JP2007092556A - Drive device and its manufacturing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily adjust a tensile force of shape-memory alloy wire, after the assembly of the shape-memory alloy wire crossed over and fixed to the drive device. <P>SOLUTION: The shape-memory alloy wire is crossed between a first fixed body 11 and a rotating part 21 of a movable body 2, and a bias spring 4 is crossed between a second fixed body 12 and a movable body. A predetermined tensile force is applied to the shape-memory alloy wire by the bias spring 4. A tensile force adjusting member 5 made from thermoplastic resin is disposed between a reversed part 33 of the thermoplastic resin 3 and the rotating part 21. The tensile force adjusting member 5 has a contact part 51 brought into contact with shape-memory alloy wire 3, and the reversed part 33 of the shape-memory alloy wire 3 bites into the tensile force adjusting member 5 depending on a predetermined tensile force adjustment value in the contact part. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a drive device using a shape memory alloy wire as a drive source of a movable body that is movable relative to a fixed body, and a manufacturing method thereof.

  2. Description of the Related Art A driving device is known that includes a line actuator that uses a shape memory alloy wire in which a predetermined shape is stored in advance, and a driving unit that applies a driving voltage to the line actuator to apply current and heat to restore the memory shape. . Such a driving device is known to be used for adjusting the tension of a belt that interconnects rotating shafts such as a crankshaft and a camshaft of an automobile engine, as disclosed in Patent Document 1, for example. Yes.

In addition, it has been studied to apply a line actuator using a shape memory alloy wire to a camera shake correction mechanism in an imaging apparatus such as a digital camera. In this case, for example, a line actuator using a shape memory alloy wire is installed between a lens barrel as a movable body and a fixed body such as a main body body, and the lens mirror is appropriately energized and heated. A means for driving the cylinder to be shake-corrected can be taken. Specifically, a configuration in which a shape memory alloy wire and a bias spring are combined to apply tension to the shape memory alloy wire, or a configuration in which two shape memory alloy wires are antagonized to apply tension to each other is adopted. be able to.
JP-A-8-334154

  In a drive device using a line actuator made of a shape memory alloy wire, it is necessary to set the tension of the line actuator installed on the movable body to a predetermined value. However, it is difficult to make the tension of the shape memory alloy wire constant in each drive device due to variations in tension adjustment when laying the shape memory alloy wire, tension fluctuations when the end portion is fixed to the fixed body, and the like. There was a problem.

  In addition, when the shape memory alloy wire is installed on the movable body and the end portion is fixed to the fixed body and then the tension of the shape memory alloy wire is to be adjusted, it is necessary to provide a tension adjusting mechanism in the driving device. However, in the case of a small drive device used for, for example, a camera shake correction mechanism of an imaging apparatus, it is difficult to install such a tension adjustment mechanism in terms of space, and the tension adjustment itself is also difficult. there were.

  The present invention has been made in view of the above problems, and after the shape memory alloy wire is installed and fixed and assembled to the drive device, the tension of the shape memory alloy wire can be easily adjusted. It is an object of the present invention to provide a driving device and a manufacturing method (tension adjusting method) thereof.

  According to a first aspect of the present invention, there is provided a drive device comprising: a shape memory alloy wire; a fixed body that holds at least one end of the shape memory alloy wire; the shape memory alloy wire; In the drive device comprising: a movable body that is movable relative to the fixed body by performing an operation; and an auxiliary member that acts on the movable body and applies a predetermined tension to the shape memory alloy wire. A tension adjusting member for adjusting the tension of the memory alloy wire is provided, the tension adjusting member has a contact portion in contact with the shape memory alloy wire, and the shape memory alloy wire has a predetermined tension adjustment at the contact portion. The tension adjusting member is bitten in accordance with the value.

