JP2003070267A - Wire actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wire actuator which has a simple structure and is advantageous for being downsized, and particularly being slimmed. SOLUTION: The wire actuator has an actuator unit 10 which is composed of a wire 2 and an actuator body 3 where the wire 2 is attached so as to be capable of moving in its longitudinal direction. The actuator body 3 has a plate-shaped base 4, a vibrator 6 for moving the wire 2 and being in the shape of a roughly oblong plate, two guide rollers 51 and 52 with large diameters, and four guide rollers 53, 54, 55, and 56 with small diameters. The guide roller 53 and the guide roller 54 are in a pair, and the guide roller 55 and the guide roller 56 form a pair. The projection 66 of the vibrator 6 abuts on the wire 2, and when the vibrator 6 vibrates, the wire 2 moves to the right, receiving a frictional force (pressure) from the vibrator 6 repeatedly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire actuator.

[0002]

2. Description of the Related Art A wire actuator for moving a wire in its longitudinal direction is known and is used in, for example, a robot hand.

This wire actuator comprises a wire, a reel on which the wire is wound, a motor (rotary actuator), and a decelerator for decelerating the rotational driving force of the motor and transmitting it to the reel. By rotating the reel, the wire is moved in its longitudinal direction.

However, the conventional wire actuator requires a reel and a speed reducer, and
Since the motor is large, there is a problem that it is difficult to reduce the size and weight, especially the thickness. Therefore, for example, a large space is required to mount a plurality of wire actuators for moving joints, five fingers, and the like, and the weight increases, which makes further miniaturization more difficult.

Further, in the motor, it is necessary for the rotor and the slider to have special magnetic characteristics, which makes it difficult to reduce the translation mechanism of a long stroke, which is disadvantageous in reducing the size and weight.

Further, since the rotary motion is converted into the linear motion, the energy loss accompanying this conversion is large.

There is also a problem that electromagnetic noise of the motor may affect other devices.

[0008]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wire actuator which has a simple structure and is advantageous in downsizing, particularly thinning.

[0009]

The above objects are achieved by the present invention described in (1) to (25) below.

(1) A wire and a vibrating body provided in contact with the wire and provided with a piezoelectric element, wherein the vibrating body vibrates when an AC voltage is applied to the piezoelectric element. A wire actuator configured to repeatedly apply a force to the wire by vibration to move the wire in the longitudinal direction of the wire.

(2) A wire actuator comprising a plurality of actuator units each having a wire and a vibrating body provided in contact with the wire and having a piezoelectric element, wherein the vibrating body is an alternating current to the piezoelectric element. The wire actuator is configured to vibrate when a voltage is applied, and the vibration repeatedly applies a force to the wire to move the wire in a longitudinal direction of the wire.

(3) The wire actuator according to the above (2), wherein the arrangement directions of the wires of the actuator units are substantially the same.

(4) The wire actuator according to the above (2) or (3), wherein each of the actuator units has a plate shape and is arranged so as to overlap in the thickness direction thereof.

(5) The wire actuator according to (2) or (3), wherein each of the actuator units is radially arranged.

(6) The wire actuator according to (2) or (3), wherein the actuator units are radially arranged so that the wires of the actuator units are gathered in the central portion.

(7) The wire actuator according to any one of (1) to (6), wherein the vibrating body has a plate shape.

(8) The wire actuator according to (7), wherein the vibrating body has a substantially rectangular shape.

(9) The wire actuator according to (8), wherein the vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel to each other.

(10) The wire actuator according to (8), wherein the vibrating body is installed such that a long side of the vibrating body and the wire are substantially parallel to each other.

(11) The wire actuator according to any one of the above (1) to (10), which has an arm portion protruding from the vibrating body, and the vibrating body is supported by the arm portion. .

(12) The portions of the vibrating body that come into contact with the wire are provided at two or more places, and the above-mentioned (1) to (1) in which a force is applied to the wire at the plurality of portions.
The wire actuator according to any one of 1).

(13) The wire actuator according to any one of the above (1) to (12), wherein a concave portion is provided in a portion of the vibrating body that comes into contact with the wire.

(14) The vibrating body is contacted with the wire to bend the wire, and the vibrating body is pressed by the restoring force of the wire. The wire actuator according to any one of the above.

(15) The wire actuator according to any one of the above (1) to (14), which has guide means for guiding the wire.

(16) The wire actuator according to any one of the above (1) to (15), which has a separation preventing means for preventing separation of the wire.

(17) The wire actuator according to any one of (1) to (14), further including a plurality of guide rollers for guiding the wire.

(18) The wire actuator according to any one of (1) to (14), wherein a groove is formed on the outer peripheral surface and a plurality of guide rollers for guiding the wire are provided.

(19) The wire actuator according to the above (17) or (18), further comprising movement amount detecting means for detecting the movement amount of the wire by detecting the rotation amount of the guide roller.

(20) The wire actuator according to any one of the above (1) to (18), which has a moving amount detecting means for detecting the moving amount of the wire.

(21) The wire has an annular shape,
The wire actuator according to any one of (1) to (20) above, wherein the wire is configured to circulate.

(22) The wire actuator according to (21), wherein the wire is hooked at a position separated from the vibrating body by a predetermined distance, and the driven roller is rotated by the movement of the wire.

(23) The vibrating body is located on one end side, and the driven roller is located on the other end side.
The wire actuator described in.

(24) The wire actuator according to any one of (21) to (23), wherein the vibrating body is located inside the wire.

(25) Any one of the above (1) to (24), wherein the wire can be moved in either the forward direction or the reverse direction by changing the vibration pattern of the vibrating body. The wire actuator according to claim 1.

[0035]

BEST MODE FOR CARRYING OUT THE INVENTION The wire actuator of the present invention will be described below in detail with reference to the preferred embodiments shown in the accompanying drawings.

FIG. 1 is a plan view showing a first embodiment of the wire actuator of the present invention, FIG. 2 is a side view of the wire actuator shown in FIG. 1, and FIG. 3 is a vibration body of the wire actuator shown in FIG. Perspective view, FIG.
1 is a side view of the vibrating body in the wire actuator shown in FIG. 1 (a view seen from the direction of arrow A in FIG. 3),
FIG. 6 is a plan view showing how the vibrating body in the wire actuator shown in FIG. 2 flexibly vibrates, and FIG. 6 is a plan view showing how the convex portion of the vibrating body in the wire actuator shown in FIG. In the following description, the upper side in FIG. 1 is referred to as “upper”, the lower side is referred to as “lower”, the right side is referred to as “right”, and the left side is referred to as “left”.

