (1), and the reciprocating member 12 moves to the left in conjunction with the swinging member 16.

Thereafter, when the reciprocating member 12 reaches a predetermined position immediately before the left end of the guide window 13 in FIG. 2 (a), the detector 26 detects that, and a detection signal DT26 is generated.
The signals are output to the SMA drive circuit 36, the timer 37, and the n-times counter 38. The supply of current to the wire 18 is stopped by the SMA drive circuit 36 that has received the detection signal DT26, and the heating of the wire 18 is stopped.

When the temperature of the wire 18 is lowered by stopping the heating, the wire 18 starts to elongate to its original length. With the return operation of the wire 18, the urging force of the tension spring 17 acts, and the swing member 16
(A) It swings clockwise, and the reciprocating member 12 moves to the right in conjunction with the swing member 16.

Then, in the timer 37, the temperature sensor 19
After a lapse of a predetermined time set in accordance with the detected temperature, that is, after the reciprocating member 12 abuts on the right end of the guide window 13 in FIG. 2A, a retrigger signal S37 is generated, Output to AND gate 33. Thereby, AN
The output of the D gate 33 becomes high level, and the OR gate 3
SMA drive circuit 3 as a start signal S35 via
6 is input. The SMA drive circuit 36 receiving the start signal S35 is supplied with the detected temperature of the temperature sensor 19 and the enable signal ENB.
From 6, a current having a value corresponding to the detected temperature is supplied to the wire (SMA) 18.

By restarting the energization heating, the wire 18
Is contracted and deformed again to swing the swinging member 16 counterclockwise, the reciprocating member 12 moves to the left in conjunction with the swinging member 16, and the energization heating is released by the operation of the detector 26. Then, the wire 18 starts to extend again, the tension spring 17 swings the swing member 16 clockwise, and the reciprocating member 12 moves rightward in conjunction with the swing member 16.

When the above operation is repeated n times, specifically, when the counter 38 counts the detection signal DT26 of the detector 26 n times, the stop signal S38 is generated from the n times counter 38. Are output to the power supply unit 31. In the power supply unit 31, the output of the enable signal ENB is stopped in response to the stop signal S38, and the above-described series of mechanism operations is stopped, and the swing member 16 and the reciprocating member 1 are stopped.
2 returns to the dormant state.

As described above, according to the first embodiment, the driving device 10 has one end pivotally supported by the sliding shaft 15 at the lower portion on the back side of the case body 11 and the other end side. A swing member 16 having a reciprocating member 12 formed thereon; a tension spring 17 as an elastic body for urging the swing member 16 to swing in one direction (clockwise in FIG. 2); And a wire 18 made of a shape memory alloy that urges the swing member 16 to swing in a direction opposite to one direction (counterclockwise in FIG. 2) against the biasing force of the tension spring 17. A temperature sensor 19 for detecting an ambient temperature of the wire 18 and a control unit 30 having an SMA drive circuit 36 for supplying a current to the wire 18 and adjusting a current value supplied to the wire in accordance with the temperature detected by the temperature sensor 19 DC motor, deceleration Compared to those using a train, etc., the device can be simplified, downsized, lightened, thinned, etc. For example, it becomes possible to mount this drive device on a thin watch, etc. Wire (S
MA) 18 can cope with the characteristic change, and can perform highly accurate control.

Further, the control unit 30 controls the reciprocating member 12 to move the reciprocating member 12 to a predetermined position, specifically, the guide window 13 by the urging force of the wire 18.
Receiving the detection signal DT26 from the detector 26 indicating that the sensor has reached the vicinity of the left end of the wire, the supply of current to the wire 18 is stopped, and the supply of current to the wire 18 is stopped. Since the supply of the current to the wire 18 is restarted after a time corresponding to the set temperature, the return time can be set with high accuracy without using a special detector at the return position. Further, the control unit 30 controls the start signal STR
And the stop signal S after n repetitions
38, and disables the power supply unit 31 itself, it is possible to suppress unnecessary current consumption except during operation. For example, in the case of a battery-driven device, there is an advantage that the battery life can be extended. is there.

In the first embodiment, when not in use during transportation or the like, by setting the operation switch 14 to the ON state, the rocking member 16 is turned by the break prevention lever 25 into a tension spring 17 as an elastic body. The wire 18 is pressed in the direction opposite to the urging direction to loosen the wire 18, so that there is an advantage that the wire can be prevented from breaking even if it is subjected to vibration or impact from outside during transportation or the like.

Further, in performing the above-described series of karakuri operations, the control unit adjusts the amount of current supplied to the wire 18 and appropriately adjusts the heating speed thereof, thereby moving the reciprocating member 12. The speed may be set to, for example, a low speed mode, a medium speed mode, or a high speed mode. Therefore, it is possible to add a distinctive strength to the operation speed or the stroke of the reciprocating member 12, and as a result, it is possible to call attention of a person observing the movement. Further, it is also possible to change the duty ratio of the control voltage to adjust the amount of current.

The configuration of the SMA drive circuit 36 is the same as that shown in FIG.
It is needless to say that the present invention is not limited to this configuration.
For example, as shown in FIG. 10, the constant voltage generating circuit can be replaced with a dedicated constant voltage IC 367 instead of being constituted by a resistance element and a Zener diode. As described above, by using the dedicated constant voltage IC 367, there is an advantage that the movement time can be kept more constant with respect to the change in the battery voltage.

