JP2006020807A - Movable device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a movable device which can be easily assembled and be manufactured at a low cost. <P>SOLUTION: The movable device 11 comprises: opening/closing plates 22 and 23 provided on a device main body 12 so as to be opened and closed; a slide member 32 provided on the device main body 12 so as to be slid to operate the opening/closing plates 22 and 23 in an opening direction by being engaged with the opening/closing plates 22 and 23; an elastic member 36 for energizing the slide member 32 in the direction of separating from the opening/closing plates 22 and 23; and an actuator 39 made of a shape memory alloy for sliding the slide member 32 in the direction of being engaged with the opening/closing plates 22 and 23 against the elasticity of the elastic member 36 by being heated by energizing. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a movable device that operates each part by an actuator made of a shape memory alloy.

In a conventional movable device, for example, an arm device of a robot toy, a complicated drive mechanism including a drive motor, a gear, a link, and the like has been incorporated therein to operate each part (for example, Patent Document 1).
Japanese Patent Laid-Open No. 2003-181154

  The above-mentioned conventional movable device must incorporate a complicated drive mechanism in order to operate one part, and further needs to incorporate a plurality of complex drive mechanisms in order to operate a plurality of parts. However, a movable device with a small storage space such as an arm device has a problem that it is difficult to incorporate a plurality of complicated drive mechanisms therein, and only one part can be moved after all. Further, it is not easy to incorporate a complicated drive mechanism, and there is a problem that the movable device cannot be manufactured at low cost.

  The present invention has been devised in view of the above-mentioned problems, and it is not necessary to incorporate a complicated drive mechanism, and a movable device that can move a plurality of parts, can be easily assembled, and can be manufactured at low cost. The purpose is to provide.

  In order to achieve the above object, a movable device according to claim 1 of the present application is provided with an apparatus main body, an opening / closing plate provided on the apparatus main body so as to be openable and closable, and slidably provided on the apparatus main body. Are provided between the slide member and the apparatus main body, and are heated by energization. The slide member operates in the direction to open the opening and closing plate, the elastic member biases the sliding member in the direction away from the opening and closing plate. And an actuator made of a shape memory alloy that slides the slide member in a direction to engage the opening / closing plate against the elasticity of the elastic member.

  In order to achieve the above object, a movable device according to claim 2 of the present application is provided with an apparatus main body, a pair of opening and closing plates provided on the apparatus main body so as to be openable and closable, and a pair of opening and closing provided on the apparatus main body. A pair of link members each having a plate rotatably attached thereto, an elastic member attached between the pair of link members or between the pair of opening and closing plates, and energizing the pair of opening and closing plates in a closing direction; Shape memory alloy that is fixed at both ends, is hooked on the pair of link members, is heated by energization, and rotates the pair of link members in the opening direction of the pair of opening and closing plates against the elasticity of the elastic members Actuator.

  In order to achieve the above object, a movable device according to claim 3 of the present application is provided with an apparatus main body, an opening / closing plate provided on the apparatus main body so as to be openable and closable, and rotatably provided on the apparatus main body. A freely attached link member, an elastic member attached to the link member or the opening / closing plate and energizing the opening / closing plate in a closing direction, and both ends are fixed to the apparatus main body, hooked on the link member, and heated by energization. And an actuator made of a shape memory alloy that rotates the link member in the opening direction of the opening / closing plate against the elasticity of the elastic member.

In order to achieve the above object, a movable device according to claim 4 of the present application is provided with a device main body, a bendable bending member attached to the device main body, and the bending member, and biases the bending member in a direction of extending. In addition, an elastic member that bends the bending member when one end is pulled against elasticity, a sliding member that is provided in the apparatus main body and to which one end of the elastic member is connected, and both ends are fixed to the apparatus main body. An actuator made of a shape memory alloy that is hooked on a moving member, heated by energization, slides the sliding member against the elasticity of the elastic member, pulls one end of the elastic member, and bends the bending member; Have.

  The movable device according to claim 5 of the present application has energization means for energizing and heating the actuator in order to achieve the above object.