The wire actuator 1 shown in these figures is an actuator that directly drives (moves) the wire 2, and is composed of the wire 2 and an actuator body 3 to which the wire 2 is attached so as to be movable in the longitudinal direction thereof. It has a plate-shaped actuator unit 10.

Here, the wire is a flexible long linear body or band, and the cross-sectional shape thereof is not particularly limited, and in addition to circular shape, for example, semicircle, ellipse, semiellipse. ,
It may be a polygon such as a square or a rectangle. Also,
The wire is preferably elastic.

The longitudinal direction of the wire is not limited to the axial direction when the wire is straight, but is a concept including the direction along the wire pattern when the wire is curved or bent. .

As shown in FIGS. 1 and 2, the actuator body 3 includes a plate-shaped base 4, a vibrating body 6 for moving the wire 2, and two large diameter guide rollers (guide means) 51 and 52. It has four small diameter guide rollers (guide means) 53, 54, 55 and 56.
The guide roller 53 and the guide roller 54 form a pair, and the guide roller 55 and the guide roller 56 form a pair.

The vibrating body 6 is installed on one surface (upper side in FIG. 2) of the base 4 in a posture parallel to the base 4, and
The two guide rollers 51 and 52 and the two pairs of guide rollers 53, 54, and 55, 56 are rotatable on one surface (upper side in FIG. 2) of the base 4 in a posture parallel to the base 4. It is installed in. The vibrating body 6 will be described in detail later.

Grooves (disengagement preventing means) 511 and 521 having a concave cross section, for example, in an arc shape are formed on the peripheral surfaces (outer peripheral surfaces) of the guide rollers 51 and 52 along the outer circumferences.

Further, the guide rollers 53, 54, 55 and 56 have grooves (separation preventing means) 531, 541, 55 having V-shaped cross sections on the peripheral surfaces (outer peripheral surfaces), respectively.
1 and 561 are formed along the outer circumference.

Guide roller 51 and guide roller 52
Are arranged in parallel in the left-right direction (the guide roller 51 is on the left side and the guide roller 52 is on the right side) with a predetermined distance therebetween. The groove 511 of the guide roller 51 and the guide roller 5 are
The wire 2 is arranged in each of the two grooves 521.

Further, as shown in FIG. 1, the pair of guide rollers 53, 54 are arranged side by side in the vertical direction (the guide roller 53 is on the lower side and the guide roller 54 is on the upper side), that is, between them, that is, the guide roller 53. Groove 531 and guide roller 5
The wire 2 is arranged between the four grooves 541.

Similarly, a pair of guide rollers 55, 56
Are arranged side by side in the vertical direction (the guide roller 55 is on the lower side and the guide roller 56 is on the upper side), and the wire 2 is disposed between them, that is, between the groove 551 of the guide roller 55 and the groove 561 of the guide roller 56. ing.

These two pairs of guide rollers 53, 54 and 55, 56 are arranged outside the guide rollers 51 and 52, respectively. That is, one pair of guide rollers 53, 54 is arranged on the left side of the guide roller 51, and the other pair of guide rollers 55, 56 is arranged on the right side of the guide roller 52.

The vibrating body 6 is arranged above the guide rollers 51 and 52 so that the convex portion 66 is located between the guide rollers 51 and 52. The vibrating body 6 is installed in a posture inclined by a predetermined angle as shown in FIG. 1, and its convex portion 66 is in contact with the wire 2.

As shown in FIG. 2, the vibrator 6 and the guide rollers 51, 52, 53, 54, 55 and 56 are all substantially on the same straight line when viewed from the lower side in FIG. , And as shown in FIG. 1, all the upper ends of the guide rollers 51, 52, 53 and 55 are
They are arranged so as to be located on substantially the same straight line.

As shown in FIG. 1, the wire 2 is in contact with the convex portion 66 of the vibrating body 6, and the wire 2 is pressed against the guide rollers 51 and 52 by the convex portion 66 and is bent. . Then, the convex portion 66 of the vibrating body 6 is
The wire 2 receives a restoring force (elastic force), that is, a reaction force, and is pressed upward.

When the vibrating body 6 vibrates, the wire 2 repeatedly receives frictional force (pressing force) from the vibrating body 6 and moves to the right side. The vibrating body 6 is smaller (thinner) than an ordinary motor or the like.

In the present invention, by moving the wire 2 by using the vibrating body 6, it is possible to reduce the size of the wire actuator 1 as a whole, in particular, to reduce the thickness (the size in the vertical direction in FIG. 2). The vibrating body 6 will be described below.

As shown in FIG. 3 and FIG.
Has a rectangular plate shape. The vibrating body 6 includes a plate-shaped electrode 61 and a plate-shaped piezoelectric element 62 from the upper side in FIG.
The reinforcing plate 63, the plate-shaped piezoelectric element 64, and the plate-shaped electrode 65 are laminated in this order. Note that FIG.
In FIG. 4, the thickness direction is exaggerated.

Each of the piezoelectric elements 62 and 64 has a rectangular shape and expands / contracts in the longitudinal direction (long side direction) thereof by applying a voltage. Piezoelectric elements 62, 64
Is not particularly limited, the lead zirconate titanate (PZT), crystal, lithium niobate, barium titanate, lead titanate, lead metaniobate, polyvinylidene fluoride, lead zinc niobate, scandium niobate. Various materials such as lead can be used.

These piezoelectric elements 62 and 64 are the reinforcing plate 6
It is fixed to both sides of No. 3 respectively. The reinforcing plate 63 has a function of reinforcing the entire vibrating body 6, and prevents the vibrating body 6 from being damaged by excessive amplitude, external force, or the like. Reinforcement plate 6
The constituent material of 3 is not particularly limited, but is preferably various metal materials such as stainless steel, aluminum or aluminum alloy, titanium or titanium alloy, copper or copper alloy.

The reinforcing plate 63 is preferably thinner (smaller) than the piezoelectric elements 62 and 64.
Thereby, the vibrating body 6 can be vibrated with high efficiency.

The reinforcing plate 63 also has a function as a common electrode for the piezoelectric elements 62 and 64. That is,
An alternating voltage is applied to the piezoelectric element 62 by the electrode 61 and the reinforcing plate 63, and an alternating voltage is applied to the piezoelectric element 64 by the electrode 65 and the reinforcing plate 63.