As shown in FIG. 11, instead of configuring the wire voltage generating circuit 368 with a resistance element, the inverting input terminal (-) is connected to the emitter of the transistor Q2, and the non-inverting input terminal (+) is connected. Grounded operational amplifier OP
1 and a resistor Rf connected between the inverting input terminal (-) and the output terminal of the operational amplifier OP1. As described above, since the voltage loss for current detection can be made substantially zero by using the current detection circuit by the operational amplifier OP1, there is an advantage that the movement of the wire 18 can be kept constant up to a lower voltage. .

Second Embodiment FIG. 12 (a) is a front view showing a second embodiment of the driving device according to the present invention, and FIG. 12 (b) shows a second embodiment of the driving device according to the present invention. FIG. 12 (c) is a bottom side view showing a second embodiment of the driving device according to the present invention, and FIG.
FIG. 3A is a diagram showing a main part of a driving device according to the present invention, and FIG.
3 (b) is a lateral side view of (a), and FIG. 13 (c) is a bottom side view.

The driving device according to the second embodiment uses a wire made of a shape memory alloy as in the first embodiment described above, and differs greatly in that the reciprocating member swings left and right. That is, it is configured to be moved up and down instead of being moved. The configuration and function will be described below in order with reference to the drawings.

The driving device 40 is formed in a square shape.
On the front surface of the case body 41, as shown in FIG.
A guide window 43 is formed to guide the reciprocating member 42 so as to reciprocate up and down in the figure. On the back side of the case body 41, as shown in FIG. 12B, an operation switch 44 of a break prevention lever as wire break prevention means is provided.

Then, in the case body 41, FIG.
As shown in (a) to (c), both ends are disposed on guide portions 45A and 45B for guiding a predetermined range up and down slightly below the central portion on the back side of the case body 41, and a reciprocating member is provided at the central portion. A swinging (moving) member 46 formed with 42;
A tension spring 47 as an elastic body that urges the swing member 46 in one direction (downward in FIG. 13), and opposes the swing member 46 in one direction against the urging force of the tension spring 47 due to heat deformation. 13, a wire 48 made of a shape memory alloy that urges the wire 48 to swing in the direction (upward in FIG. 13), and a temperature sensor 49 as temperature detecting means for detecting the ambient temperature of the wire 48 are provided. I have.

As shown in FIG. 13 (a), the tension spring 47 is provided with a locking pin 5 protruding substantially at the center of the swinging member 46.
0 and a locking pin 51 protruding from the lower portion on the back side of the case body 41, and is stretched to have a predetermined initial tension.

Further, one end of the wire 48 made of a shape memory alloy is locked by a locking pin 52 projecting into the case body 41 above the center of the swinging member 46, and the wire 48 is formed in the middle. It is wound around a rotatably provided pulley 53, and the other end is locked by a locking pin 50 of the swinging member 46, and is stretched to have a predetermined initial tension. Wiring (not shown) from a power supply is connected to both ends of the wire 48, and a desired current flows from the control unit 60 to the wire 48, and the wire 48 itself is energized to near the transformation point temperature. It can be heated.

Therefore, in the rest state, the urging force of the tension spring 47 and the urging force of the wire 48 are balanced, that is, in FIG.
6 swings downward, and the reciprocating member 42 moves downward, and is in contact with the lower end of the guide window 43 as shown in FIG. When the wire 48 is heated from the rest state to near the transformation point temperature and starts to contract, the tension spring 4
The swinging member 46 swings upward against the urging force of 7, and the reciprocating member 42 moves upward, and contacts the upper end of the guide window 43. Thereafter, when the heating of the wire 48 is released, the wire 48 extends again, the swing member 46 swings downward by the urging force of the tension spring 47, and the reciprocating member 42 moves downward, It returns to the hibernation state again.

Further, the guide portion 45 at one end of the swing member 46 is provided.
Adjacent to the upper side of B, there is provided a detector 54 composed of, for example, a photo interrupter, the detector communicating with the guide 45B. The detector 54 detects that the reciprocating member 42 has reached a predetermined position by the urging force of the wire 48, specifically, the vicinity of the upper end of the guide window 43, when one end of the swing member 46 crosses the sensor section. And outputs the detection signal to the control unit 60.
To send to.

The drive unit 40 includes a control unit 60 as control means for controlling the heating operation of the wire 48 in addition to the above-described configuration. The control unit 60 has a power supply unit that operates, for example, upon receiving a start signal and supplies a current for heating and deforming the wire 48, and adjusts a current value supplied to the wire 48 according to the temperature detected by the temperature sensor 49. I do. Specifically, when the temperature detected by the temperature sensor 49 is higher than a preset reference temperature Tref (for example, normal temperature, 20 ° C.), the control unit 60 adjusts the current value supplied to the wire to the reference temperature Tref. Is adjusted so as to be lower than the set reference current value Iref, and when the detected temperature is lower than the reference temperature Tref, the supply current value is adjusted to the reference current value Iref.
Adjust to be higher than ref.

Further, the control unit 60 controls the reciprocating member 42 to move the reciprocating member 42 to a predetermined position, specifically, the guide window 4
Upon receiving a detection signal from the detector 54 indicating that it has reached the vicinity of the upper end of No. 3, the supply of current to the wire 48 is stopped. Furthermore, after stopping the supply of the current to the wire 48, the control unit 60 restarts the supply of the current to the wire 48 after a time corresponding to the temperature detected by the temperature sensor 49. The setting of the time according to the detected temperature is set longer as the temperature is higher and shorter as the temperature is lower.

