JP2001269383A - Oscillating device and massager provided therewith - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an oscillating device of high speed and displacement and a massager provided therewith. SOLUTION: The oscillating device 8 comprises at least three actuators 4 each comprising an expanding portion 1 made of a sheet-shaped insulating expansible material provided on each side with an electrode 2 made of an electrically conducting expansible material; a voltage applying portion 3 for applying a voltage to each electrode 2; movable joint parts 5 installed at both ends of each actuator 4 to enable the actuator 4 to be inclined; and a fixed plate 6 and a movable plate 7 which are connected to the movable joint parts 5. Oscillation of the movable plate 7 is caused by expansion due to the application of the voltage to the electrode 2 on each sides of the actuator 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rocking device and a massage machine provided with the rocking device.

[0002]

2. Description of the Related Art A rotating device has been known from Japanese Patent Application Laid-Open No. Sho 60-71187. JP-A-60-71
In the apparatus disclosed in Japanese Patent No. 187, the fixed plate 20 and the movable plate 21 are connected by a wire shrink element 22 made of a shape memory alloy as shown in FIG. Is heated and expanded to cause the movable plate 21 to rotate.

In the above conventional example, since the wire contraction element 22 made of a shape memory alloy is used, the displacement (<5%) and the operation speed (several Hz) are limited.
It was impossible to handle high displacement equipment. In addition, since the heat engine is used, there is a problem that energy efficiency is low and power consumption is large. Further, there is a problem that only the rotational motion is provided and the degree of freedom of up / down / tilt is not provided as a mechanism.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and has as its main object to provide a high-speed, high-displacement oscillating device and a massage machine having the oscillating device. In addition, there is no need for an insulating portion between the actuators which also serves as an electrode, and the buckling can be prevented by improving the generated force of the actuators. An object of the present invention is to provide a massage machine including a moving device.

[0005]

In order to solve the above-mentioned problems, a swinging device according to the present invention comprises an elastic portion 1 made of a sheet-like insulating elastic material, and a conductive elastic material formed on both surfaces of the elastic portion 1. At least three or more actuators 4 having the electrodes 2, a voltage application unit 3 for applying a voltage to the electrodes 2, and movable at both ends of the actuators 4 to enable the actuators 4 to tilt. An oscillating device 8 comprising a joint portion 5, a fixed plate 6 and a movable plate 7 coupled to the movable joint portion 5, wherein the movable plate 7 is expanded and contracted by applying voltage to the electrodes 2 on both surfaces of the actuator 4. It is characterized by causing oscillation. With such a configuration, by applying a voltage to the electrodes 2 on both surfaces of each of the three or more actuators 4, each actuator 4 is expanded and contracted to move the movable plate 7 to the fixed plate 6 via the movable joint 5. On the other hand, the movable plate 7 can be swung with many degrees of freedom by being movable, and can be swung with high speed and high displacement.

[0006] Further, the expansion and contraction portions 1 and the electrodes 2 are alternately formed in a plurality of layers, and the electrodes 2 are arranged so that the electrode polarities are alternately inverted.
Is preferably connected to the voltage application unit 3. By adopting such a configuration, insulation between the actuators 4 is not required because the electrodes 2 are also used.
The power generated by this is improved, and
Buckling is also prevented by forming the elastic portions 1 and the electrodes 2 alternately in a plurality of layers.

Further, it is preferable that a plurality of layers of the expansion and contraction portion 1 and the electrode 2 are formed on a concentric circle. With such a configuration, insulation between the actuators 4 is not required because the electrodes 2 are also used, and the force generated by the actuators 4 is improved. The buckling is prevented by forming a plurality of layers.

It is preferable that the actuator 4 is spirally wound and the insulating layer 9 is provided on the inner electrode 2 when the actuator 4 is spirally wound to form a continuous layer of the actuator 4 in a direction crossing the spiral. With such a configuration,
The force generated by the actuator 4 is improved, and buckling is prevented by alternately forming a plurality of layers of the expansion and contraction portions 1 and the electrodes 2. 4 can be a multilayer structure.

Preferably, the insulating layer 9 is formed by a flexible portion. With such a configuration, the insulating layer 9 also contributes to expansion and contraction, and the force generated by the actuator 4 is further improved.

[0010] Further, a massage machine provided with a rocking device according to the present invention is provided with the rocking device 8 according to any one of claims 1 to 5. With such a configuration, it is possible to provide a massage machine capable of performing multi-degree-of-freedom massage by the swinging device 8 capable of swinging at high speed and high displacement with multiple degrees of freedom.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on embodiments shown in the accompanying drawings.