The piezoelectric elements 62 and 64 repeatedly expand and contract in the longitudinal direction when an AC voltage is applied, and accordingly, the reinforcing plate 63 also repeatedly expands and contracts in the longitudinal direction. That is, when an AC voltage is applied to the piezoelectric elements 62 and 64, the vibrating body 6
3 vibrates (longitudinal vibration) with a small amplitude in the longitudinal direction (long-side direction), and the convex portion 66 longitudinally vibrates (reciprocates), as indicated by the arrows in FIGS. 3 and 4. A convex portion 66 is integrally formed on the right end portion of the reinforcing plate 63 in FIG.

As shown in FIGS. 2, 3 and 4, in this embodiment, a groove (concave portion) 661 is formed at the tip of the convex portion 66 of the vibrating body 6 along the longitudinal direction of the wire 2. The wire 2 is in contact with the inner surface (concave surface) 662 of the groove 661. Thereby, it is possible to prevent the convex portion 66 of the vibrating body 6 from coming off from the wire 2.

As shown in FIGS. 3 and 4, the groove 6
The cross-sectional shape of 61 (inner surface 662) is arcuate. As a result, the wire 2 is located at the center of the convex portion 66, so that the wire 2 can be driven more smoothly and efficiently.

This convex portion 66 is displaced from the center of the reinforcing plate 63 in the width direction (center line 69 shown in FIG. 5) (in the configuration shown, the lower left corner in FIG. 1, that is, in FIG. It is provided on the left side edge of the lower edge 601).

The groove 661 of the convex portion 66 can be formed by, for example, etching (over etching) or the like. By using the etching method, the groove 661 can be formed easily and accurately with a small size.

Further, the arm portion 68 is provided so as to project from the substantially center of the reinforcing plate 63 in the longitudinal direction in a direction substantially perpendicular to the longitudinal direction. At the tip of the arm 68, a bolt 1
A hole 681 into which 3 is inserted is formed.

As shown in FIGS. 1 and 2, the vibrating body 6 is installed so that the inner surface 662 of the convex portion 66 contacts the wire 2 from above.

The vibrating body 6 is installed in a posture substantially parallel to the base 4. This is particularly advantageous in reducing the thickness of the wire actuator 1 as a whole.

The vibrating body 6 is fixed to the screw hole (not shown) provided in the base 4 by the bolt 13 in the vicinity of the hole 681 of the arm portion 68. That is, the vibrating body 6
Are supported by the arms 68. As a result, the vibrating body 6 can freely vibrate, and vibrates with a relatively large amplitude. The vibrating body 6 is installed in a state in which the inner surface 662 of the convex portion 66 is pressed against the wire 2 due to the elasticity of the arm portion 68 and the restoring force of the wire 2.

With the convex portion 66 in contact with the wire 2,
When an alternating voltage is applied to the piezoelectric elements 62 and 64 to vibrate the vibrating body 6, the wire 2 receives a frictional force (pressing force) from the convex portion 66 when the vibrating body 6 extends, and the repeated frictional force is generated. Moves to the right by (pressing force).

At this time, the wire 2 is guided by the guide roller 5
The movement direction is regulated (guided) by 1, 52, 53, 54, 55, and 56, and each groove prevents the guide roller from being separated.

When the wire 2 moves, the guide rollers 51 and 52 rotate without slipping with respect to the wire 2.

Further, since the wire 2 is directly driven (moved) by the vibrating body 6, it is particularly advantageous for weight reduction and size reduction (thinning). Also, the structure can be extremely simplified,
The manufacturing cost can be reduced.

Further, in the present embodiment, since the in-plane vibration of the vibrating body 6 is directly converted into the linear movement (movement) of the wire 2, the energy loss accompanying this conversion is small and the wire 2 is driven with high efficiency. can do.

Further, the vibrating body 6 drives the wire 2 by the frictional force (pressing force) as described above, unlike the case where the vibrating body 6 is driven by a magnetic force like an ordinary motor, so that the driving force is high. Therefore, unlike the present embodiment, the wire 2 can be driven with a sufficient force without using the speed change mechanism (reduction mechanism).

The frequency of the AC voltage applied to the piezoelectric elements 62 and 64 is not particularly limited, but it is preferable that it is approximately the same as the resonance frequency of the vibration (longitudinal vibration) of the vibrating body 6. Thereby, the amplitude of the vibrating body 6 is increased, and the wire 2 can be driven with high efficiency.

As described above, the vibrating body 6 mainly vibrates longitudinally in the longitudinal direction, but it is more preferable to excite the longitudinal vibration and the bending vibration at the same time to cause the convex portion 66 to make an elliptical vibration (elliptical movement). preferable. This makes the wire 2 more efficient.
Can be driven. Hereinafter, this point will be described.

As shown in FIG. 5, the vibrating body 6 is connected to the wire 2.
When driving, the convex portion 66 receives a reaction force from the wire 2 as shown by an arrow in FIG. In the present embodiment, since the convex portion 66 is provided at a position displaced from the center line 69 of the vibrating body 6, the vibrating body 6 receives the reaction force as shown in FIG.
It deforms and vibrates so as to bend in the in-plane direction as shown in. In FIG. 5, the deformation of the vibrating body 6 is exaggerated.

By appropriately selecting the frequency of the applied voltage, the shape and size of the vibrating body 6, the position of the convex portion 66, etc., the resonance frequency of this bending vibration can be made approximately the same as the frequency of longitudinal vibration. By doing so, the longitudinal vibration and the flexural vibration of the vibrating body 6 occur at the same time, the amplitude becomes larger, and the convex portion 66 has, as shown by the alternate long and short dash line in FIG.
Displaces (ellipse vibration) almost along an ellipse.

Thus, in one vibration of the vibrating body 6, when the convex portion 66 feeds the wire 2 in its longitudinal direction, the convex portion 66 is pressed against the wire 2 with a strong force, and when the convex portion 66 returns, Since the frictional force with the wire 2 can be reduced or eliminated, the vibration of the vibrating body 6 can be converted with high efficiency by the movement (linear motion) of the wire 2.

In addition to the advantage that the wire actuator 1 can be made smaller (thinner), the wire 2
Since an ordinary motor is not used to move the motor, there is also an advantage that it does not affect the peripheral devices because there is no or little electromagnetic noise as in an ordinary motor.

When the wire 2 is not driven (stopped state), the frictional force between the convex portion 66 and the wire 2 prevents the wire 2 from moving, that is, holds the wire 2 at a predetermined position. can do.

Further, as shown in FIG. 2, at the time of assembly, there is no component to be assembled from the lower side to the base 4 in FIG. 2, and the component can be assembled from one direction (the upper side in FIG. 2) and assembled. There is also an advantage that can be performed easily and quickly.

Further, the arrangement pattern of the wires 2 can be freely set by the guide means such as the guide roller.

Next, a second embodiment of the wire actuator of the present invention will be described. FIG. 7 is a plan view showing a second embodiment of the wire actuator of the present invention, and FIG.
9 is a side view of the wire actuator shown in FIG.
7 is a perspective view of the vibrating body in the wire actuator shown in FIG. 7, FIGS. 10 and 11 are plan views showing how the vibrating body in the wire actuator shown in FIG. 7 vibrates, and FIG. 12 is shown in FIG. It is a block diagram which shows the circuit structure of a wire actuator. In the following description, the upper side in FIG. 7 is “upper”, the lower side is “lower”,
The right side is called "right" and the left side is called "left".

The wire actuator 1 according to the second embodiment will be described below with a focus on the differences from the first embodiment described above, and the description of the same items will be omitted.

As shown in FIGS. 7, 8 and 12, the wire actuator 1 according to the second embodiment has a wire 2
Amount detecting means 7 for detecting the amount of movement of the
1, a drive circuit 8 including an amplifier circuit 82 and a movement amount control circuit 83, and a switch 9.

As shown in FIGS. 7 and 8, the movement amount detecting means 7 comprises a slit plate 71 having a plurality of slits formed at regular intervals on the outer peripheral portion thereof, and a sensor 72 having a light emitting portion and a light receiving portion. Has been done.

In the present embodiment, as the sensor 72, a light emitting element that irradiates light toward the outer peripheral portion of the slit plate 71 (portion where the slit is formed), and a light emitted from this light emitting element and reflected by the slit plate 71. Although a photoreflector having a light receiving element that receives (photoelectrically converts) the generated light (reflected light) is used, the invention is not limited to this, and for example, a light emitting element that irradiates light toward the outer peripheral portion of the slit plate 71, A photo interrupter or the like having a light receiving element that receives (photoelectrically converts) the light (transmitted light) emitted from this light emitting element and passing through (transmitting) the slit of the slit plate 71 may be used.

The slit plate 71 is fixed to the side surface of the guide roller 51 and rotates integrally with the guide roller 51.

On the other hand, as described in the first embodiment, when the wire 2 moves, the guide roller 51 causes the wire 2 to move.
Since the wire 2 rotates without slipping, the movement amount of the wire 2 corresponds to the rotation amount of the guide roller 51, that is, the rotation amount of the slit plate 71, and the movement speed of the wire 2 is the rotation number of the guide roller 51 ( Rotation speed), that is, the rotation speed (rotation speed) of the slit plate 71.

The sensor 72 is provided on the upper surface of the base 4 in FIG. 8 and in the vicinity of the slit plate 71.

When the wire 2 moves and the slit plate 71 rotates, a pulse (pulse signal) is output from the sensor 72 accordingly. This pulse is supplied (input) to the movement amount control circuit 83 of the drive circuit 8, and the movement amount control circuit 83 counts the pulse and obtains the movement amount of the wire 2 based on the count value (pulse number). . In addition,
The moving speed of the wire 2 can be obtained based on the pulse cycle or the number of pulses within a predetermined time. Information on the moving amount and moving speed of the wire 2 is used for predetermined control and processing.

It should be noted that the movement amount detecting means 7 is not limited to the optical detection, and may be, for example, the magnetic detection.

In addition, in the wire actuator 1, the electrodes of the vibrating body 6 are divided, and a voltage is selectively applied to them to partially drive the piezoelectric element, whereby the in-plane longitudinal / bending is achieved. The vibration of can be selected arbitrarily. That is, the energized state of the vibrating body 6 (vibrating body 6
By changing the vibration pattern), the direction of vibration (vibration displacement) of the convex portion 66 of the vibrating body 6 is changed.
The wire 2 can be moved to either the right side or the left side (the forward direction and the reverse direction) (the moving direction of the wire 2 can be switched). Less than,
This will be specifically described.

As shown in FIG. 9, the vibrating body 6 has a structure in which the piezoelectric element 62 is laminated on the upper side of the reinforcing plate 63 in FIG. 9 and the piezoelectric element 64 is laminated on the lower side thereof, as in the vibrating body 6 of the first embodiment. However, four plate-shaped electrodes 61a, 61b, 61c and 61d are installed on the upper side of the piezoelectric element 62 in FIG.
On the lower side of the piezoelectric element 64 in FIG. 9, four plate-shaped electrodes 65 are provided.
a, 65b, 65c and 65d (electrodes 65a, 65
b, 65c, and 65d are different from those of the first embodiment in that they are provided (not shown and only reference numerals are shown in parentheses). That is, the piezoelectric element 62 is divided (divided) into four rectangular regions almost equally, and the rectangular electrodes 61a, 61b, 6 are respectively divided into the divided regions.
1c and 61d are installed, similarly, the piezoelectric element 64 is divided (divided) into four regions, and rectangular electrodes 65a, 65b, 65c, and 65d are installed in each of the divided regions. . The electrodes 61a, 61
The electrodes 65 are provided on the back sides of the electrodes b, 61c and 61d, respectively.
a, 65b, 65c and 65d are arranged.

One diagonal electrode 61a and 61c
And the electrodes 65a and 65c located on the back side thereof are all electrically connected, and similarly, the electrodes 61b and 61d on the other diagonal line and the electrodes 65b and 65d located on the back side thereof are all It is electrically connected (hereinafter, simply referred to as "connection").

The switch 9 has two interlocking switch parts 91 and 92, and the electrode 61d of the vibrating body 6 is provided.
Is connected to the terminal 97 of the switch unit 91, and the electrode 61a
Is connected to the terminal 98 of the switch unit 92.

The terminal 93 of the switch section 91 and the terminal 96 of the switch section 92 are connected to the output side of the amplifier circuit 82 of the drive circuit 8, respectively, and the amplifier circuit 82 is connected.
Therefore, an alternating voltage is applied to each of the terminals 93 and 96.

Further, the reinforcing plate 63 of the vibrating body 6 is grounded. In addition, the terminal 94 of the switch unit 91
The terminals 95 of the switch section 92 and the switch section 92 are connected to the input side of the oscillation circuit 81 of the drive circuit 8.

As shown in FIGS. 7 and 8, in the vibrating body 6, the short side 601 of the vibrating body 6 and the wire 2 are substantially parallel,
That is, the long side 602 of the vibrating body 6 and the wire 2 are installed to be substantially vertical.

The reinforcing plate 63 has two arms 68.
The two vibrating bodies 6 are provided symmetrically with each other.
In the vicinity of the eight holes 681, the bolts 13 are respectively fixed to screw holes (not shown) provided in the base 4.

The convex portion 66 is provided on the lower short side 601 side and in the widthwise center of the reinforcing plate 63.

The electrodes 61a, 61c, 65a and 65c of the vibrating body 6 are energized, and these electrodes 61a, 61c, 6c are
When an AC voltage is applied between the reinforcing plates 63 and the electrodes 5a and 65c, as shown in FIG.
The portions corresponding to 1a, 61c, 65a and 65c are repeatedly expanded and contracted in the direction of arrow a, whereby the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the oblique direction shown by arrow b, or As indicated by c, an elliptic vibration (elliptic motion) occurs. The wire 2 is an electrode 61 a of the vibrating body 6,
When the portions corresponding to 61c, 65a, and 65c extend, a frictional force (pressing force) is received from the convex portion 66, and the repeated frictional force (pressing force) moves to the left side in FIG.

On the contrary to the above, the electrodes 61b, 61b of the vibrating body 6 are
d, 65b and 65d are energized, and these electrodes 61
When an AC voltage is applied between the b, 61d, 65b and 65d and the reinforcing plate 63, as shown in FIG. 11, the portions of the vibrating body 6 corresponding to the electrodes 61b, 61d, 65b and 65d respectively. By repeatedly expanding and contracting in the direction of the arrow a, the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the oblique direction indicated by the arrow b, or makes an elliptical vibration (elliptical movement) as indicated by the arrow c. . The wire 2 has a frictional force (pressing force) from the convex portion 66 when the portions of the vibrating body 6 corresponding to the electrodes 61b, 61d, 65b and 65d extend.
In response to this, the frictional force (pressing force) is repeated to move to the right side in FIG.

10 and 11, the deformation of the vibrating body 6 is exaggerated and the arm portion 68 is shown.
Are not shown.

Here, the shape and size of the vibrating body 6 and the position of the convex portion 66 are appropriately selected, and the resonance frequency of the flexural vibration is set to be approximately the same as the longitudinal vibration frequency.
The vertical vibration and the flexural vibration occur at the same time, and the convex portion 66 can be displaced (elliptical vibration) substantially along an ellipse, as indicated by the alternate long and short dash line in FIG. Further, as is conventionally known, the longitudinal vibration and the bending vibration are separately driven with their phases being shifted, so that the ratio of the major axis to the minor axis of the elliptical vibration (major axis / major axis).
(Minor diameter) can be changed.

Next, the operation of the wire actuator 1 will be described with reference to FIG. When the power switch is in the ON state and there is an instruction of the moving direction and the moving amount of the wire 2, the switch 9 and the moving amount control circuit 83 of the drive circuit 8 operate based on the instruction.

In the case of an instruction to move the wire 2 to the upper side in FIG. 12, as shown in FIG. 12, the terminals 93 and 97 of the switch 9 are connected and the terminals 95 and 98 are connected. The switch 9 is switched. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrode 6 of the vibrating body 6 are
1b, 61d, 65b and 65d are electrically connected, and the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 are electrically connected to the input side of the oscillation circuit 81 of the drive circuit 8.

The oscillation circuit 81 and the amplification circuit 82 of the drive circuit 8 are controlled by the movement amount control circuit 83, respectively.

The AC voltage output from the oscillation circuit 81 is
The electrodes 61b, 61d, and 65b are amplified by the amplifier circuit 82.
And 65d and the reinforcing plate 63. Thereby, as described above, the electrodes 61b, 61b of the vibrating body 6 are
The portions corresponding to d, 65b, and 65d repeatedly expand and contract, and the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the diagonal direction shown by the arrow b in FIG. 11, or as shown by the arrow c, Elliptical vibration (elliptic motion), wire 2
When the portions of the vibrating body 6 corresponding to the electrodes 61b, 61d, 65b, and 65d are extended, a frictional force (pressing force) is received from the convex portion 66, and the repeated frictional force (pressing force) causes an upward movement in FIG. Moving.

At this time, the electrodes 61a, 6 not driven
1c, 65a and 65c serve as detection electrodes, respectively, and are used to detect the voltage (induced voltage) induced between the electrodes 61a, 61c, 65a and 65c and the reinforcing plate 63.

The detected induced voltage (detection voltage) is
Based on the detected voltage, the oscillator circuit 81 outputs an AC voltage having a frequency (resonance frequency) at which the amplitude of the vibrating body 6 is maximum, that is, the detected voltage is maximum, based on the detected voltage. Thereby, the wire 2 can be moved efficiently.

Further, a pulse (pulse signal) is input from the sensor 72 of the movement amount detecting means 7 to the movement amount control circuit 83. The movement amount control circuit 83 counts the pulses, obtains the movement amount (actual value) of the wire 2 based on the count value (the number of pulses), and calculates the value and the instructed movement amount of the wire 2 (target value). Value), and the oscillation circuit 81 and the amplification circuit 82 are operated to drive the vibrating body 6 and move the wire 2 until the actual movement amount of the wire 2 reaches the instructed movement amount.

On the contrary, in the case of an instruction to move the wire 2 to the lower side in FIG. 12, the terminal 94 of the switch 9
And the terminal 97 are connected, and the switch 9 is switched so that the terminal 96 and the terminal 98 are connected. As a result, the drive circuit 8
Of the amplifier circuit 82 and the electrodes 61a, 6 of the vibrating body 6
1c, 65a and 65c are electrically connected, and the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are electrically connected to the input side of the oscillation circuit 81 of the drive circuit 8. Subsequent operations are the same as in the case of the instruction to move the wire 2 to the upper side in FIG. 12, so the description thereof will be omitted.

According to the wire actuator 1 of the second embodiment, the same effect as that of the above-described first embodiment can be obtained.

The wire actuator 1 can detect the moving amount and moving speed of the wire 2 and can use the information to control various kinds.

Further, since the wire 2 can be moved in both forward and backward directions (both left and right directions), the versatility is wide.

Further, since the wire 2 can be moved in both directions by the single vibrating body 6, the number of parts can be reduced and the manufacturing is easy as compared with the case where a dedicated vibrating body is provided for each moving direction. It is also advantageous for downsizing the wire actuator 1 as a whole.

Next, a third embodiment of the wire actuator of the present invention will be described. FIG. 13 is a plan view showing a third embodiment of the wire actuator of the present invention. In the following description, the upper side in FIG.
The lower side is called "lower", the right side is called "right", and the left side is called "left".

The wire actuator 1 according to the third embodiment will be described below, focusing on the differences from the second embodiment described above, and the description of the same matters will be omitted.

As shown in the figure, in the wire actuator 1 of the third embodiment, in the vibrating body 6, the long side 602 of the vibrating body 6 and the wire 2 are substantially parallel to each other, that is, the short side 601 of the vibrating body 6. The wire 2 is installed so as to be substantially vertical.

As a result, the wire actuator 1 can be made smaller (smaller in the vertical direction).

Further, the arm portion 68 is located above the reinforcing plate 63.
The vibrating body 6 is provided with a hole 68 in the arm portion 68 thereof.
In the vicinity of 1, a bolt 13 is fixed to a screw hole (not shown) provided in the base 4.

The convex portion 66 is provided at the right end of the long side 602 below the reinforcing plate 63.

According to the wire actuator 1 of the third embodiment, the same effect as that of the second embodiment described above can be obtained.

Although not shown and described, the third
Also in the embodiment, it is preferable to have the movement amount detecting means 7 in the above-described second embodiment.

Next, a fourth embodiment of the wire actuator of the present invention will be described. FIG. 14: is a top view which shows 4th Embodiment of the wire actuator of this invention. In the following description, the upper side in FIG. 14 is “upper”,
The lower side is called "lower", the right side is called "right", and the left side is called "left".

The wire actuator 1 of the fourth embodiment will be described below, focusing on the differences from the third embodiment described above, and the description of the same matters will be omitted.

As shown in the figure, in the wire actuator 1 of the fourth embodiment, the convex portions 66 of the vibrating body 6 are provided at a plurality of locations (two locations in the illustrated configuration) of the reinforcing plate 63. The one convex portion 66 is provided at the right end of the lower long side 602 of the reinforcing plate 63, and the other convex portion 66.
Is provided at the left end of the long side 602 below the reinforcing plate 63.

In this vibrating body 6, the right convex portion 66 is located between the guide roller 51 and the guide rollers 55 and 56, and the left convex portion 66 is located between the guide roller 51 and the guide rollers 53 and 54. Are arranged as follows.

Further, the guide roller 51 is located at the center of the vibrating body 6 in the longitudinal direction, and the guide rollers 53 and 54,
The guide rollers 55 and 56 are arranged at substantially the same distance from the guide roller 51.

The convex portions 66 of the vibrating body 6 are in contact with the wire 2, and the wire 2 is pressed against the guide rollers 51, 53 and 55 by the convex portions 66 and bent. And each convex part 66 of the vibrating body 6 is respectively
The wire 2 receives a restoring force (elastic force), that is, a reaction force, and is pressed upward.

When the vibrating body 6 vibrates, the wire 2 alternately receives frictional force (pressing force) from each convex portion 66 of the vibrating body 6 and moves to the right or left side.

According to the wire actuator 1 of the fourth embodiment, the same effect as that of the above-described third embodiment can be obtained.

In the wire actuator 1, the two protruding portions 66 of the vibrating body 6 alternately apply frictional force (pressing force) to the wire 2 to move the wire 2, so that one protruding portion 66 is formed. The wire 2 can be moved with a strong force as compared with the case where the wire 2 is moved by.

Although illustration and description are omitted, the fourth
Also in the embodiment, it is preferable to have the movement amount detecting means 7 in the above-described second embodiment.

Next, a fifth embodiment of the wire actuator of the present invention will be described. FIG. 15 is a plan view showing a fifth embodiment of the wire actuator of the present invention, showing a state in which one base is removed, FIG.
FIG. 17 is a side view of the wire actuator shown in FIG. 15, and FIG. 17 is a sectional view taken along the line BB in FIG. In addition,
In the following description, the upper side in FIG. 15 is referred to as “upper”, the lower side is referred to as “lower”, the right side is referred to as “right”, and the left side is referred to as “left”.

Hereinafter, the wire actuator 1 of the fifth embodiment will be described focusing on the differences from the second embodiment described above, and the description of the same matters will be omitted.

As shown in these figures, the wire actuator 1 of the fifth embodiment has a plurality of plate-shaped actuator units (three actuator units 10a, 10b and 10c in the illustrated configuration).

In this case, the wire actuator 1 is
It has a pair of plate-shaped bases 41 and 42 which are arranged so as to be parallel to each other, and these bases 41 and 42 are used for the respective actuator units 10a, 10b and 10c.
It is shared by. The base 41 is arranged at the left end in FIG. 17, and the base 42 is arranged at the right end in FIG.

As shown in FIGS. 16 and 17, in each actuator unit 10a, 10b and 10c, the arrangement direction of each wire 2 is substantially the same, and the thickness of the vibrating body 6 (actuator unit 10a, 10b and 10c) is large. It is arranged so as to overlap in the vertical direction. The actuator units 10a, 10b and 10c are shown in FIG.
7, the actuator units 10a, 10b, and 10c are arranged in this order from left to right. Further, as shown in FIG. 17, the wires 2 are arranged in a row in the horizontal direction in FIG.

In this way, each actuator unit 10
By stacking a, 10b, and 10c, each wire 2 can be concentrated (integrated).

As shown in FIG. 17, at a position corresponding to the hole 681 of the arm portion 68 on the right side of FIG. 15 of the vibrating body 6, and between the base 41 and the vibrating body 6 of the actuator unit 10a, the actuator unit 10a is provided. A hole 145 is provided between the vibrating body 6 and the vibrating body 6 of the actuator unit 10b, between the vibrating body 6 of the actuator unit 10b and the vibrating body 6 of the actuator unit 10c, and between the actuator unit 10c and the base 42. Spacers 141, 142, 143 and 144
Is installed. Similarly, four spacers (not shown) having holes are also provided at positions corresponding to the holes 681 of the arm portion 68 on the left side in FIG. 15 of the vibrating body 6.

Two bolts 15 (one bolt not shown) are inserted into the hole 411 provided in the base 41, the hole 145 of each spacer 141 to 144, and the hole 681 of each arm 68, respectively. , The screw 6 is screwed into a screw hole 421 provided in the base 42, and each of the vibrating bodies 6 is fixed by the two bolts 15.

Each actuator unit 10a-
Since the structure and operation of 10c are almost the same as those of the second embodiment described above, the description thereof will be omitted.

According to the wire actuator 1 of the fifth embodiment, the same effect as that of the second embodiment described above can be obtained.

In this wire actuator 1, since the actuator units 10a to 10c overlap each other in the thickness direction of the vibrating body 6, the wire actuator 1 can be made smaller.

Further, in this wire actuator 1, since the respective actuator units 10a to 10c are plate-shaped (planar), they can be easily stacked (laminated) and assembled easily. it can.

Although illustration and description are omitted, the fifth
Also in the embodiment, each actuator unit 10
It is preferable that a, 10b and 10c have the movement amount detecting means 7 in the second embodiment described above.

Next, a sixth embodiment of the wire actuator of the present invention will be described. FIG. 18 is a cross-sectional view showing a sixth embodiment of the wire actuator of the present invention (a view corresponding to FIG. 17 of the fifth embodiment).

Hereinafter, the wire actuator 1 of the sixth embodiment will be described focusing on the differences from the second embodiment described above, and the description of the same matters will be omitted.

As shown in the figure, the wire actuator 1 of the sixth embodiment has a plurality of plate-shaped (four in the illustrated configuration) actuator units 10.

In each actuator unit 10, the arrangement directions of the wires 2 are substantially the same, and the wires 2 are gathered at the center, that is, the convex portions 66 of the vibrating body 6.
They are radially (90 ° apart in the illustrated configuration) centered on the (wire 2) side.

Since the structure and operation of each actuator unit 10 are almost the same as those of the second embodiment, the description thereof will be omitted.

According to the wire actuator 1 of the sixth embodiment, the same effect as that of the second embodiment described above can be obtained.

In this wire actuator 1, the wires 2 can be concentrated by arranging the actuator units 10 radially.

Although illustration and description are omitted,
Also in the embodiment, each actuator unit 10
Preferably has the movement amount detecting means 7 in the second embodiment described above.

Further, in the present embodiment, the angles (center angles) between the actuator units 10 are equal angles,
In the present invention, the angles need not be equal.

Next, a seventh embodiment of the wire actuator of the present invention will be described. FIG. 19 is a plan view showing a seventh embodiment of the wire actuator of the present invention.

The wire actuator 1 of the seventh embodiment will be described below, focusing on the differences from the second embodiment described above, and the description of the same items will be omitted.

As shown in the figure, the wire actuator 1 of the seventh embodiment is an actuator for directly driving (moving) the annular wire 2, and the annular wire 2
And an actuator body 3 to which the wire 2 is attached so as to be movable in the direction along the pattern.

The actuator body 3 is composed of a plate-shaped base 4
It has a vibrating body 6 for moving the wire 2, guide rollers (guide means) 51, 52, 57, 58, 59, 111 and 112, and a driven roller 12.

The vibrating body 6 is installed on one surface of the base 4 in a posture parallel to the base 4, and each guide roller 5
1, 52, 57, 58, 59, 111 and 112 are
Each of them is rotatably installed on the one surface of the base 4 in a posture parallel to the base 4.

On the other hand, the driven roller 12 is rotatably installed at a position separated from the vibrating body 6 (base 4) by a predetermined distance in a posture parallel to the base 4, the vibrating body 6 and each guide roller. That is, the vibrating body 6 (base 4) is
The driven roller 12 is located on one end side, and the driven roller 12 is located on the other end side.

The wire 2 is wound around the driven roller 12 and the driven roller 12 and the guide rollers 51, 5
2, 57, 58, 59, 111 and 112,
It is movably held in the illustrated pattern (shape), and its moving direction is regulated (guided). That is, the vibration of the vibrating body 6 causes the wire 2 to circulate while holding the illustrated pattern.

Further, the guide rollers 51, 52, 57, 5
8, 59 and the peripheral surface (outer peripheral surface) of the driven roller 12,
Grooves (disengagement prevention means) 511, 521, 57, respectively
1, 581, 591 and 121 are formed along the outer circumference, and the wire 2 has the grooves 511, 521, 57.
1, 581, 591 and 121. This prevents the wire 2 from being separated from the driven roller 12 and each guide roller.

The vibrating body 6 is located inside the wire 2, and the convex portion 66 of the vibrating body 6 is in contact with the inner side of the wire 2. Thereby, the wire actuator 1 can be downsized as compared with the case where the vibrating body 6 is provided outside the wire 2.

When the wire 2 moves (circulates) in the direction of the arrow d due to the vibration of the vibrating body 6, the driven roller 12 rotates counterclockwise in FIG. 19, and the driven roller 12 (via the driven roller 12 Driving force (output) can be taken out.

On the contrary, the vibration of the vibrating body 6 causes the wire 2
Moves (circulates) in the direction of arrow e, the driven roller 12
Rotates clockwise in FIG. 19, and similarly, the driving force (output) from the driven roller 12 (via the driven roller 12).
Can be taken out.

According to the wire actuator 1 of the seventh embodiment, the same effect as that of the second embodiment described above can be obtained.

Although illustration and description are omitted,
Also in the embodiment, it is preferable to have the movement amount detecting means 7 in the above-described second embodiment.

Further, in the present embodiment, the vibrating body 6 includes the short side 601 of the vibrating body 6 and the wire 2 (the convex portion 66 of the wire 2).
Of the vibrating body 6 and the wire 2 (the tangent line of the portion where the convex portion 66 of the wire 2 is in contact) are substantially perpendicular to each other. The vibrator 6 is installed, but is not limited to this.
May be installed substantially parallel to each other, that is, the short side 601 of the vibrating body 6 and the wire 2 (a tangent line at a portion where the convex portion 66 of the wire 2 is in contact) are substantially vertical.

Further, as in the above-described fourth embodiment, the vibrating body 6 may be provided with a portion contacting the wire 2, that is, a convex portion 66, at two or more locations.

Further, as in the fifth and sixth embodiments described above, a plurality of actuator units may be provided and, for example, they may be arranged so as to overlap in the thickness direction or be arranged radially. Good.

The wire actuator of the present invention has been described above based on the illustrated embodiments, but the present invention is not limited to these, and the structure of each part may be any structure having the same function. Can be replaced with one.

Further, the wire actuator of the present invention may be a combination of any two or more configurations (features) of the above embodiments.

Further, in the present invention, the shape and structure of the vibrating body are not limited to those shown in the drawings, and any shape that can drive (move) the wire may be used. For example, it may have one piezoelectric element, one that does not have a reinforcing plate, or one that has a shape in which the width gradually decreases toward the portion in contact with the wire.

In the above embodiment, the vibrating body 6 is 1
One actuator unit 10 is provided with one, but in the present invention, one actuator unit 10 may be provided with a plurality of vibrators 6.

The use of the wire actuator of the present invention is not particularly limited. For example, when the wire actuator is provided with a plurality of actuator units, it may be used to pull (drive) a finger of a robot.

[0178]

As described above, according to the present invention, the wire is moved by using the vibrating body, and in particular, the wire is directly driven by using the vibrating body, whereby the size of the wire actuator as a whole is reduced, and particularly, the wire actuator is made thin. Can be realized.