More specifically, when the reciprocating member 42 reaches just before the upper end in FIG. 13A due to the heating deformation of the wire 48, the detector 54 detects that fact and outputs a detection signal. Then, based on the detection signal, the control unit 60 electrically cuts off the current supply path from the power supply unit, and
Stop heating. After that, by stopping the heating, the wire 48
After the reciprocating member 12 reaches the lower end in FIG. 13A by the urging force of the tension spring 47 and the biasing force of the tension spring 47, the control unit 60 operates the current supply path by the operation of the timer or the like. Electrical connection is made to start heating the wire 48. Further, the control unit 60 repeats stopping and restarting the supply of the current to the wire 48 by a set number n, and thereafter inputting a stop signal to the current source to bring the current source into a stopped state.

The control section 60 can be configured in the same manner as in FIG. 7, and a detailed description thereof is omitted here.

Further, a break prevention lever 5 interlocked with the operation switch 44 is provided in an area slightly below the swing member 46.
5 are provided. During normal use, the operation switch 44 is set to the off state, whereby the break prevention lever 55 is held in a non-contact state with the swing member 46 as shown in FIG. On the other hand, when not in use, for example, during transportation or the like, when external vibration or impact is applied to the wire 48 made of the shape memory alloy and there is a possibility of breaking, the operation switch 34 is set to the ON state. You.
Thus, the break prevention lever 55 presses the swing member 46 in a direction opposite to the biasing direction of the tension spring 47 as an elastic body. As a result, the wire is slackened, and the wire is prevented from breaking even if it is subjected to vibration or impact from the outside during transportation or the like.

Next, the operation of the above configuration will be described. First, the operation switch 44 is set to the off state. As a result, the break prevention lever 55 is held in a non-contact state with the swing member 46. As shown in FIG. 13A, the swinging member 46 is in the initial position, and the reciprocating member 42 formed at the center thereof comes into contact with the lower end of the guide window 43 (resting state). is there.

In this state, when a switch (not shown) or the like is turned on (ON) and a predetermined start signal is input to the control unit 60, the control unit 60 sends a wire (SMA) 48 according to the detected temperature. Is supplied. With the supply of current, the wire 48 is heated to near the transformation point temperature,
The wire 48 starts contracting and deforming, and swings the swinging member 46 in the vertical direction in FIG. 13A against the urging force of the tension spring 47, and the reciprocating member 42 interlocks with the swinging member 46.
Moves upward.

Thereafter, when the reciprocating member 42 reaches a predetermined position immediately before the upper end of the guide window 43, this is detected by the detector 54, and a detection signal is output to the controller 60. In the control unit 60 that has received the detection signal, the supply of the current to the wire 48 is stopped, and the energization and heating of the wire 48 is stopped.

When the temperature of the wire 48 is reduced by stopping the heating, the wire 48 starts to elongate to its original length. With the returning operation of the wire 48, the urging force of the tension spring 47 acts, and the swing member 46
(A) It swings downward in the middle, and the reciprocating member 42 moves downward in conjunction with the swing member 46.

After a lapse of a predetermined time set by a timer or the like in accordance with the temperature detected by the temperature sensor 49, ie,
After the reciprocating member 42 contacts the lower end of the guide window 43,
A retrigger signal is generated, and a current having a value corresponding to the detected temperature is supplied to the wire (SMA) 48.

By restarting the energization heating, the wire 48
Is contracted and deformed again to swing the swinging member 46 upward,
The reciprocating member 42 moves upward in conjunction with the swing member 46, and the heating is released by the operation of the detector 54, the wire 48 starts to extend again, and the tension spring 4
The swing member 46 swings downward, and the reciprocating member 42 moves downward in conjunction with the swing member 46.

When the above operation is repeated n times, the power supply unit of the control unit 60 is held in a stopped state, the above-mentioned series of karakuri operations are stopped, and the swinging member 16 and the reciprocating member 12 are in the rest state. Return to.

As described above, according to the second embodiment, the same effects as those of the first embodiment described above, that is, as compared with the conventional apparatus using a DC motor, a reduction gear train, etc. Can be simplified, reduced in size, reduced in weight, reduced in thickness, etc., for example, this drive device can be mounted on a thin watch or the like, and the characteristics of the wire (SMA) 48 due to changes in ambient temperature can be reduced. Corresponding and highly accurate control can be performed. Further, the return time can be set with high accuracy without using a special detector at the return position. Unnecessary current consumption can be suppressed except during operation. For example, in the case of a battery-driven device, there is an advantage that battery life can be extended.

Further, when not in use during transportation or the like, by setting the operation switch 44 to the ON state, the rocking member 46 is moved in the direction opposite to the biasing direction of the tension spring 47 as an elastic body by the break prevention lever 55. Because the wire 48 is pressed to loosen the wire 48, there is an advantage that the wire can be prevented from breaking even if it is subjected to vibration or impact from outside during transportation or the like.

Third Embodiment FIGS. 14 to 19 show an embodiment of a mechanism according to the present invention. FIG. 14 is a front view thereof, and FIG.
5 is a rear view of the main part, FIG. 16 is a plan view (top view) thereof, FIG. 17 is a right side view thereof, and FIG. 18 is obtained by adding a log member formed to show a cross section of the log in FIG. FIG. 19 is a rear view including a break prevention operation switch.