  According to this configuration, the erection path of the shape memory alloy wire given tension by the auxiliary member is changed depending on the degree of biting into the tension adjusting member. For example, when a predetermined elongation is given to the shape memory alloy wire by being given tension by the auxiliary member, if the shape memory alloy wire bites into the contact portion of the tension adjusting member, the amount of biting depends on the amount of biting. Thus, the installation route is shortened, that is, the “elongation” is relieved, and the tension of the shape memory alloy wire can be reduced accordingly. Therefore, the tension of the shape memory alloy wire can be adjusted even after erection by adjusting the amount of biting in the contact portion of the shape memory alloy wire by heating and softening the tension adjusting member. . Shape memory alloy wires include those having a circular cross section, an elliptical cross section, a rectangular cross section, a foil shape, and the like, and also including a plurality of linear bodies knitted or twisted together.

  According to a second aspect of the present invention, there is provided a driving device including first and second shape memory alloy wires and first and second fixed bodies that respectively hold at least one ends of the first and second shape memory alloy wires. And the first and second shape memory alloy wires are respectively constructed, and the first shape memory alloy wire moves in a first direction by performing a shape recovery operation, and the second shape memory alloy wire Has a movable body that can move in a second direction different from the first direction by performing a shape recovery operation, and the first and second shape memory alloy wires antagonize Thus, each of the drive devices assembled so as to have a predetermined tension includes a tension adjusting member for adjusting the tension of the first and / or second shape memory alloy wire, and the tension adjusting member. Is the first and / or second shape memory alloy It has a contact portion in contact with, the first and / or the second shape memory alloy wire is characterized by being wedged in the tension adjustment member according to a predetermined tension adjustment value in the contact portion.

  According to this configuration, the first and / or second shape memory alloy wires antagonize each other, so that the first and / or second shape memory alloy wires, each of which is given a predetermined tension, The erection route is changed depending on the degree of biting into the member. In other words, in this case, the first and second shape memory alloy wires antagonize to give each shape memory alloy wire a predetermined elongation. For example, at the contact portion of the tension adjusting member, If one of the shape memory alloy wires bites in, the installation path of the bite shape memory alloy wire is shortened according to the amount of biting, thereby reducing the “elongation” and the shape memory alloy wire by that amount. The tension can be reduced. This makes it possible to adjust the tension of the shape memory alloy wire even after erection.

In the driving device according to claim 1 or 2, the tension adjusting member may be provided in any one of a group consisting of the following (a) to (c) or in a plurality of locations (claim). Item 3).
(A) Predetermined position of movable body (b) Predetermined position of fixed body (c) Intermediate position between movable body and fixed body

  According to a fourth aspect of the present invention, there is provided a driving device that includes a shape memory alloy wire, an auxiliary member that includes a linear portion and applies a predetermined tension to the shape memory alloy wire, and a first member that holds at least one end of the shape memory alloy wire. The first fixed body, the second fixed body holding one end of the auxiliary member, the shape memory alloy wire and the linear portion of the auxiliary member are respectively constructed, and the shape memory alloy wire performs a shape recovery operation. And a movable body that is movable relative to the fixed body with a tension adjusting member for adjusting the tension of the shape memory alloy wire and / or the auxiliary member, The tension adjusting member has a contact portion in contact with the shape memory alloy wire and / or the linear portion of the auxiliary member, and the shape memory alloy wire and / or the linear portion of the auxiliary member is a predetermined portion in the contact portion. According to tension adjustment value Characterized in that it is cutting into the tensioning member.

  According to this configuration, the erection path of the shape memory alloy wire given tension by the auxiliary member is changed depending on the degree of biting into the tension adjusting member. Similarly, the construction route of the auxiliary member is changed depending on the degree of biting of the linear portion with respect to the tension adjusting member. Therefore, by adjusting the amount of biting in the contact portion of the shape memory alloy wire by heating and softening the tension adjusting member, or by adjusting the amount of biting in the contact portion of the linear portion of the auxiliary member Even after installation, the tension of the shape memory alloy wire can be adjusted.