  Since the movable device according to the present invention can open and close the open / close plate or bend the bending member simply by energizing the actuator made of the shape memory alloy, it is necessary to incorporate a complicated drive mechanism for moving them. Therefore, there is an effect that the assembly is easy and can be manufactured at low cost. Further, the movable device according to the present invention is such that both ends of the actuator made of shape memory alloy are fixed to the device main body, and the actuator is hooked by a link member that opens and closes the opening / closing plate or a sliding member that bends the bending member. Since the force of expanding and contracting of the electrode is improved and the electrodes connected to both ends of the actuator do not move, the electric wire connected to the electrode moves and becomes entangled, or it is sandwiched between opening / closing plates or bending members that operate the electric wire There is also an effect of not causing defects.

  An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall perspective view showing an embodiment in which a movable device according to the present invention is incorporated in an arm portion of a robot toy. FIG. 2 is an explanatory diagram of a movable device provided on the shoulder of the robot toy. 3 is an explanatory view of the movable device when the opening / closing plate of FIG. 2 is closed, (a) is a view as seen from the lower surface side of the device main body, and (b) is the lower surface side of the device main body. It is sectional drawing seen from. 4 is an explanatory diagram of the movable device when the opening / closing plate of FIG. 2 is open, (a) is a view as seen from the lower surface side of the device main body, and (b) is the lower surface side of the device main body. It is sectional drawing seen from. FIG. 5 is an explanatory diagram viewed from the right side of the apparatus main body of FIG. 2, (a) is a cross-sectional view of the apparatus main body when the opening / closing plate is closed, and (b) is an opening / closing plate opened. It is sectional drawing of the apparatus main body at the time of a state. FIG. 6 is a cross-sectional view of the main part of the movable device provided on the upper arm of the robot toy. FIG. 7 is a cross-sectional view of a main part of the movable device provided on the lower arm of the robot toy. FIG. 8 is an explanatory diagram of a movable device provided on the hand of the robot toy.

  As shown in FIGS. 3 and 4, the movable device 11 includes a device main body 12, opening and closing plates 22 and 23 provided on the device main body 12 so as to be openable and closable, and slidably provided on the device main body 12. A slide member 32 that engages with the open / close plates 22, 23 to open the open / close plates 22, 23, an elastic member 36 that biases the slide member 32 away from the open / close plates 22, 23, and the slide A shape memory which is provided between the member 32 and the apparatus main body 12 and is heated by energization to slide the slide member 32 in a direction to engage with the opening / closing plates 22 and 23 against the elasticity of the elastic member 36. And an actuator 39 made of an alloy.

As shown in FIG. 6, the movable device 51 includes a device main body 52, a pair of opening / closing plates 60 and 61 provided on the device main body 52 so as to be openable and closable. A pair of link members 65 and 66 to which the opening and closing plates 60 and 61 are rotatably attached respectively, and a pair of link members 65 and 66 or between the pair of opening and closing plates 60 and 61, and the pair of opening and closing plates 60. 61, both ends of the elastic member 70 urged in the closing direction and the apparatus main body 52 are fixed, hooked by the pair of link members 65, 66, and heated by energization to resist the elasticity of the elastic member 70. The pair of link members 6 in the opening direction of the pair of opening / closing plates 60, 61
And an actuator 75 made of a shape memory alloy for rotating 5,66.

  As shown in FIG. 7, the movable device 91 includes a device main body 92, an opening / closing plate 100 provided on the device main body 92 so as to be openable / closable, and a device body 92 provided rotatably. The link member 105 that is freely attached, the elastic member 110 that is attached to the link member 105 or the opening / closing plate 100 and biases the opening / closing plate 100 in the closing direction, and both ends are fixed to the apparatus main body 92, and the link member 105 And an actuator 120 made of a shape memory alloy that is heated by energization and rotates the link member 105 in the opening direction of the opening / closing plate 100 against the elasticity of the elastic member 110.

  As shown in FIG. 8, the movable device 141 is provided with the device main body 142, a bendable bending member 145 attached to the device main body 142, and the bending member 145, and biases the bending member 145 in the direction of extending. In addition, an elastic member 150 that bends the bending member 145 when one end is pulled against elasticity, a sliding member 143 that is provided on the apparatus main body 142 and to which one end 152 of the elastic member 150 is connected, and an apparatus main body 142 Both ends are fixed, hooked on the sliding member 143, heated by energization, the sliding member 143 is slid against the elasticity of the elastic member 150, and the one end 152 of the elastic member 150 is pulled. An actuator 160 made of a shape memory alloy for bending the bending member 145 is provided. The movable devices 11, 51, 91, 141 have energization means for energizing and heating the actuators 39, 75, 120, 160.