As shown in FIG. 1, the fixed plate 6 and the movable plate 7 are connected by three or more actuators 4. At both ends of the actuator 4, movable joints 5 for allowing the actuator 4 to be tilted are provided. The movable joints 5 at both ends of the actuator 4 are connected to a fixed plate 6 and a movable plate 7, respectively, and swing. The moving device 8 is constituted. In the embodiment of the accompanying drawings, the movable joint 5 at one end of the actuator 4 is coupled to a plurality of locations on the fixed plate 6, and the movable joint 5 at the other end of the actuator 4 is coupled to the plurality of locations on the movable plate 7. The swinging device 8 uses a so-called parallel link mechanism.

The actuator 4 has an elastic part 1 made of a sheet-like insulating elastic material and electrodes 2 made of a conductive elastic material on both sides of the elastic part 1.
And the voltage application unit 3 is connected via
When a voltage is applied from the voltage application unit 3 to the electrode 2, the stretchable portion 1 made of a sheet-like insulating stretchable material is used as shown in FIGS.
It expands and contracts as shown in FIG.

The sheet-like insulating stretchable material constituting the stretchable portion 1 is a material having flexibility and a high dielectric constant (1.0 F / m) such as acrylic elastomer and silicon. The electrode 2 is a material in which the above-mentioned material is in a liquid state and carbon black, a noble metal filler or the like is mixed to ensure electrical conductivity. In order to join the lead wire 10 to the electrode 2, as shown in FIG. 3, the end of the electrode 2 is plated with copper or the like, and the lead wire 10 is soldered to the plated surface 11.

Thus, three or more actuators 4
Each actuator 4 is expanded and contracted by applying a voltage to the electrodes 2 on both surfaces of the movable plate 7 through the movable joint 5.
Is movable with respect to the fixed plate 6 to swing the movable plate 7 with multiple degrees of freedom such as rotation / up / down / tilt as shown by the arrow in FIG. In this case, the actuator 4 can be expanded and contracted by applying a voltage to the electrodes 2 on both surfaces of each of the three or more actuators 4, so that high-speed and high-displacement swing can be performed.

Here, the mechanism by which a voltage is applied from the voltage application unit 3 to the electrodes 2 on both surfaces of the elastic portion 1 made of a sheet-like insulating elastic material causes the elastic portion 1 to expand and contract will be described. When a voltage is applied to both sides of the sheet-like insulating stretchable material, dielectric polarization occurs, causing a phenomenon that the sheet-like insulating stretchable material undergoes electrostriction and expands and contracts. The actuator 4 of the present invention utilizes this phenomenon. The extension part 1 is extended and contracted.

As shown in FIG. 4A, the thickness of an actuator 4 in which flexible electrodes 2 made of a conductive stretch material are provided on both sides of a stretchable portion 1 made of a sheet-like insulating stretchable material made of a polymer such as silicon as shown in FIG. t, and the electrode 2
In FIG. 4 (b), when the voltage to be applied is V, the generated stress (isotropic) indicated by P, the strain in the electrolytic direction (shrinkage) indicated by Δz, and the strain perpendicular to the electrolysis indicated by Δx (stretching)
Is determined by the following equation. In the following equation, e _0
er : dielectric constant of polymer (F / m), E: electrolysis between electrodes (V / m), Y: Young's modulus of polymer (Pa). And developmental stress _{(isotropic) P = e 0 · ε r} · E 2 = ε 0 · ε r · V 2 / t 2 (pa) · electrolytic direction distortion _{(contraction) Δz = ε 0 · ε r} · E 2 / Y = ε ₀ · ε _r · V ² / Y · t
² (%) ・ Strain in the direction perpendicular to electrolysis (stretching) Δx = 0.5 ・ ε ₀・ ε _r・ E ² /Y=0.5ε ₀・ ε _r・
V ² / Y · t ² (%) FIG. 5 shows an actuator 4 used in the swing device 8 of the present invention.
Another embodiment is shown. In the present embodiment,
In the actuator 4, the expansion and contraction section 1 and the electrode 2 are alternately formed in a plurality of layers, and the electrode 2 is connected to the voltage application section 3 so that the polarity of the electrode 2 is alternately inverted. By using the actuator 4 having a configuration in which the expandable portion 1 and the electrode 2 are alternately formed in a plurality of layers as in the present embodiment, and the electrode 2 is connected to the voltage application portion 3 so that the electrode polarity is alternately inverted. This eliminates the need for insulation between the actuators 4 due to the dual use of the electrodes 2, and improves the force generated by the actuators 4. In addition, since the elastic portions 1 and the electrodes 2 are alternately formed in a plurality of layers, the buckling of the actuator 4 can be prevented.