The mechanism 100 according to this embodiment
Is a first doll body 120 as a first movable body which is arranged to face the base 110 and at least a part of which is movable.
And a second doll body 130 as a second movable body, a first arm 121 which is a movable portion of the first doll body 120, and a second doll body 130.
A reciprocating member 140 connected (hinge-coupled) to a second arm 131 which is a movable portion of the doll body 130;
And a swing member 150 whose one end 151 is swingably connected and the other end 152 is connected to a reciprocating member 140.

The mechanism 100 further includes a swing member 1
A tension spring 160 as an elastic body that urges the oscillating member 50 to swing in one direction (counterclockwise in FIG. 15), and the oscillating member 150 against the urging force of the tension spring 160 due to heat deformation. A wire 170 made of a shape memory alloy that urges to swing in a direction opposite to the direction (clockwise in FIG. 15), and a temperature sensor 200 as temperature detecting means for detecting an ambient temperature of the wire 170 are provided. are doing.

The mechanism 100 also includes a control unit 310 as control means for controlling the heating operation of the wire 170, in addition to the above-described configuration. This control unit 31
0 also has a function as a current amount adjustment unit that variably adjusts the amount of current flowing through the wire 170.

As shown in FIG. 14, the outline of the first doll body 120 is formed so as to form a head part 120a and a body part 120b, and the lower end of the body part 120b is attached to the base 110. The first arm 121, which is a movable portion, is swingably connected by a pin 122 in a region above the body portion 120b. Also, the second doll body 13
0 also has a head 13 as shown in FIG.
0a and the body 130b.
A lower end of the body 130b is fixed to the base 110, and a second arm 131, which is a movable part, is swingably connected to the base 130b by a pin 132 in a region above the body 130b.

The reciprocating member 140 is shown in FIGS.
As shown in the figure, the first doll body 120 and the second doll body 130 are arranged so as to extend in a substantially horizontal direction between the first doll body 120 and the second doll body 130, and are formed in a saw-like shape having saw teeth 143 on the lower side. One end 141 is connected to the first arm 121 via the pin 123.
The other end 142 is connected (hinge-coupled) to the second forearm 131a of the second arm 131 via a pin 133.

As shown in FIGS. 14 to 17, the swing member 150 extends substantially vertically in a substantially intermediate region between the first doll body 120 and the second doll body 130 so as to extend in the vertical direction. , One end (lower end) 151 is swingably connected to the base 110 via a support shaft 153, and the other end (upper end) 15.
2 is connected (hinge-coupled) to a substantially central portion of the reciprocating member 140 via a pin 154.

As shown in FIGS. 14 to 17,
A guide member 180 is disposed in a substantially intermediate region between the first doll body 120 and the second doll body 130 and behind the swing member 150 so as to extend in the vertical direction. The guide member 180 is formed to have a substantially T-shape, and one end (lower end) 181 thereof is fixed to the base 110. The other end (upper end) 182 is formed with a guide groove 182a which is elongated in a substantially horizontal direction. The guide groove 182a projects from the back surface of the reciprocating member 140 and has a predetermined space. And two engaging pins 144 and 145 arranged in a horizontal direction are loosely fitted.

Therefore, in FIG. 15, when the swinging member 150 swings clockwise and the reciprocating member 140 moves rightward, the pin 145 contacts (contacts) the right end of the guide groove 182a. When the swing member 150 swings counterclockwise and the reciprocating member 140 moves to the left, the pin 144 is moved to the guide groove 182a.
The contact (abutment) with the left end of the is restricted. That is, the guide member 180 restricts the range of movement of the reciprocating member 140 to a predetermined range, and guides the reciprocating member 140 so that the direction of movement is substantially horizontal.

Tension spring 1 constituting a part of driving means
As shown in FIG. 15, 60 is locked by a locking pin 161 protruding from a region slightly below the center of the swinging member 150 and a locking pin 162 protruding from the base 110. hand,
It is stretched so as to have a predetermined initial tension. Further, a wire 170 made of a shape memory alloy constituting a part of the driving means
One end 171 is locked by a locking pin 173 protruding from a region slightly above the center of the swinging member 150, and a halfway point of the swinging fulcrum of the swinging member 150, that is, the support shaft 153. The pulley 174 and the second
It is wound around a pulley 176 rotatably provided on a support shaft 175 protruding below the doll body 130, and the other end 172 is protrudingly provided in a substantially central area of the second doll body 130. It is locked by a locking pin 177 and is stretched to have a predetermined initial tension. Wiring (not shown) from a power source is provided at both ends 171 and 172 of the wire 170.
Are connected to each other, and the control unit 31 is connected to the wire 170.
A value of 0 allows a desired current to flow, and the wire 170 itself can be energized and heated to near the transformation point temperature.

Therefore, in the rest state, the urging force of the tension spring 160 and the urging force of the wire 170 are balanced, that is, in FIG.
0 swings counterclockwise to move the reciprocating member 140 to the left, and the engagement pin 144 is in contact with the left end of the guide groove 182a. When the wire 170 is heated to around the transformation point temperature and starts to contract from this rest state, the swing member 150 swings clockwise against the urging force of the extension spring 160, and the reciprocating member 140 moves to the right. Then, the engagement pin 145 contacts the right end of the guide groove 182a. Thereafter, when the heating of the wire 170 is released, the wire 170
Is extended again, and the swing member 150 is extended by the tension spring 160.
Swings counterclockwise by the urging force of
Moves to the left and returns to sleep again.