  Furthermore, the movable device incorporated in the arm device of the robot toy will be described in detail. As shown in FIG. 1, the arm device 1 includes a shoulder portion 10, an upper arm portion 50, a lower arm portion 90, and a hand portion 140. The shoulder 10 includes a shoulder main body 10a and a first movable device 11 that is rotatably connected to the shoulder main body 10a via a hinge 10b. The first movable device 11 includes a substrate (device main body) 12. The substrate (device main body) 12 is formed in a rectangular shape, and includes an upper surface 13 and a lower surface 14, a left surface 15 formed on the left side of the upper surface 13, a right surface 16 formed on the right side of the upper surface 13, and a front side of the upper surface 13. And a rear surface 18 formed on the rear side of the upper surface 13.

  As shown in FIG. 3, a fitting recess 19 is formed on the left surface 15 of the substrate (device main body) 12 to fit the hinge portion 10b of the shoulder main body 10a. The board (device main body) 12 is fitted in the fitting recess 19 with the hinge 10b of the shoulder main body 10a, and is rotatably connected to the shoulder main body 10a by a connecting shaft 10c. A bearing groove 20 is formed from the front surface 17 toward the rear surface 18 substantially at the center of the lower surface 14 of the substrate (device main body) 12. Further, a guide groove 21 is formed substantially at the center of the lower surface 14 of the substrate (device main body) 12 from the right surface 16 toward the left surface 15 so as to be substantially orthogonal to the bearing groove 20.

  As shown in FIG. 3, a front plate (opening / closing plate) 22 is rotatably provided on the front surface 17 of the substrate (device main body) 12, and a rear surface 18 of the substrate (device main body) 12 is provided on the rear surface 18. A face plate (open / close plate) 23 is provided so as to be rotatable (open / close). The front plate (opening / closing plate) 22 is formed with an engaging projection 25 fitted into the bearing groove 20, and the rear plate (opening / closing plate) 23 is formed with an engaging projection 26 fitted into the bearing groove 20. The front plate (opening / closing plate) 22 has an engaging projection 25 fitted in the bearing groove 20 and is connected to the substrate (device main body) 12 by a connecting shaft 28 so as to be rotatable (openable / closable). The rear plate (opening / closing plate) 23 has an engaging projection 26 fitted in the bearing groove 20 and is connected to the substrate (device main body) 12 by a connecting shaft 29 so as to be rotatable (openable / closable). As shown in FIG. 4, the engaging protrusions 25 and 26 are formed with inclined surfaces 25 a and 26 a that are inclined upward from the right surface 16 toward the left surface 15.

The front plate (opening / closing plate) 22 and the rear plate (opening / closing plate) 23 are urged in the closing direction by spring-like elastic members 30, 31 wound around the connecting shafts 28, 29. The front plate (opening / closing plate) 22 and the rear plate (opening / closing plate) 23 may be biased in the closing direction by the elastic member, and the type of the elastic member and the mounting position of the elastic member are not particularly limited. Absent.

  As shown in FIGS. 3 and 4, a slide member 32 is slidably provided in the guide groove 21 of the substrate (device main body) 12 in the left-right direction. The slide member 32 is formed in a rectangular shape, and is provided with an opening 33 formed at the left end and a storage hole 35 communicating with the opening 33. The storage hole 35 is formed toward the sliding direction (longitudinal direction) of the slide member 32. The housing hole 35 is provided with a coil spring-like elastic member 36 and a shape memory alloy actuator 39 wound in a coil shape.

  The slide member 32 is slidably guided in the guide groove 21. The slide member 32 is provided with engagement pieces 42 and 43 that can be engaged with the engagement protrusions 25 and 26 of the front plate (opening / closing plate) 22 and the rear plate (opening / closing plate) 23 on both sides in the front-rear direction. As shown in FIG. 5, the engaging pieces 42 and 43 are formed with inclined surfaces 42a and 43a that engage with the inclined surfaces 25a and 26a of the engaging protrusions 25 and 26, respectively. The inclined surfaces 42a and 43a are formed so as to rise upward from the right surface 16 toward the left surface 15 side.