Next, still another embodiment of the present invention will be described with reference to FIG. In the present embodiment, in the actuator 4, the extendable portion 1 and the electrode 2 are formed in a plurality of layers on a concentric circle. Further, in the present embodiment, the electrode 2 is connected to the voltage application unit 3 so that the polarity of the electrode 2 is alternately reversed in the radial direction. Since the expansion and contraction portion 1 and the electrode 2 are formed in a plurality of layers on concentric circles as in the present embodiment, the insulation between the actuators 4 which is also used as the electrodes 2 becomes unnecessary, and the That is, the generated force is improved. In addition, the buckling of the actuator 4 can be prevented by forming the plurality of layers of the elastic portion 1 and the electrode 2 alternately.

Next, still another embodiment of the present invention will be described with reference to FIG. In the present embodiment, in the actuator 4, the actuator 4 is spirally wound, and when the spiral is wound, an insulating layer 9 is provided on the inner electrode 2 to form a continuous layer of the actuator 4 in a direction crossing the spiral. In this manner, when the actuator 4 is spirally wound and is wound, the insulating layer 9 is applied to the inner electrode 2.
By forming the continuous layer of the actuator 4 in the direction intersecting with the spiral, the force generated by the actuator 4 is improved. In addition, the multi-layer structure in which the expansion and contraction portions 1 and the electrodes 2 are alternately formed in a plurality of layers can prevent the actuator 4 from buckling. Further, it is possible to form a multilayer structure with a simple configuration in which one actuator 4 is wound in a spiral direction.

Next, still another embodiment of the present invention will be described with reference to FIG. This embodiment has the same configuration as the actuator 4 shown in FIG. 7 described above, except that the insulating layer 9 provided on the inner electrode 2 when the actuator 4 is spirally wound is formed of a flexible portion made of an insulating flexible material. 9a. As described above, the actuator 4 is spirally wound and the insulating layer 9 composed of the flexible portion 9a is provided on the inner electrode 2 when the spiral is wound, and the continuous layer of the actuator 4 is formed in a direction crossing the spiral. Thus, the force generated by the actuator 4 is improved. In addition, the multi-layer structure in which the expansion and contraction portions 1 and the electrodes 2 are alternately formed in a plurality of layers can prevent the actuator 4 from buckling. Further, it is possible to form a multilayer structure with a simple configuration in which one actuator 4 is wound in a spiral direction. Further, the insulating layer 9 composed of the flexible portion 9a also contributes to expansion and contraction, and the force generated by the actuator 4 is further improved.

The oscillating device of the present invention as shown in FIG. 1 using the actuator 4 shown in each of the above-described embodiments is a small, silent, high-output oscillating device that cannot be obtained with a motor. It can be applied to mechatronics. For example, the present invention is applied to an operation mechanism that directly acts on a human, such as a massage machine or a nursing device, and can contribute to reduction in size and weight.

FIG. 9 shows an example of a massage machine 15 provided with the swinging device 8 of the present invention. In FIG. 9A, a grip 17 is provided at one end of the arm 16 for grasping by hand, and the other end of the arm 16 is bent into a substantially U-shape to form a U-shape portion 18. The fixed plate 6 of the oscillating device 8 is mounted on the inner surface side of the portion 19, and a projection 7 a is provided on the front surface of the movable plate 7 to constitute a massage machine 15. In the massage machine 15 having the above-described configuration, as shown in FIG. 9B, the projection 7 a on the front surface of the movable plate 7 is applied to the body to be treated 30 such as the shoulder, and a voltage is applied to the electrodes 2 on both sides of each actuator 4. By swinging the movable plate 7, the treatment target 30 of the body is massaged by the protrusion 7 a provided on the front surface of the movable plate 7. As the massage machine 15 using the oscillating device of the present invention, a massager that performs a kneading massage is effective, but it goes without saying that a massage other than the kneading massage may be applied.

[0023]

As described above, in the invention according to the first aspect of the present invention, at least three or more electrodes each provided with an electrode made of a conductive elastic material are provided on both sides of a sheet-shaped elastic part made of an insulating elastic material. An actuator, a voltage application unit for applying a voltage to the electrode, a movable joint unit installed at both ends of the actuator to allow the actuator to tilt, a fixed plate coupled to the movable joint unit, and a movable plate A rocking device consisting of a plate and a plate, wherein the movable plate is rocked by expansion and contraction by applying the voltage to the electrodes on both surfaces of the actuator, so that a voltage is applied to the electrodes on both surfaces of each of three or more actuators. Multi-degree of freedom that allows each actuator to expand / contract and move the movable plate with respect to the fixed plate via the movable joint to move the movable plate freely. Can be swung, also high-speed,
It can swing with high displacement.