On one side of the upper end 182 of the guide member 180, a detector 190 is provided as shown in FIG. The detector 190 detects that the reciprocating member 140 has reached a predetermined position by the urging force of the wire 170, and sends a detection signal to the control unit 310. As the detector 190, various types such as an optical sensor (a light transmission sensor or a light reflection sensor), a magnetic detection sensor, and a mechanical contact sensor can be applied.

The control section 310 has the same function as the control section 30 of the first embodiment described above. In particular,
The control unit 310 operates, for example, upon receiving a start signal, has a power supply unit for supplying a current for heating and deforming the wire 170, and adjusts a current value supplied to the wire 170 according to the temperature detected by the temperature sensor 200. I do. Specifically, the control unit 310 determines that the temperature detected by the temperature sensor 200 is a preset reference temperature Tref (for example, normal temperature,
If the temperature is higher than 20 degrees C), the current value supplied to the wire is set to the reference current value Iref set corresponding to the reference temperature Tref.
It is adjusted so that it becomes lower and the detected temperature becomes the reference temperature Tref.
If it is lower, the supply current value is adjusted to be higher than the reference current value Iref.

Further, the control unit 310 includes a reciprocating member 140.
Receives a detection signal from the detector 190 indicating that it has reached a predetermined position by the urging force of the wire 170,
The supply of current to 70 is stopped. Furthermore, the control unit 3
After stopping the supply of current to the wire 170,
After a time corresponding to the temperature detected by the temperature sensor 200, the supply of the current to the wire 170 is restarted. The setting of the time according to the detected temperature is set longer as the temperature is higher and shorter as the temperature is lower.

Specifically, the detector 190 is connected to the wire 17
When the reciprocating member 140 reaches just before the right end in FIG. 15 due to the heating deformation of 0, that is, reaches a predetermined position immediately before the engaging pin 145 contacts (contacts) the right end of the guide groove 182a. Sometimes it detects that and outputs a signal,
Based on this detection signal, control section 310 cuts off the supply of current from the power supply and stops heating of wire 170.
Thereafter, when the heating is stopped, the wire 170 is extended, and the urging force of the tension spring 160 acts, so that the reciprocating member 140 reaches the left end in FIG.
After the 4 contacts (abuts) the left end of the guide groove 182a and stops, the control unit automatically operates by a timer or the like and sends a control signal to the power supply to start heating the wire 170. The control unit 310 repeats the stop and restart of the supply of the current to the wire 170 by the set number n, and then inputs a stop signal to the current source to put the current source into a stopped state.

The control section 310 can be configured in the same manner as in FIG. 7, and a detailed description thereof is omitted here.

The mechanism 10 according to the present embodiment is used.
0, as shown in FIG.
In the same manner as in the first embodiment, the operation switch 20 of the break prevention lever
2 are provided. As shown in FIG. 16, a break prevention lever 203 interlocked with the operation switch 202 is provided in a region slightly near the left side of the center of the swing member 150. During normal use, the operation switch 202
Is set to the off state, whereby the break prevention lever 2
03 is held in a non-contact state with the swinging member 150 as shown in FIG. In contrast, when not in use, for example, during transportation, the wire 170 made of a shape memory alloy is used.
The operation switch 202 is set to the ON state in a case where an external vibration or impact is applied to the device and there is a possibility that the device will be broken. As a result, the break prevention lever 203 is connected to the tension spring 16 using the swing member 150 as an elastic body (not shown).
It is pressed in the direction opposite to the urging direction of zero. As a result, the wire is slackened, and the wire is prevented from breaking even if it is subjected to vibration or impact from the outside during transportation or the like.

Next, the operation of the mechanism according to this embodiment will be described. First, the operation switch 202 is set to the off state. Thereby, the break prevention lever 203
Are held in a non-contact state with the swinging member 150. And
The swing member 150 swings counterclockwise to move the reciprocating member 14
0 is the left end, that is, 1 engagement pin 144 is the guide groove 182a.
When a switch (not shown) or the like is turned on (ON) from a state in which it is in contact with the left end (pause state), and a predetermined start signal is input to the control unit 310, the control unit 310 A current having a value corresponding to the detected temperature is supplied to the wire 170. When the wire 170 is heated to around the transformation point temperature, the wire 170 starts contracting and deforming, and the swing member 15 resists the urging force of the tension spring 160.
0 is swung clockwise in FIG.
The reciprocating member 140 moves rightward in conjunction with 0.

Thereafter, when the reciprocating member 140 reaches a predetermined position immediately before the right end in FIG. 15 (immediately before the engagement pin 145 contacts the right end of the guide groove 182a), the detector 19
0 detects this, and outputs a signal. Based on this detection signal, the control unit 310 cuts off the supply of current to the wire 170, and the energization and heating of the wire 170 is stopped.

By stopping the heating, the wire 170
As the temperature decreases, the wire 170 begins to stretch to its original length. With the return operation of the wire 170, the urging force of the tension spring 160 acts, and the swing member 1
The swinging member 50 is swung counterclockwise in FIG. 15, and the reciprocating member 140 moves to the left in conjunction with the swing member 150.