  As shown in FIG. 3, in the slide member 32, one end 36 a of the elastic member 36 accommodated in the accommodation hole 35 protrudes from the opening 33 and comes into contact with the left end 21 a of the guide groove 21, and the engagement pieces 42 and 43 are engaged. It is urged toward the direction away from the protrusions 25 and 26 and is brought into pressure contact with the right end 21 b of the guide groove 21. The actuator 39 is provided in the elastic member 36, one end 39 a is fixed to the left end 21 a of the guide groove 21, and the other end 39 b is fixed to the back wall 35 a of the storage hole 35. Both ends 39a, 39b of the actuator 39 are connected to electrodes and are energized by a battery (not shown). The battery is preferably built in the body (not shown) of the robot toy, but may not be built in.

  The 1st movable apparatus 11 has the said structure, and can be rotated with respect to the shoulder part main body 10a. In the first movable device 11, the slide member 32 is biased in the direction of the right end 21 b of the guide groove 21 by the elasticity of the elastic member 36, and the engagement pieces 42, 43 of the slide member 32 are connected to the front plate (opening / closing plate). ) 22 and the rear surface plate (opening / closing plate) 23 are separated from the engaging protrusions 25 and 26. The front plate (opening / closing plate) 22 and the rear plate (opening / closing plate) 23 close the front and back of the substrate (device main body) 12 by spring-like elastic members 30 and 31.

  When the actuator 39 is energized by a battery (not shown), the actuator 39 is heated by Joule heat, returning to the shape memorized by the shape memory alloy and shortening. Therefore, as shown in FIG. 4, the slide member 32 slowly slides toward the left end 21 a side of the guide groove 21 against the elasticity of the elastic member 36. The engagement pieces 42 and 43 of the slide member 32 engage with the engagement protrusions 25 and 26 of the front plate (opening / closing plate) 22 and the rear plate (opening / closing plate) 23. The inclined surfaces 42a and 43a of the engaging pieces 42 and 43 are in sliding contact with the inclined surfaces 25a and 26a of the engaging protrusions 25 and 26, and the engaging protrusions 25 and 26 are slowly pushed down. When the engagement protrusions 25 and 26 are slowly pushed down, the front plate (opening / closing plate) 22 and the rear plate (opening / closing plate) 23 are rotated in a direction to open slowly against the elasticity of the elastic members 30 and 31.

When energization of the actuator 39 by a battery (not shown) is released, the actuator 39 naturally cools, and the shape stored in the shape memory alloy is not maintained. The slide member 32 slides slowly toward the right end 21 b side of the guide groove 21 due to the elasticity of the elastic member 36, and the engagement pieces 42, 43 of the slide member 32 are connected to the front plate (open / close plate) 22 and the rear plate (open / close plate) 23. The projections 25 and 26 are slowly separated from each other. The front plate (opening / closing plate) 22 and the rear plate (opening / closing plate) 23 are returned to the initial closed state by spring-like elastic members 30 and 31. Thus, in the first movable device 11, the front plate (opening / closing plate) 22 and the rear plate (opening / closing plate) 23 are smoothly opened and closed (rotated) by the actuator 39.

  As shown in FIGS. 1 and 6, the upper arm portion 50 is constituted by a second movable device 51. The second movable device 51 has an upper arm main body (device main body) 52. The upper arm main body (device main body) 52 includes a front wall 53 and a rear wall 57, a left wall 54 provided on the left side of the front wall 53, and a right wall 56 provided on the right side of the front wall 53. An opening 53a is formed in the front wall 53 of the upper arm main body (device main body) 52, and an opening / closing plate 60 is provided in the opening 53a so as to be opened and closed. Also, an opening 57a is formed in the rear wall 57 of the upper arm body (device body) 52, and an opening / closing plate 61 is provided in the opening 57a so as to be openable and closable. The pair of opening / closing plates 60 and 61 are formed with guide protrusions 62 and 63 on the top, and are rotatably attached to upper end portions 65a and 66a of the link members 65 and 66, respectively.

  The pair of link members 65, 66 are formed to be bent in a substantially square shape, and the bent portions 65b, 66b are rotatably attached to the left wall 54 and the right wall 56 by central shafts 68, 69. The pair of link members 65 and 66 are connected to each other by a spring-like elastic member 70 above the central shafts 68 and 69. By this elastic member 70, one link member 65 is urged in the clockwise direction around the central axis 68, and the other link member 66 is urged in the counterclockwise direction around the central axis 69. That is, the link members 65 and 66 are biased by the elastic member 70 in the inner direction (the direction in which the openings 53a and 57a of the opening and closing plates 60 and 61 are closed). When the opening / closing plate 60 closes the opening 53 a, the guide projection 62 is engaged with the inner side of the upper edge 53 b of the front wall 53. Similarly, when the opening / closing plate 61 closes the opening 57 a, the guide protrusion 63 is engaged with the inner side of the upper edge 57 b of the rear wall 57.

  As for a pair of link members 65 and 66, the engaging shafts 71 and 72 are provided in the lower parts 65c and 66c. At both the left wall 54 and / or the right wall 56 and in the vicinity of the central axes 68 and 69, both ends 76 and 77 of an actuator 75 made of a shape memory alloy wound in a coil shape are fixed. The actuator 75 is hooked on the engaging shafts 71 and 72 of the pair of link members 65 and 66. Both ends 76 and 77 of the actuator 75 are connected to electrodes, and are energized by a battery (not shown).

  The second movable device 51 has the above-described configuration, the pair of link members 65 and 66 are urged inward by the elasticity of the elastic member 70, and the pair of opening and closing plates 60 and 61 are the upper arm body. The openings 53a and 57a of the (device main body) 52 are closed.

  When the actuator 75 is energized by a battery (not shown), the actuator 75 is heated and changed by Joule heat, and returns to the shape memorized by the shape memory alloy and becomes shorter. Therefore, the lower part of the pair of link members 65, 66 is pulled inward from the central axes 68, 69. One link member 65 slowly rotates counterclockwise around the central axis 68 against the elasticity of the elastic member 70. The other link member 66 rotates slowly in the clockwise direction around the central axis 69 against the elasticity of the elastic member 70. That is, the link members 65 and 66 rotate outwardly against the elasticity of the elastic member 70, and the opening and closing plates 60 and 61 move slowly outward. The opening / closing plates 60 and 61 are such that the guide protrusions 62 and 63 are guided inside the upper edge 53b of the front wall 53 and the upper edge 57b of the rear wall 57, and the lower parts 78 and 79 are rotated and moved outward slowly. Become.

When energization of the actuator 75 by a battery (not shown) is released, the actuator 75 naturally cools, and the shape stored in the shape memory alloy is not maintained. The pair of link members 65 and 66 are slowly rotated inward by the elasticity of the elastic member 70, and the pair of opening and closing plates 60 and 61 closes the openings 53 a and 57 a of the upper arm body (device body) 52. Return. Thus, the upper arm portion 50 is smoothly opened and closed by the actuator 75 with the pair of opening and closing plates 60 and 61.

  As shown in FIGS. 1 and 7, the lower arm portion 90 is constituted by a third movable device 91. The third movable device 91 includes a lower arm main body (device main body) 92. The lower arm main body (device main body) 92 includes a front wall 93 and a rear wall 97, a left wall 94 provided on the left side of the front wall 93, and a right wall 96 provided on the right side of the front wall 93. An opening 93a is formed in the front wall 93 of the lower arm portion main body (device main body) 92, and the opening / closing plate 100 is provided in the opening 93a so as to be opened and closed. The opening / closing plate 100 has a guide projection 101 formed on the upper portion thereof, and is rotatably attached to the upper end portion 106 of the link member 105.

  The link member 105 is formed to be bent in a substantially square shape, and a bent portion 107 is rotatably attached to the left wall 94 and the right wall 96 by a central shaft 109. The link member 105 is connected to the one end 111 of the spring-like elastic member 110 at the upper part from the central shaft 109. The other end 112 of the elastic member 110 is connected to the rear wall 97. By this elastic member 110, the link member 105 is urged clockwise around the central axis 109. That is, the link member 105 is urged by the elastic member 110 in the inner direction (the direction in which the opening 93a of the opening / closing plate 100 is closed). When the opening / closing plate 100 closes the opening 93a, the guide projection 101 is engaged with the inner side of the upper edge 93b of the front wall 93.

  The link member 105 is provided with a hook shaft 113 at the lower portion 108. Both ends 121 and 122 of a shape memory alloy actuator 120 wound in a coil shape are fixed to the rear wall 97. The actuator 120 is hooked on the hook shaft 113 of the link member 105. Both ends 121 and 122 of the actuator 120 are connected to electrodes, and are energized by a battery (not shown).

  The third movable device 91 has the above-described configuration, the link member 105 is urged inward by the elasticity of the elastic member 110, and the opening / closing plate 100 is an opening of the lower arm main body (device main body) 92. 93a is closed. When the actuator 120 is energized by a battery (not shown), the actuator 120 is heated by Joule heat, returning to the shape memorized by the shape memory alloy and shortening. Therefore, the lower part of the link member 105 is pulled inward from the central axis 109. The link member 105 slowly rotates counterclockwise around the central axis 109 against the elasticity of the elastic member 110. That is, the link member 105 rotates outwardly against the elasticity of the elastic member 110, and the opening / closing plate 100 slowly moves outward. In the opening / closing plate 100, the guide protrusion 101 is guided inside the upper edge 93b of the front wall 93, and the lower part 102 is slowly rotated outward to open.

  When energization of the actuator 120 by a battery (not shown) is released, the actuator 120 naturally cools, and the shape stored in the shape memory alloy is not maintained. The link member 105 is slowly rotated inward by the elasticity of the elastic member 110, and the opening / closing plate 100 returns to a state in which the opening 93 a of the lower arm main body (device main body) 92 is closed. Thus, the lower arm 90 is smoothly opened and closed by the actuator 120 by the opening and closing plate 100.

  As shown in FIG. 8, the hand portion 140 is configured by a fourth movable device 141. The fourth movable device 141 includes a hollow device main body 142 constituting a palm and a plurality of bendable finger members (bending members) 145 attached to the device main body 142. A sliding member 143 that is slidable in the vertical direction is provided in the apparatus main body 142. The finger member (bending member) 145 is made of a synthetic resin material and is formed to be bendable by at least two V-shaped grooves 146.

  Also, the finger member (bending member) 145 has a leaf spring-like elastic member 150 slidably provided therein. The tip 151 of the elastic member 150 is fixed to the tip of a finger member (bending member) 145. A rear end 152 of the elastic member 150 protrudes from the rear portion of the finger member (bending member) 145 and is connected to the sliding member 143 through an opening 153 formed in the apparatus main body 142. The elastic member 150 urges the finger member (bending member) 145 in the extending direction and bends the finger member (bending member) 145 when the rear end 152 is pulled against the elasticity.

  The sliding member 143 is provided with a hooking shaft 149 at the center of the rear part. Both ends 161 and 162 of a shape memory alloy actuator 160 wound in a coil shape are fixed to the rear wall 144 of the apparatus main body 142. The actuator 160 is hooked on the engaging shaft 149 of the sliding member 143. Both ends 161 and 162 of the actuator 160 are connected to electrodes, and are energized by a battery (not shown).

  The fourth movable device 141 has the above-described configuration, and a plurality of finger members (bending members) 145 extend linearly due to the elasticity of the elastic member 150 as shown in FIG. When the actuator 160 is energized by a battery (not shown), the actuator 160 is heated by Joule heat, returning to the shape memorized by the shape memory alloy and shortening. Therefore, as shown in FIG. 8B, the sliding member 143 is pulled backward, and the elastic member 150 is pulled against elasticity. When the elastic member 150 is pulled, the tip portion of the finger member (bending member) 145 is drawn, and the finger member (bending member) 145 is bent by each groove 146. Since the finger member (bending member) 145 constitutes the finger portion, it becomes a gripping fist by bending.

  When energization of the actuator 160 by a battery (not shown) is released, the actuator 160 naturally cools, and the shape stored in the shape memory alloy is not maintained. Due to the elasticity of the elastic member 150, the finger member (bending member) 145 extends straight so as to open slowly toward the outside and returns to the initial open state. As described above, the finger part of the hand part 140 is smoothly opened and closed by the actuator 160.

It is a whole perspective view which shows one embodiment of the state which incorporated the movable device which concerns on this invention into the arm part of a robot toy. It is explanatory drawing of the movable apparatus provided in the shoulder part of the robot toy. FIG. 3 is an explanatory diagram of the movable device when the opening / closing plate of FIG. 2 is closed. FIG. 3 is an explanatory diagram of the movable device when the opening / closing plate of FIG. 2 is open. It is explanatory drawing seen from the right side of the apparatus main body of FIG. It is principal part sectional drawing of the movable apparatus provided in the upper arm part of the robot toy. It is principal part sectional drawing of the movable apparatus provided in the lower arm part of the robot toy. It is explanatory drawing of the movable apparatus provided in the hand part of the robot toy.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Arm apparatus 10 Shoulder part 10a Shoulder part main body 10b Hinge part 10c Connection shaft 11 1st movable apparatus 12 Board | substrate (apparatus main body)
13 upper surface 14 lower surface 15 left surface 16 right surface 17 front surface 18 rear surface 19 fitting recess 20 bearing groove 21 guide groove 21a left end 21b right end 22 front plate (opening / closing plate)
23 Rear plate (opening / closing plate)
25 engaging protrusion 25a inclined surface 26 engaging protrusion 26a inclined surface 28 connecting shaft 29 connecting shaft 30 elastic member 31 elastic member 32 slide member 33 opening 35 receiving hole 35a back wall 36 elastic member 36a one end 39 actuator 39a one end 39b other end 42 Engagement piece 42a Inclined surface 43 Engagement piece 43a Inclined surface 50 Upper arm portion 51 Second movable device 52 Upper arm portion main body (device main body)
53 Front wall 53a Opening 53b Upper edge 54 Left wall 56 Right wall 57 Rear wall 57a Opening 57b Upper edge 60 Opening and closing plate 61 Opening and closing plate 62 Guide protrusion 63 Guide protrusion 65 Link member 65a Upper end part 65b Bending part 65c Lower end part 66 Link member 66a Upper end portion 66b Bending portion 66c Lower end portion 68 Center shaft 69 Center shaft 70 Elastic member 71 Engagement shaft 72 Engagement shaft 75 Actuator 76 One end 77 Other end 78 Lower 79 Lower 90 Lower arm portion 91 Third movable device 92 Lower arm portion main body ( Main unit)
93 front wall 93a opening 93b upper edge 94 left wall 97 rear wall 96 right wall 100 opening / closing plate 101 guide projection 102 lower 105 link member 106 upper end portion 107 bent portion 108 lower end portion 109 central shaft 110 elastic member 111 one end 112 other end 113 engagement Shaft 120 Actuator 121 One end 122 Other end 140 Hand portion 141 Fourth movable device 142 Device main body 143 Sliding member 144 Rear wall 145 Finger member (bending member)
146 Groove 149 Engagement shaft 150 Elastic member 151 Front end 152 Rear end 153 Opening 160 Actuator 161 One end 162 Other end

Claims (5)

The device body,
An opening and closing plate provided in the apparatus main body so as to be opened and closed;
A slide member that is slidably provided on the apparatus main body, and that is operated to open and close the opening / closing plate by engaging with the opening / closing plate;
An elastic member that urges the slide member in a direction away from the opening and closing plate;
An actuator made of a shape memory alloy that is provided between the slide member and the apparatus main body, is heated by energization, and slides the slide member in a direction to engage the opening / closing plate against the elasticity of the elastic member; A movable device comprising: The device body,
A pair of opening and closing plates provided in the apparatus body so as to be openable and closable;
A pair of link members rotatably provided in the apparatus main body, each of the pair of opening and closing plates being rotatably attached;
An elastic member attached between the pair of link members or between the pair of opening and closing plates, and biasing the pair of opening and closing plates in a closing direction;
Both ends are fixed to the apparatus main body, hooked on the pair of link members, heated by energization, and the pair of link members are rotated in the opening direction of the pair of opening and closing plates against the elasticity of the elastic members. A movable device comprising an actuator made of a shape memory alloy. The device body,
An opening and closing plate provided in the apparatus main body so as to be opened and closed;
A link member rotatably provided in the apparatus main body and rotatably attached to the opening / closing plate;
An elastic member attached to the link member or the opening and closing plate and biasing the opening and closing plate in a closing direction;
A shape memory alloy actuator that has both ends fixed to the apparatus body, is hooked on the link member, is heated by energization, and rotates the link member in the opening direction of the opening / closing plate against the elasticity of the elastic member And a movable device. The device body,
A bendable bending member attached to the apparatus body;
An elastic member that is provided in the bending member and biases the bending member in a direction in which the bending member is extended and bends the bending member when one end is pulled against the elasticity;
A sliding member provided in the apparatus main body and connected to one end of the elastic member;
Both ends are fixed to the apparatus main body, hooked on the sliding member, heated by energization, the sliding member is slid against the elasticity of the elastic member, and one end of the elastic member is pulled, and the bending member A movable device having an actuator made of a shape memory alloy that bends the shape. The movable device according to any one of claims 1 to 4, further comprising energization means for energizing and heating the actuator.

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