According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, a plurality of expandable portions and electrodes are alternately formed, and the polarity of the electrodes is alternately inverted. As described above, the electrodes are connected to the voltage application portion, so that the electrodes do not need to be insulated between the actuators, and
The generation force generated by the actuator is improved, and furthermore, the buckling of the actuator can be prevented by alternately forming a plurality of layers of the expansion and contraction portions and the electrodes.

According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, since the expandable portion and the electrode are formed in a plurality of layers on concentric circles, the electrode can be used for both purposes. This eliminates the need for insulation between the actuators, simplifies the configuration, improves the force generated by the actuator, and also prevents buckling of the actuator.

According to a fourth aspect of the present invention, in addition to the effects of the first aspect of the present invention, the actuator is spirally wound and an insulating layer is provided on the inner electrode when the actuator is wound. Since the continuous layer of the actuator is formed in the crossing direction, the generated force generated by the actuator is improved, and the buckling of the actuator can be prevented by alternately forming a plurality of layers of the elastic portion and the electrode. is there. Further, a single actuator can form a multilayer structure.

According to the fifth aspect of the present invention, in addition to the effect of the fourth aspect of the present invention, since the insulating layer is formed by the flexible portion, the insulating layer also contributes to expansion and contraction. That is, the force generated by the actuator is further improved.

In the massage machine provided with the oscillating device according to the sixth aspect, the oscillating device according to any one of the first to fifth aspects is provided. ,
An object of the present invention is to provide a massage machine capable of effective massage with multiple degrees of freedom by a swing device capable of swinging at high speed and high displacement.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of a swing device according to the present invention.

FIG. 2A is a schematic configuration diagram of the above actuator, and FIG. 2B is a schematic configuration diagram of a state where the actuator is extended.

FIG. 3 is a sectional view of a portion where a lead wire is connected to an electrode of the actuator according to the first embodiment.

FIGS. 4 (a) and 4 (b) are operation principle explanatory diagrams for explaining the operation principle of the above actuator.

5A and 5B show another embodiment of the present invention, in which FIG. 5A is a schematic configuration diagram, and FIG. 5B is a schematic perspective view.

6A and 6B show still another embodiment of the present invention, wherein FIG. 6A is a schematic configuration diagram, and FIG. 6B is a schematic perspective view.

7A and 7B show still another embodiment of the present invention, wherein FIG. 7A is a schematic configuration diagram, and FIG. 7B is an enlarged cross-sectional view of a portion X in FIG.

8A and 8B show still another embodiment of the present invention, in which FIG. 8A is a schematic configuration diagram, and FIG. 8B is an enlarged sectional view of a portion X in FIG. 8A.

9A and 9B show an example of a massage machine using the swinging device of the present invention, wherein FIG. 9A is a perspective view and FIG. 9B is an explanatory view of massage to a body.

FIG. 10A is a schematic configuration diagram showing a conventional example,
(B) is a schematic configuration diagram of an operation state.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Extendable part 2 Electrode 3 Voltage application part 4 Actuator 5 Movable joint part 6 Fixed plate 7 Movable plate 8 Swinging device 9 Insulating layer 9a Flexible part

Claims (6)

[Claims] At least three or more actuators provided with electrodes made of a conductive stretchable material on both sides of a stretchable portion made of a sheet-like insulating stretchable material, a voltage application part for applying a voltage to the electrodes, A swing device that is provided at both ends of the actuator and includes a movable joint portion for allowing the actuator to tilt, and a fixed plate and a movable plate coupled to the movable joint portion. An oscillating device characterized in that the movable plate is caused to oscillate by expansion and contraction caused by application. 2. The method according to claim 1, wherein a plurality of elastic portions and electrodes are alternately formed.
The oscillating device according to claim 1, wherein the electrode is connected to the voltage application portion such that the electrode polarity is alternately inverted. 3. The oscillating device according to claim 2, wherein a plurality of layers of the expansion and contraction portion and the electrode are formed on concentric circles. 4. The oscillating device according to claim 1, wherein the actuator is spirally wound, and when the spiral is wound, an insulating layer is provided on the inner electrode to form a continuous layer of the actuator in a direction intersecting with the spiral. . 5. The oscillating device according to claim 4, wherein the insulating layer is formed by a flexible portion. 6. A massage machine equipped with a rocking device comprising the rocking device according to claim 1. Description: