JP2003247485A - Variable-structure actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a variable-structure actuator, particularly having a displacement-extension function supplementing a shortage in the amount of displacement (amount of distortion) of a solid actuator by a structural contrivance, referring to what is called an intelligent structural system, in which a solid actuator of a distribution system is built in a structure to attain optimization in a shape, or reduction in oscillation and noises. <P>SOLUTION: The variable-structure actuator 20 has a structure having an internal structure in which polygonal cells 4 of at least quadrangles are connected in a dispersed arrangement. In the above cells 4, intersections or their vicinal positions of mutually adjacent cells 4 are connected with a solid actuator 6 processed into a sheet, film, membrane, or wire rod, and the cells 4 are elastically deformed by an operational displacement of the actuator 6. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a so-called intelligent structural system in which a distributed solid-state actuator is incorporated in a structure to optimize the shape and reduce vibration and noise. The present invention relates to a variable structure actuator having a displacement enlargement function that compensates for a displacement (strain) amount of a solid actuator.

[0002]

2. Description of the Related Art In recent years, when a distributed type sensor or actuator is incorporated in a structure, the amount of vibration or deformation of the structure caused by disturbance or the like is detected, and the detected information is used to control the vibration or shape of the structure. Research and development of the so-called intelligent structural system is being actively conducted.

In the development of sensors, in particular, the progress of health monitoring technology that enables the detection of cracks and the identification of damage positions by embedding a small-diameter optical fiber sensor in a structure is remarkable. Also, a technique has been developed for monitoring the vibration distribution of a thin plate using an inexpensive film sensor that can be cut into an arbitrary shape and attached to a structure.

It has been said that the sensor technology in such an intelligent structural system controls the vibration and shape of a structure from the viewpoint of evaluating the structural soundness of artificial satellites, aircrafts, high-speed vehicles, high-rise buildings, etc. From the point of view, it is extremely important, and practical application is awaited.

On the other hand, in the development of an actuator in an intelligent structure system, in order to realize a system for optimizing the shape and reducing vibration and noise by a sensor and an actuator incorporated in a structure, a high-performance solid actuator material is used. -It is necessary to develop elements and optimal control system technology. In the research of actuator materials and devices, high performance has been steadily promoted through the development of material processes such as wire rods, thinning, and functional gradients.

[0006]

By the way, the displacement amount (strain amount) of the actuator is often insufficient for controlling the deformation of the structure in the intelligent structure system. In the research of intelligent structure systems, there are many examples of research using shape memory alloys and piezoelectric elements as actuator materials / elements.
In the past, actuators were mostly used by adhering a sheet-shaped or wire-shaped element to a structure, and the amount of deformation of the structure could not exceed the amount of displacement (strain amount) of the actuator.

Vibration and sound power control can be controlled with a comparatively small displacement amount, but when controlling the shape deformation of a wing camber in an aircraft or the operation of a robot actuator, the displacement amount (strain amount) is not particularly significant. Sufficient and there is a strong need for early development of actuator materials and devices that meet the requirements. However, it takes a long time to develop actuator materials and elements, and it is not possible to expect dramatic performance improvements in a short time.

Generally, the displacement amount of the piezoelectric element is only about 0.08% when converted into strain, and the operating strain of the shape memory alloy wire is generally about 2 to 3% (practical use). Operation distortion). The shape memory alloy wire has a large operating strain as compared with the piezoelectric element, but it is not a satisfactory value, and a larger operating strain is desired.

A displacement magnifying mechanism using a lever has been well known as a method for compensating for the insufficient displacement amount (strain amount) of the actuator. A typical conventional example is shown in FIG. The conventional example (precision positioning technology, published by Kogyo Kogyo Kaisha, Ltd., p45) shown in Fig. 10 consists of an actuator mounted on the base and a displacement magnifying mechanism of several stages. Accordingly, a large amount of displacement can be obtained. On the other hand, there is a problem that the generated force decreases according to the number of steps and that the structure rigidity decreases in the multi-step mechanism.

The present invention has been made in view of the above-mentioned conventional circumstances, and the purpose thereof is to construct a structure so as to make up for a displacement (strain) shortage of the actuator. An object of the present invention is to provide a variable structure actuator in which the actuator and the structure are integrally dispersed.

[0011]

SUMMARY OF THE INVENTION The present invention has been made in view of the conventional problems as described above. The invention according to claim 1 is capable of displacing both ends toward and away from each other. In the cell having the closed space in which the opposite end portions of the movable pieces facing each other, which are displaceable in a direction in which the intermediate position of the movable portion approaches and separates from the straight line connecting the both end portions, are extended or contracted or expanded. A solid actuator that can be actively deformed in both directions is arranged, and both ends of this solid actuator are connected to both ends of the movable piece or in the vicinity of both ends.

According to a second aspect of the present invention, in the variable structure actuator according to the first aspect, a second solid state actuator having an operation direction intersecting with an operation direction of the solid state actuator is arranged in the cell. However, both ends of the second solid actuator are connected to the facing movable pieces.

According to a third aspect of the present invention, the both ends are displaceable in the direction toward and away from each other, and the intermediate positions of the both ends are displaceable in the direction toward and away from the straight line connecting the both ends. The movable piece includes a plurality of cells having a closed space in which both ends are connected to each other, and an expandable structure in which the plurality of cells are connected linearly or in a plane is provided. A solid actuator that is actively deformable in the expansion direction, the contraction direction, or both directions is arranged in a desired cell, and both end sides of this solid actuator are connected to both end positions of the movable piece or near both end positions. It is a composition.

According to a fourth aspect of the present invention, in the variable structure actuator according to the third aspect, a second solid-state actuator whose operation direction is a direction intersecting with the operation direction of the solid-state actuator is provided in a desired cell. The second solid-state actuator is arranged and both ends of the second solid-state actuator are connected to the facing movable pieces.

According to a fifth aspect of the present invention, the two end portions are opposed to each other so that they can be displaced toward and away from each other and the intermediate position of the both end portions can be displaced toward and away from a straight line connecting the both end portions. A structure in which a plurality of cells each having a closed space in which the both ends of the movable piece are connected to each other are connected to each other and arranged in a tubular shape is provided, and in a desired cell in the structure, an extending direction or a contracting direction is provided. Alternatively, a solid actuator that is actively deformable in both directions is arranged, and both ends of this solid actuator are connected to the positions of both ends of the movable piece or in the vicinity of the positions of both ends.

According to a sixth aspect of the invention, in the variable structure actuator according to any one of the first to fifth aspects, the displacement in the vicinity of the central portion of the movable piece is increased as compared with the operation displacement amount of the solid state actuator. The solid actuator and the movable piece are connected at a predetermined angle so as to be reduced.

According to a seventh aspect of the invention, in the variable structure actuator according to any one of the first to sixth aspects, the cells have a line-symmetrical shape.

According to an eighth aspect of the present invention, in the variable structure actuator according to any one of the first to seventh aspects, the solid-state actuator is a film-shaped or thin-film-shaped or linearly processed piezoelectric material, a shape memory alloy, or It is made of a magnetostrictive material.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is an explanatory view showing the basic structure of a variable structure actuator 1 according to an embodiment of the present invention.
FIG. 1A is a partially enlarged explanatory view of an internal cell, and FIG. 1B is an explanatory view showing a state of deformation of the cell due to an operation displacement of an actuator.

In the variable structure actuator 1, basically, both ends A and B are displaceable in a direction of approaching and separating from each other, and the intermediate positions C and D of the ends A and B are the ends A and B.
In a closed space 4 of a cell 21 having a closed space 4 in which both ends A and B of a pair of opposed movable pieces 2 and 3 which can be displaced toward and away from a straight line connecting B are connected. , A solid actuator 6 that can be actively changed in the extending direction, the contracting direction, or both directions is arranged, and the both ends of the solid actuator 6 are located at both ends A, B of the movable piece 2 or 3 or both ends A. , B is connected near the position of B.

More specifically, the closed space 4 in the present embodiment is a combination of a plurality (four in the present embodiment) of elastic structure thin plates (movable members) 21a, 21b, 21b and 21d. This is a parallelogram-shaped (quadrilateral) space whose periphery is closed (upper and lower open). Then, one movable piece 2 is configured by a combination of the elastic structure thin plates 21a and 21d.
The other movable piece 3 is formed by the combination of b and 21c.

The pair of movable pieces 2 and 3 have a symmetrical structure, and both ends A and B of the movable pieces 2 and 3 are connected to the connecting portions of the thin plates (movable members) 21a and 21b and the thin plates (movable members). 21
The connection portion of c and 21d corresponds to this. Hinge portions C and D are provided between the centers of the pair of movable pieces 2 and 3.

The hinge portion C includes the thin plates 21a and 21a.
d corresponds to the connection portion, and the hinge portion D is the thin plates 21b, 2
1c corresponds to the connecting portion. It is desirable that the hinge portions C and D have a structure that is easily bent. For example, a thin structure or an appropriate hinge structure such as a structure in which an elastic member such as rubber is interposed can be adopted. .

In the above description, each thin plate 21a,
Although it has been described that the movable pieces 2 and 3 are formed by combining separate members 21b, 21c and 21d, the thin plates 21a, 21b, 21c and 21d are each a rectangular cell 21.
Are integrally molded in advance to form each side of the
B and the hinge portions C and D may have a bendable hinge structure. In addition, a plurality of cells 21 are linearly arranged and / or
Alternatively, for example, unevenness or the like may be formed on each side member (that is, each of the thin plates 21a to 21d) or each corner (that is, each of the ends A and B, the hinges C and D) that configures the cell 21 so that they can be combined in a planar manner. It is also possible to provide a connecting portion of.

As can be understood from the above description,
When both ends A and B of the cell 21 are displaced so as to approach each other, the hinge portions C and D at intermediate positions are displaced so as to be separated from each other, and when both ends A and B are displaced so as to be separated from each other, the hinge is moved. The parts C and D are displaced so as to approach each other.
At this time, the inner angles of both ends A and B of the cell 21 having a quadrangular shape are made acute, and the inner angles of the hinge parts C and D, which are the intermediate portions, are made obtuse, so that the ends A and B approach each other. Compared with the amount of displacement in the separating direction, the hinge portions C, D
It is possible to further increase the amount of displacement in the direction of approaching and separating. Therefore, both ends A and B of the cell 21 are
A solid actuator 6 in the closed space 4 of the cell 21 for displacing
Both ends of the solid actuator 6 are connected to the both ends A and B.
Alternatively, it is connected near both ends A and B.

The solid-state actuator 6 is made of, for example, a film-shaped, thin-film-shaped, or linearly processed piezoelectric material, shape memory alloy, magnetostrictive material, or the like. In the present embodiment, a strip-shaped shape memory alloy is used. This is illustrated as a configuration that is adopted and reduces when electrically heated.

Therefore, when the solid actuator 6 is operated to displace the both ends A and B so as to approach each other,
Each thin plate 21a, 21b, 21c, 21d has a hinge part C,
The hinge portions C and D are elastically deformed so as to bend at D, and as shown in FIG. 1B, the hinge portions C and D are largely displaced in the directions away from each other. Then, the return to the original state is performed by the elasticity of the thin plates 21a, 21b, 21c and 21d.

At this time, in order to perform the return operation of the cell 21 more reliably, the cell 21 is operated in a direction intersecting with the operation direction of the solid-state actuator 6, that is, the hinge portions C and D are displaced toward each other. It is desirable to provide a solid-state actuator 7 that performs a biasing operation. In this case, as shown in FIG. 2, the solid actuator 6 and the solid actuator 7 are provided so as to intersect with each other, and the solid actuator 7
It suffices that both ends of the above are connected to the hinge portions C and D or near the hinge portions C and D.

In the above structure, when one of the solid actuators 6 is operated in the direction of contraction, the other solid actuator 7 is extended through the thin plates 21a to 21d, and conversely the other solid actuator is operated. 7
When the solid actuator 6 is operated in the direction of contracting, the one solid actuator 6 is expanded. That is, the operation directions of the one solid actuator 6 and the other solid actuator 7 are always opposite.

FIG. 3 shows a variable structure actuator 20 having a structure in which the cells 21 having the above structure are arranged in a plurality of columns and a plurality of rows. Variable structure actuator 2 as described above
0 is, as conceptually shown in FIG. 1 (a), a plurality of strip-shaped elastic structure thin plates 21a, 21b, 21c, 21d combined in a grid pattern, and a plurality of quadrangular cells 21 formed by this combination. It is obtained by combining a plurality of solid-state actuators 22 (22a, 22b, 22c) so as to connect diagonally.

As can be seen from FIG. 3, the variable structure actuator 20 has a structure in which parallel quadrangular cells 21 are continuously arranged in four directions and integrally arranged with a planar spread. Is a parallelogram cell 2
A matrix structure having 5 rows of 1 in the horizontal direction and 10 rows in the vertical direction is formed. The solid actuator 22b is integrally connected to the cell 21 at a position that connects an intersection A of the elastic structure thin plates 21a and 21b and an intersection B of the elastic structure thin plates 21c and 21d with a straight line.
And 22c, the intersection point C of the elastic structure thin plates 21a and 21d and the intersection point D of the elastic structure thin plates 21b and 21c are integrally and continuously coupled to the intersection points of the elastic structure thin plates of the adjacent cells 21, respectively. Forming 20.

Here, for example, the elastic structure thin plates 21a and 2
1b, 21c and 21d each have an angle of 30 degrees (internal angles of both ends A and B) and 30 degrees, and elastic structure thin plates 21a and 21d and 21b and 21c each have an angle of 2 sides (hinge parts C and D). Inner angle) is set to 150 degrees, and the dimension between each intersection is as shown in Fig. 1 (λ1, γ
1), the contraction displacement (strain: (γ1-γ2) / γ1) obtained by energizing and heating the solid actuator 22b is different from the output displacement (strain: (λ2- λ1) / λ1) can be expanded about twice.

That is, the amount of displacement at the intermediate positions C and D can be greatly expanded as compared with the amount of displacement at both ends A and B due to the displacement of the solid actuator. Therefore, by providing a plurality of cells 21 in the same direction, the displacement amount can be further increased by a plurality, and a large displacement can be obtained.

FIG. 4 is a diagram for explaining the configuration of the second variable structure actuator 30 based on the basic principle of the present invention. The basic structural arrangement is the same as that of the variable structure actuator 20 shown in FIG. 3, but the cell 3 forming the structure system is
The difference is that 1 is not a parallelogram but a hexagon. By integrally combining the matrix structure provided with the plurality of hexagonal cells 31 in the longitudinal direction and the lateral direction and the solid actuator 32 such as a plurality of band-shaped shape memory alloys processed into a sheet shape, The variable structure actuator 30 is configured.

The variable structure actuator 30 using the hexagonal cells 31 can have higher strength and rigidity as a structure than the variable structure actuator 20 using the hexagonal cells 21.

As already understood, the shape of the cell is not limited to the quadrangular shape and can be formed in the hexagonal shape, and can also be formed in other polygonal shapes. It is also possible to have a shape exhibiting a curved curve such as an arc shape. What is essential is that the closed space is provided with a portion corresponding to both ends and a portion that is displaced in the intersecting direction corresponding to the displacement of the both ends in the approaching and separating directions.

In the above description, the case where cells of the same shape are arranged vertically and horizontally has been described, but a plurality of cells having different shapes can be arbitrarily combined.

FIG. 5 is a view for explaining an example of a method of manufacturing the variable structure actuator 20.

As a method of manufacturing the variable structure actuator 20 shown in FIG. 3, it is possible to individually dispose solid actuators in parallelogrammic cells, but the method shown in FIG. 5 is adopted. Is desirable. That is, the strip-shaped solid actuator 22a and the elastic thin plates 21a and 21d are bent and provided alternately to form the movable piece 2, and the cell thin plate member 23a having the movable piece 2 continuously provided. The strip-shaped solid actuator 22b and elastic structure thin plates 21b and 21c are bent and provided alternately to form the movable piece 3.
A cell thin plate member 23 having a configuration in which the movable piece 3 is continuously provided.
b and the next strip-shaped solid actuator 22c are individually manufactured, and then the solid actuator 22a, the cell thin plate member 23a, the solid actuator 22b, the cell thin plate member 23b, and the solid actuator 22c are manufactured in this order by using known fixing means. It is constructed integrally with a sandwich structure. Further, if necessary, the number of parts to be sandwiched is increased and the size is manufactured according to the purpose.

FIG. 6 shows an example of a method of manufacturing the variable structure actuator 30 shown in FIG. This variable structure actuator 30 is also provided with a plurality of strip-shaped solid state actuators 32 and predetermined trapezoidal portions corresponding to the hexagonal cells 31 alternately using the same method as the manufacturing method of the variable structure actuator 20. The cell thin plate member 33 made of a corrugated elastic structure thin plate is alternately laminated and integrally formed.

FIG. 7 is a view for explaining the structure of the third variable structure actuator 40 based on the basic structure of the present invention. Variable structure actuators 20 and 3 described above
0 has a planar structure, but the variable structure actuator 40 is hollow, for example, has a hollow hexagonal columnar rod structure, and each surface of the hollow hexagonal column shape is shown in the variable structure actuator 20. Elastic structure thin plates 21a-21
The difference is that the d and the solid-state actuators 22a to 22c are formed in a linear shape and have a cylindrical shape as a whole. With this configuration, the output displacement can be obtained so as to expand and contract in the axial direction of the structure. It should be noted that components having the same functions are designated by the same reference numerals, and redundant description will be omitted.

FIG. 8 shows a structural example in which the variable structure actuator 40 of the present invention is applied to deformation of a wing. 2 inside the wing
The variable structure actuator 40 is installed in such a position that it intersects with each other, and the camber is controlled by the axial deformation of the rod-shaped variable structure actuator 40. It should be noted that, although this figure shows the configuration described in Proc. SPIE Vol. 3985-11, it has been a configuration using a shape memory alloy wire in the past. Here, by using the variable structure actuator 40 instead of the shape memory alloy wire, it is possible to achieve a larger deformation of the blade and to improve the rigidity. This leads to an increase in steering force and can be expected to improve the motion performance of the aircraft.

FIG. 9 shows a structural example in which the rod-shaped variable structure actuator 40 is applied to an actuator for swinging the robot arm. A conventional general configuration uses, for example, a shape memory alloy wire 50 as a drive source. Here, by using the variable structure actuator 40 instead of the shape memory alloy wire, the operating range can be expanded. Further, the rigidity of the structure can be expected to be improved.

[0045]

As can be understood from the above description, according to the present invention, the solid actuator and the structure are integrally dispersed, and the cells inside the structure are elastically deformed. Since the displacement is enlarged so as to compensate for the shortage of the displacement amount (strain amount) of the actuator, it is possible to solve the problem that the displacement amount (strain amount) of the conventional actuator is small. Furthermore, by integrating the solid actuator and the structure, a compact and lightweight design with high rigidity is possible, and it is easy to incorporate into various devices.

Therefore, if the variable structure actuator according to the present invention is applied to, for example, the wing camber control of an aircraft or the actuator of a robot, the steering force is increased by the large deformation of the wing in the wing camber control, and the motion performance of the aircraft is improved. Can be expected. In addition, the robot actuator can be expected to expand the operating range while suppressing the reduction of the rigid body as a structure. This provides an innovative actuator structure system for aircraft wing camber control and robot actuators, and can greatly contribute to device miniaturization and energy saving.

[Brief description of drawings]

FIG. 1 is an explanatory diagram for explaining a basic configuration of a variable structure actuator according to an embodiment of the present invention,
(A) is a partially enlarged view of the internal cell, and (b) is a view showing a state of deformation of the cell with respect to an operational displacement of the actuator.

FIG. 2 is an explanatory diagram including a solid-state actuator in a direction intersecting with a variable structure actuator.

3A and 3B are an overall view of a variable structure actuator before deformation and an explanatory view showing a state of deformation.

FIG. 4 is a diagram for explaining a configuration of a variable structure actuator according to a second embodiment of the present invention.

FIG. 5 is a diagram for explaining a method of manufacturing the variable structure actuator according to the present embodiment.

FIG. 6 is a diagram for explaining a manufacturing method of the variable structure actuator according to the second embodiment.

FIG. 7 is a diagram for explaining a configuration of a variable structure actuator according to a third embodiment of the present invention.

FIG. 8 is a diagram showing an application example of a variable structure actuator in a third embodiment of the present invention to blade deformation control.

FIG. 9 is a diagram showing an application example of a variable structure actuator in a third embodiment of the present invention to a robot actuator.

FIG. 10 is a structural explanatory view of a lever type displacement magnifying mechanism using a conventional lever.

[Explanation of symbols]

1, 20, 30, 40 Variable structure actuator 21, 31 Cell 21a, 21b, 21c, 21d Elastic structure thin plate (movable member) 22, 22a, 22b, 22c, 32 Solid actuator (shape memory alloy) 23a, 23b, 33 cell Thin plate member

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hirokazu Sato             1st Komukai Toshiba-cho, Sachi-ku, Kawasaki-shi, Kanagawa             Inside the Toshiba Research and Development Center (72) Inventor Atsushi Sadamoto             1st Komukai Toshiba-cho, Sachi-ku, Kawasaki-shi, Kanagawa             Inside the Toshiba Research and Development Center

Claims (8)

[Claims] 1. The both ends of a movable piece which face each other and are movable in a direction in which both ends approach and move away from each other and in which a middle position of the both ends can move in a direction approaching and separating from a straight line connecting the both ends. In a cell with a closed space of the aspect of connecting,
A variable featured by disposing a solid actuator that is actively deformable in the extension direction, the contraction direction, or both directions, and connecting both end sides of this solid actuator to both end positions or near both end positions of the movable piece. Structural actuator. 2. The variable structure actuator according to claim 1, wherein a second solid-state actuator whose operation direction is a direction intersecting the operation direction of the solid-state actuator is arranged in the cell, and the second solid-state actuator is arranged in the cell. A variable structure actuator characterized in that both ends of a solid actuator are respectively connected to the facing movable pieces. 3. The opposite end portions of the movable pieces which face each other and are displaceable in a direction in which both end portions approach and separate from each other and in which a middle position of the both end portions is displaceable in a direction toward and away from a straight line connecting the both end portions. A plurality of cells having a closed space of the aspect of connecting, provided a stretchable structure of the aspect of linearly or planarly connecting the plurality of cells, in the desired cells in this structure, A variable featured by disposing a solid actuator that is actively deformable in the extension direction, the contraction direction, or both directions, and connecting both end sides of this solid actuator to both end positions or near both end positions of the movable piece. Structural actuator. 4. The variable structure actuator according to claim 3, wherein a second solid-state actuator whose operation direction is a direction intersecting with the operation direction of the solid-state actuator is arranged in a desired cell, and the second solid-state actuator is arranged. 2. A variable structure actuator characterized in that both ends of the solid actuator are connected to the facing movable pieces. 5. The opposite end portions of the movable pieces facing each other, wherein both end portions are displaceable in directions toward and away from each other, and intermediate positions of the both end portions are displaceable in directions toward and away from a straight line connecting the both end portions. A structure is provided in which a plurality of cells having a closed space connected to each other are connected to each other and arranged in a tubular shape, and active in the desired direction in the structure in the extending direction, the contracting direction, or both directions. 2. A variable structure actuator, wherein a solid actuator that is deformable mechanically is arranged, and both ends of the solid actuator are connected to both end positions of the movable piece or near both end positions. 6. The variable structure actuator according to claim 1, wherein the displacement in the vicinity of the central portion of the movable piece is enlarged or reduced as compared with the operation displacement amount of the solid state actuator. A variable structure actuator, wherein the solid state actuator and the movable piece are connected at a predetermined angle. 7. The variable structure actuator according to claim 1, wherein the cells have a line-symmetrical shape. 8. The variable structure actuator according to claim 1, wherein the solid-state actuator is made of a piezoelectric material, a shape memory alloy, or a magnetostrictive material processed into a film shape, a thin film shape, or a linear shape. Characteristic variable structure actuator.