After a lapse of a predetermined time set by a timer or the like in accordance with the temperature detected by the temperature sensor 200, that is, when the reciprocating member 140 is moved to the left end in FIG.
After reaching a predetermined position (in a state where 44 is in contact with the left end of the guide groove 182a), a retrigger signal is generated, and a current having a value corresponding to the detected temperature is supplied to the wire (SMA) 170. .

By restarting the energization heating, the wire 17
0 is shrunk and deformed again to swing the swinging member 150 clockwise, and the reciprocating member 140
Moves toward the right side, the energization heating is released by the operation of the detector 190, and the wire 170 starts to extend again,
A tension spring 160 swings the swing member 150 counterclockwise, and interlocks with the swing member 150 to move the reciprocating member 1.
40 moves to the left.

By intermittently heating the wire 170, the upper side of the log member 300 disposed between the first doll body 120 and the second doll body 130 as shown in FIG. And the reciprocating member 14 formed in a saw shape
0 reciprocates, and both doll bodies 120, 130
However, it is possible to perform a mechanism operation as if a saw were cut with a saw. Then, when the switch is turned off (OFF) after the above-described mechanism operation is performed for a predetermined time, the above-described series of mechanism operations is stopped, and the swinging member 150 and the reciprocating member 140 return to the rest state. I do.

FIG. 20 shows the mechanism 10 described above.
1 shows an embodiment in which 0 is mounted on a thin watch 320. In this embodiment, as shown in FIG.
The mechanism 100 is arranged in front of 30. That is, a structure corresponding to the base 110 and the guide member 180 described above is substituted for the dial 330, and a structure corresponding to the guide groove 182a of the guide member 180 and the like is formed on the dial 330. According to this configuration, the timepiece 3
The components of the device 20 itself can be applied as components of the mechanism 100 (particularly, the dial 330 is used as a guide member), and the thickness can be further reduced by reducing the number of components.

FIG. 21 is a block diagram showing a configuration example of a control section 310 in an embodiment in which the above-described mechanism 100 is mounted on a thin watch 320. Basically, it has the same configuration as the circuit of FIG. That is, as shown in FIG.
It has a power supply section 311, a delay circuit (DLY) 312, AND gates 313 and 314, an OR gate 315, an SMA drive circuit 316, a timer 317, and an n-times counter 318.

The power supply section 311 receives the start signal STR and outputs the enable signal ENB to the AND gates 313 and 3.
14 and the SMA drive circuit 316. Also,
When receiving the stop signal S318 from the counter 318 n times, the power supply unit 311 stops outputting the enable signal ENB.

When the SMA drive circuit 316 receives the output of the OR gate 315 at a high level while receiving the enable signal ENB from the power supply section 311, the SMA drive circuit 316 supplies a current having a value corresponding to the temperature detected by the temperature sensor 200 to the wire 170. To supply. When receiving the detection signal DT190 from the detector 190, the supply of the current to the wire 170 is stopped.

The specific configuration of the SMA drive circuit 316 is similar to the circuits shown in FIGS. 9, 10 and 11. Therefore, the detailed description is omitted here.

When receiving the detection signal DT190 from the detector 190, the timer 317 inputs the temperature signal 200
After a lapse of a predetermined time set in accordance with the detected temperature, a re-trigger signal S317 is generated and output to the AND gate 313.

The n-times counter 318 counts the detection signal DT190 from the detector 190, and when the count reaches n, generates a pulse-like stop signal S318 and outputs it to the power supply unit 311.

In this case, the start signal STR of the control section 310 is generated by the clock circuit section 400. That is, the clock circuit unit 400 includes a clock circuit 401 including a movement, an alarm setting unit 402, a comparison unit 403, a notification unit 404, an hour signal generation unit 405, and an OR gate 406. Then, for example, the clock circuit 401
The hour signal S405 generated by the hour signal generator 405, which is the hour such as 1 o'clock, is supplied to the controller 310 as a start signal STR via the OR gate 406. Also,
Clock signal from clock circuit 401 and alarm setting unit 402
The output signal S403 of the comparison unit 403 when the comparison unit 403 determines that the time set in the step S1 coincides with the time set by the comparison unit 403 as the start signal STR via the OR gate 406.
0 is supplied.

As described above, according to the third embodiment, the mechanism 100 is disposed opposite to the base 110, and at least a part of the first mechanism is a movable first movable body. Doll body 120 and a second movable body
A doll body 130, a reciprocating member 140 connected (hinge-coupled) to a first arm 121, which is a movable part of the first doll body 120, and a second arm 131, which is a movable part of the second doll body 130, A basic configuration including a swing member 150 having one end 151 swingably connected to the base 110 and the other end 152 connected to a reciprocating member 140;
A tension spring 160 as an elastic body that urges the swinging member 50 to swing in one direction, and swings the swinging member 150 in the direction opposite to the one direction against the biasing force of the tension spring 160 due to heat deformation. 170 made of a shape memory alloy biased as described above, a temperature sensor 200 for detecting an ambient temperature of the wire 170, and a control unit 31 for adjusting a current value supplied to the wire according to the temperature detected by the temperature sensor 200.
0, the device can be simplified, reduced in size, reduced in weight, reduced in thickness, etc. as compared with a conventional device using a DC motor, a reduction gear train, and the like. It is possible to mount this mechanism, and it is possible to cope with a change in the characteristics of the wire (SMA) 18 due to a change in ambient temperature, and to perform highly accurate control.