Further, the structure can be simplified and the manufacturing cost can be reduced. Further, since no ordinary motor is used, there is no or no electromagnetic noise, so that it is possible to prevent the influence on peripheral devices.

[Brief description of drawings]

FIG. 1 is a plan view showing a first embodiment of a wire actuator of the present invention.

FIG. 2 is a side view of the wire actuator shown in FIG.

FIG. 3 is a perspective view of a vibrating body in the wire actuator shown in FIG.

4 is a side view of a vibrating body in the wire actuator shown in FIG. 1 (a view seen from the direction of arrow A in FIG. 3).

5 is a plan view showing how the vibrating body of the wire actuator shown in FIG. 1 undergoes flexural vibration. FIG.

6 is a plan view showing a state in which a convex portion of a vibrating body in the wire actuator shown in FIG. 1 makes an elliptical motion.

FIG. 7 is a plan view showing a second embodiment of the wire actuator of the present invention.

8 is a side view of the wire actuator shown in FIG. 7. FIG.

9 is a perspective view of a vibrating body in the wire actuator shown in FIG.

FIG. 10 is a plan view showing how the vibrating body of the wire actuator shown in FIG. 7 vibrates.

FIG. 11 is a plan view showing how the vibrating body of the wire actuator shown in FIG. 7 vibrates.

12 is a block diagram showing a circuit configuration of the wire actuator shown in FIG.

FIG. 13 is a plan view showing a third embodiment of the wire actuator of the present invention.

FIG. 14 is a plan view showing a fourth embodiment of the wire actuator of the present invention.

FIG. 15 is a plan view showing a fifth embodiment of the wire actuator of the present invention, showing a state in which one base is removed.

16 is a side view of the wire actuator shown in FIG.

17 is a cross-sectional view taken along the line BB in FIG.

FIG. 18 is a sectional view showing a sixth embodiment of a wire actuator of the present invention (a view corresponding to FIG. 17 of the fifth embodiment).

FIG. 19 is a plan view showing a wire actuator according to a seventh embodiment of the invention.

[Explanation of symbols]

1 wire actuator 10, 10a-10c actuator unit 2 wires 3 Actuator body 4, 41 base 411 holes 42 base 421 screw hole 51-59 Guide roller 511-591 groove 6 vibrating body 601 short side 602 long side 61, 65 electrodes 61a to 61d electrodes 65a-65d electrodes 62, 64 Piezoelectric element 63 Reinforcement plate 66 convex 661 groove 662 inner surface 68 Arms 681 hole 69 center line 7 Moving amount detection means 71 slit plate 72 sensor 8 drive circuit 81 oscillator circuit 82 amplifier circuit 83 Movement amount control circuit 9 switch 91, 92 switch 93 to 98 terminals 111, 112 Guide roller 12 Driven roller 121 groove 13 volt 141-144 spacer 145 holes 15 volts

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 5H680 AA19 BB01 BB13 BC08 CC02                       DD01 DD15 DD23 DD34 DD39                       DD63 DD82 DD92 DD95 DD97                       EE10 EE20 EE22 FF04 FF16                       FF24 FF26 FF30 FF33 GG01                       GG22 GG25 GG27

Claims (25)

[Claims] 1. A wire and a vibrating body provided in contact with the wire and provided with a piezoelectric element, wherein the vibrating body vibrates by applying an AC voltage to the piezoelectric element, and the vibrating body vibrates. The wire actuator is configured to move the wire in the longitudinal direction of the wire by repeatedly applying a force to the wire. 2. A wire actuator comprising a plurality of actuator units each having a wire and a vibrating body provided in contact with the wire and having a piezoelectric element, wherein the vibrating body applies an AC voltage to the piezoelectric element. The wire actuator is configured to vibrate by applying a force, and the vibration repeatedly applies a force to the wire to move the wire in a longitudinal direction of the wire. 3. The wire actuator according to claim 2, wherein the arrangement directions of the wires of the actuator units are substantially the same. 4. The wire actuator according to claim 2, wherein each of the actuator units has a plate shape and is arranged so as to overlap in the thickness direction thereof. 5. The wire actuator according to claim 2, wherein the actuator units are radially arranged. 6. The wire actuator according to claim 2, wherein the respective actuator units are radially arranged so that the respective wires of the respective actuator units are gathered in a central portion. 7. The wire actuator according to claim 1, wherein the vibrating body has a plate shape. 8. The wire actuator according to claim 7, wherein the vibrating body has a substantially rectangular shape. 9. The vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel to each other.
The wire actuator described in. 10. The wire actuator according to claim 8, wherein the vibrating body is installed such that a long side of the vibrating body and the wire are substantially parallel to each other. 11. The wire actuator according to claim 1, further comprising an arm portion protruding from the vibrating body, the vibrating body being supported by the arm portion. 12. The wire actuator according to claim 1, wherein a portion of the vibrating body that comes into contact with the wire is provided at two or more places, and a force is applied to the wire at the plurality of portions. . 13. The wire actuator according to claim 1, wherein a recess is provided in a portion of the vibrating body that abuts the wire. 14. The vibrating body according to claim 1, wherein the vibrating body is in contact with the wire to bend the wire, and the restoring force of the wire presses the vibrating body. Wire actuator. 15. The wire actuator according to claim 1, further comprising guide means for guiding the wire. 16. The wire actuator according to claim 1, further comprising separation preventing means for preventing separation of the wire. 17. The wire actuator according to claim 1, further comprising a plurality of guide rollers that guide the wire. 18. The wire actuator according to claim 1, further comprising a plurality of guide rollers each having a groove formed on an outer peripheral surface thereof to guide the wire. 19. The wire actuator according to claim 17, further comprising movement amount detection means for detecting a movement amount of the wire by detecting a rotation amount of the guide roller. 20. The wire actuator according to claim 1, further comprising a moving amount detecting means for detecting a moving amount of the wire. 21. The wire has an annular shape, and the wire is configured to circulate.
The wire actuator according to any one of 1. 22. The wire actuator according to claim 21, further comprising a driven roller which is hooked on the wire at a position separated from the vibrating body by a predetermined distance and which is rotated by movement of the wire. 23. The wire actuator according to claim 22, wherein the vibrating body is located on one end side, and the driven roller is located on the other end side. 24. The wire actuator according to claim 21, wherein the vibrating body is located inside the wire. 25. The wire according to claim 1, wherein the wire can be moved in either a forward direction or a reverse direction by changing a vibration pattern of the vibrating body. Wire actuator.