Further, the control unit 310 includes a reciprocating member 140
Receives the detection signal DT190 from the detector 190 indicating that the wire 170 has reached the predetermined position due to the urging force of the wire 170, the supply of current to the wire 170 is stopped, and
Since the supply of current to the wire 170 is restarted after a time corresponding to the temperature detected by the temperature sensor 200 after the supply of current to 0 is stopped, a special detector is used at the return position. And the return time can be set with high accuracy.
In addition, the control unit 310 is enabled by the start signal STR, generates the stop signal S318 after repeating n times, and disables the power supply unit 311 itself, thereby suppressing unnecessary current consumption except during operation. For example, in the case of a battery-driven device, there is an advantage that the battery life can be extended.

In the third embodiment, when not in use during transportation or the like, the operation switch 202 is set to the ON state, so that the rocking member 1 is moved by the break prevention lever 203.
50 is pressed in a direction opposite to the biasing direction of a tension spring 160 as an elastic body, so that the wire 170 is loosened. There is an advantage that can be prevented.

Further, the reciprocating member connected to the movable body can be reciprocated only by intermittently heating the wire through the control unit.

Further, by providing a current amount adjustment unit for variably adjusting the amount of current supplied to the wire 170, the amount of current flowing through the wire is appropriately adjusted, and the deformation of the shrinkage deformation due to the heating of the wire by current supply is provided. The speed and the amount of deformation can be appropriately adjusted, whereby the reciprocating member can be variably moved at a desired speed, and can attract the attention of the observer.

Furthermore, in this embodiment, the timing for canceling the current-carrying heating of the wire 170 is set so that the heating temperature becomes near the transformation point temperature, more specifically, below the transformation point temperature. With such timing, the durability of the wire 170 made of a shape memory alloy can be improved.

In the third embodiment described above, as a means for heating the wire 170 made of a shape memory alloy, a method of supplying an electric current from a power supply and heating the wire 170 has been described. However, the present invention is not limited to this. Alternatively, other heating sources such as a high-temperature liquid, laser light irradiation, or the like can be used as long as they cause contraction deformation by heating. Further, in the above embodiment, the first arm 12 is used as the movable body.
Although a first doll body 120 having a 1 and a second doll body 130 having a second arm 131 are employed, the present invention is not limited to this, and may show a form other than a doll, such as an animal.

In the above-described embodiment, the reciprocating member 140 formed in a saw-like shape and the log member 300 cut by the reciprocating member 140 are used. However, the present invention is not limited to this. The reciprocating member can be formed in a tug of war or a decorative body or the like that draws the attention of the observer.

[0128]

As described above, according to the present invention, the apparatus can be simplified, downsized, lightened, thinned, etc., as compared with the conventional apparatus using a DC motor, a reduction gear train or the like. It is possible to mount the mechanism on a thin watch or the like, and it is possible to cope with a change in the characteristics of the wire (SMA) due to a change in the ambient temperature, thereby performing highly accurate control.

The return time can be set with high accuracy without using a special detector at the return position. Unnecessary current consumption can be suppressed except during operation. For example, in the case of a battery-driven device, there is an advantage that battery life can be extended.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of a driving device according to the present invention.

FIG. 2 is a diagram showing a main part of a first embodiment of the driving device according to the present invention.

FIG. 3 is a view for explaining a break prevention mechanism of the drive device according to the present invention.

FIG. 4 shows a shape memory alloy wire (SMA) having an outer diameter of about 75 μm, a length of about 100 mm, a transformation point temperature (Af point) of 65 ° C., and a used strain of 3% (3 m).
m) is a diagram showing the relationship between applied voltage and operating time when a resistor having a resistance value of 20Ω at normal temperature (for example, 20 ° C.) is used.

FIG. 5 is a diagram illustrating operation time at each temperature when a DC voltage of 3 V is applied.

FIG. 6 is a diagram showing an example of a current value supplied to the SMA at each temperature when the operation time is fixed (for example, 0.3 seconds) when the operation angle is 35 degrees.

FIG. 7 is a block diagram illustrating a specific configuration example of a control unit according to the present invention.

FIG. 8 is a diagram illustrating an example of a relationship between a resistance value of a thermistor and an ambient temperature.

FIG. 9 is a circuit diagram illustrating a configuration example of an SMA drive circuit in a control unit according to the present invention.

FIG. 10 is a circuit diagram showing another configuration example of the SMA drive circuit in the control unit according to the present invention.

FIG. 11 is a circuit diagram showing another configuration example of the SMA drive circuit in the control unit according to the present invention.

FIG. 12 is a diagram showing a second embodiment of the driving device according to the present invention.

FIG. 13 is a view showing a main part of a second embodiment of the driving device according to the present invention.

FIG. 14 is a front view of the mechanism of the present invention.

FIG. 15 is a rear view of a main part of a drive system of the mechanism according to the present invention.

FIG. 16 is a plan view of a mechanism according to the present invention.

FIG. 17 is a right side view of the mechanism according to the present invention.

FIG. 18 is a front view showing a state where a log member is attached to the apparatus shown in FIG. 14;

FIG. 19 is a rear view of the mechanism according to the present invention.

20 is a front view showing an embodiment in which the mechanism shown in FIG. 14 is arranged on the dial of a thin watch.

FIG. 21 shows a mechanism 320 according to the present invention.
FIG. 4 is a block diagram illustrating a configuration example of a control unit according to an embodiment mounted on a computer.

[Explanation of symbols]

 10, 40 ... drive device 11, 41 ... case body 12, 42 ... reciprocating member 13, 43 ... guide window 14, 44 ... operation switch 16, 46 ... swing member 47 ... extension spring 48 ... wire 19, 49 ... temperature Sensors 26, 54 Detector 25, 55 Break prevention lever 30 Control unit 36, 36A, 36B SMA drive circuit 361 Power supply 362, 367 Constant voltage generation circuit 363 Control voltage generation circuit 364 Operational amplifier 365, 368 ... wire voltage generation circuit 366 ... current supply circuit 100 ... mechanism device 110 ... base 120 ... first doll body (movable body) 121 ... first arm 130 ... second doll body (movable body) 131 ... second arm 140 ... Reciprocating member 144: engagement pin 145: engagement pin 150: swing member 153: support shaft (swing fulcrum) 160: tension spring (bullet) Body) 170: Wire 174: Pulley 180: Guide member 182a: Guide groove 190: Detector 200: Temperature sensor 201: Case body 202: Operation switch 203: Break prevention lever 300: Log member 310: Control unit 316: SMA drive circuit 320: Thin clock 330: Dial

Claims (12)

[Claims] 1. A driving device for reciprocating a reciprocating member, comprising: a reciprocating member, a reciprocating member having a reciprocating member attached to a predetermined portion, and a reciprocating member for reciprocating the reciprocating member. An elastic body that urges the rocking member to oscillate in a direction opposite to the one direction against the urging force of the elastic body by heating deformation according to a supplied current value. A wire made of an energizing shape memory alloy, temperature detecting means for detecting an ambient temperature of the wire, current supply means for flowing a current to the wire when a drive signal is supplied, and a temperature detected by the temperature detecting means. Control voltage generation means for generating a control voltage corresponding to the current, wire voltage generation means for generating a wire voltage proportional to the current flowing through the wire, and wire voltage generated by the wire voltage generation means Drive device and a control unit having a comparison means for supplying a current supply means said drive signal to reach the control voltage generated by means. 2. The temperature detecting means is a temperature sensor whose resistance value changes in accordance with an ambient temperature, and the control unit further includes a constant voltage generating means for generating a constant voltage based on a power supply voltage. The control voltage generating means has a resistance network including a resistance value of the temperature detecting means, and divides the constant voltage by the control constant voltage generating means to generate the control voltage by the resistance network. The driving device as described. 3. The control voltage generator generates a lower control voltage as the temperature detected by the temperature detector increases.
3. The drive device according to claim 1, wherein a higher control voltage is generated as the detected temperature is lower. 4. A position detecting means for detecting that the reciprocating member has reached a predetermined position by the urging force of the wire, wherein the control unit receives the detection of the position detecting means and applies a force to the wire. 4. The driving device according to claim 1, wherein the supply of current is stopped. 5. The control unit, after stopping supply of current to the wire, restarts supply of current to the wire after a time corresponding to the temperature detected by the temperature detection means. The driving device as described. 6. The driving device according to claim 5, wherein the control unit repeats stopping and restarting the supply of the current to the wire a set number of times. 7. A mechanism for reciprocating a reciprocating member, comprising: a base; a movable body disposed on the base and at least a part of which is movable; and a reciprocating hinge connected to the movable body. A reciprocating member to be moved, a rocking member having one end pivotally connected to the base and the other end coupled to the reciprocating member, and a rocking member pivoting in one direction. And an urging member for oscillating the oscillating member in a direction opposite to the one direction against an urging force of the elastic member by heating deformation in accordance with a supplied current value. A wire made of a shape memory alloy; a temperature detecting means for detecting an ambient temperature of the wire; a current supply means for flowing a current to the wire when a drive signal is supplied; Control voltage generating means for generating a control voltage A wire voltage generating means for generating a wire voltage proportional to the current flowing through the wire; and the drive signal until the wire voltage generated by the wire voltage generating means reaches a control voltage generated by the control voltage generating means. A control unit including a comparison unit that supplies the current to the current supply unit. 8. The temperature detecting means is a temperature sensor whose resistance value changes in accordance with an ambient temperature, and the control unit further includes a constant voltage generating means for generating a constant voltage based on a power supply voltage. 8. The control voltage generation means has a resistance network including a resistance value of the temperature detection means, and divides the constant voltage by the control constant voltage generation means to generate the control voltage by the resistance network. A mechanism as described. 9. The control voltage generator generates a lower control voltage as the temperature detected by the temperature detector increases.
9. The mechanism according to claim 7, wherein a higher control voltage is generated as the detected temperature is lower. 10. A position detecting means for detecting that the reciprocating member has reached a predetermined position by the urging force of the wire, wherein the control unit receives the detection of the position detecting means and applies a force to the wire. The mechanism according to claim 7, 8 or 9, wherein the supply of current is stopped. 11. The control unit, after stopping supply of current to the wire, restarts supply of current to the wire after a time corresponding to the temperature detected by the temperature detecting means. A mechanism as described. 12. The control unit according to claim 1, wherein the supply of the current to the wire is stopped and restarted a set number of times.
A mechanism according to claim 1.