The drive device according to claim 4 may be configured such that the tension adjusting member is provided at any one of a group consisting of the following (d) to (i) or at a plurality of locations (claim 5). ).
(D) A predetermined position of the movable body and a position in contact with the shape memory alloy wire (e) A predetermined position of the movable body and a position in contact with the linear portion of the auxiliary member (f) A predetermined position of the first fixed body ( g) Predetermined position of the second fixed body (h) Intermediate position between the movable body and the first fixed body (i) Intermediate position between the movable body and the second fixed body

  In the above configuration, the tension adjusting member is made of a thermoplastic resin, and after the shape memory alloy wire is installed on the movable body, the tension adjusting member is heated and softened so that the shape memory alloy wire is adjusted to the tension. It is desirable that the member is bitten by a predetermined depth (claim 6). According to this configuration, the tension of the shape memory alloy wire can be adjusted by a simple means of heating and softening a tension adjusting member made of a thermoplastic resin.

  In this case, the tension adjusting member does not soften at least at the first temperature at which the shape memory alloy wire reversely transforms into the austenite phase, but softens at a second temperature that is higher than the first temperature by a predetermined temperature. It is desirable to be made of a plastic resin (claim 7). According to this configuration, even if the shape memory alloy wire is heated and driven by changing the phase from the martensite phase to the austenite phase, the tension adjusting member made of the thermoplastic resin is not heated and softened. The tension can be maintained at a predetermined value.

  Further, the movable body is provided with a turning portion where the shape memory alloy wire is turned over by being inverted by about 180 degrees, and the tension adjusting member includes a turning portion of the shape memory alloy wire at the turning portion. It can be set as the structure provided so that it may contact | connect. According to this configuration, the tension of the shape memory alloy wire is adjusted by causing the inverted portion of the shape memory alloy wire to bite into the tension adjusting member.

  Furthermore, the movable body is provided with a turning portion where the shape memory alloy wire is reversed by being rotated by approximately 180 degrees and is provided in contact with the reversing portion of the shape memory alloy wire at the turning portion. It is desirable that the first tension adjusting member includes a first tension adjusting member and a second tension adjusting member provided in contact with the shape memory alloy wire before and after the reversing portion of the shape memory alloy wire ( Claim 9). According to this configuration, the path change is increased by changing the amount of biting of the reversing portion of the shape memory alloy wire with respect to the first tension adjusting member, and the degree of elongation of the shape memory alloy wire changes relatively greatly. Accordingly, the overall tension of the shape memory alloy wire can be roughly adjusted in the first tension adjusting member. Further, even if the amount of biting into the second tension adjusting member is changed before or after the reversing portion of the shape memory alloy wire, the path change is slight unlike the case of the reversing portion. The second tension adjusting member can finely adjust the tension of the shape memory alloy wire.

  In the driving device according to claim 1 or 4, the auxiliary member may be configured by a bias spring (claim 10).

  In the driving device according to any one of the first to fifth aspects, the shape memory alloy wire may be held on the fixed body by a caulking method or a press-fit pin method (claim 11).

  According to a twelfth aspect of the present invention, there is provided a method of manufacturing a drive device, comprising: a shape memory alloy wire; a fixed body that holds at least one end of the shape memory alloy wire; and the shape memory alloy wire is installed. A drive device comprising: a movable body that is movable relative to the fixed body by performing a shape recovery operation; and an auxiliary member that acts on the movable body and applies a predetermined tension to the shape memory alloy wire. In the manufacturing method, a tension adjusting member for adjusting the tension of the shape memory alloy wire is disposed at a predetermined position so as to have a contact portion in contact with the shape memory alloy wire, and the tension is applied by a predetermined heating means. Tension adjustment step of adjusting the tension of the shape memory alloy wire by heating and softening the adjustment member and causing the shape memory alloy wire to bite into the tension adjustment member according to a predetermined tension adjustment value at the contact portion Characterized by comprising.

  According to a thirteenth aspect of the present invention, there is provided a method of manufacturing a drive device, wherein the first and second shape memory alloy wires and the first and second shape memory alloy wires holding at least one end of the first and second shape memory alloy wires, respectively. A second fixed body and the first and second shape memory alloy wires are respectively constructed, and the first shape memory alloy wire moves in a first direction by performing a shape recovery operation, and the second The shape memory alloy wire has a movable body that is capable of moving in a second direction different from the first direction by performing a shape recovery operation, and the first and second shape memories A drive device manufacturing method in which alloy wires are antagonized to be assembled so as to have a predetermined tension, and tension for adjusting the tension of the first and / or second shape memory alloy wires. The adjusting member is the first and / or second shape memory alloy. The tension adjusting member is heated and softened by a predetermined heating means so as to have a contact portion in contact with the first and / or second in accordance with a predetermined tension adjustment value at the contact portion. There is provided a tension adjusting step for adjusting the tension of the first and / or second shape memory alloy wire by causing the shape memory alloy wire to penetrate into the tension adjusting member.

  Furthermore, a manufacturing method of a drive device according to a fourteenth aspect of the present invention includes a shape memory alloy wire, an auxiliary member that includes a linear portion and applies a predetermined tension to the shape memory alloy wire, and at least the shape memory alloy wire. A first fixed body for holding one end, a second fixed body for holding one end of the auxiliary member, the shape memory alloy wire and the linear portion of the auxiliary member are respectively constructed, and the shape memory alloy wire is shaped. A method of manufacturing a drive device including a movable body that is movable relative to the fixed body by performing a recovery operation, wherein the tension of the shape memory alloy wire and / or the auxiliary member is adjusted. The tension adjusting member is disposed at a predetermined position so as to have a contact portion that contacts the shape memory alloy wire and / or the linear portion of the auxiliary member, and the tension adjusting member is heated and softened by a predetermined heating means. To the contact part The shape memory alloy wire and / or the linear portion of the auxiliary member are bitten into the tension adjusting member according to a predetermined tension adjustment value. A tension adjusting step for adjusting the tension is provided.

  According to the method for manufacturing a drive device according to the above-described claims 12 to 14, the shape memory alloy wire (first, first, and second) according to a predetermined tension adjustment value at the contact portion by heating and softening the tension adjustment member. No. 2 shape memory alloy wire) and the linear portion of the auxiliary member are bitten by a predetermined depth, and thereby the construction route of the shape memory alloy wire and the linear portion of the auxiliary member can be changed afterwards. . Therefore, for example, after a tension of a prescribed value or more is applied to the shape memory alloy wire or the linear portion of the auxiliary member and assembled to the fixed body and the movable body, the tension adjusting member is heated and softened to form the shape memory alloy wire and the auxiliary member. These can be adjusted to an appropriate tension by a technique of biting the appropriate amount of the linear portion and reducing the tension to a specified value.

  15. The method of manufacturing a driving device according to claim 12, wherein the tension adjusting member is made of a thermoplastic resin, a laser beam irradiation unit is used as the heating unit, and a laser beam emitted from the laser beam irradiation unit is used as the tension. By irradiating the contact portion of the adjustment member, the contact portion can be heated and softened (claim 15). According to this configuration, it is possible to effectively heat and soften only a required portion (contact portion) of the tension adjusting member by narrowing the spot diameter of the laser beam.

  Moreover, in the manufacturing method of the drive device of Claims 12-14, the said tension adjustment member consists of thermoplastic resins, a hot wire or a hot air generating means is used as the said heating means, and the hot wire emitted from the said hot wire or a hot air generating means or The tension adjusting member can be heated and softened by hot air (claim 16). According to this configuration, it is possible to heat and soften the tension adjusting member as a whole with hot wire or hot air.

  Furthermore, in the manufacturing method of the drive device of Claims 12-14, the said tension adjustment member consists of a thermoplastic resin, and the electricity heating means to the said shape memory alloy wire is used as said heating means, and electricity supply by the said electricity heating means Thus, the contact portion of the tension adjusting member can be heated and softened by Joule heat generated by the shape memory alloy wire (claim 17). According to this configuration, the contact portion of the tension adjusting member can be heated and softened using the shape memory alloy wire itself as a heat source.

  18. The method of manufacturing a drive device according to claim 12, wherein when the tension adjusting member is heated and softened by the heating means, vibration is applied to the shape memory alloy wire and its frequency is detected. Thus, it is desirable to heat soften while monitoring the tension of the shape memory alloy wire (claim 18). According to this configuration, since the heat softening is performed while monitoring the tension, the amount of biting can be accurately controlled, and the tension of the shape memory alloy wire and the auxiliary member can be adjusted more accurately.

  According to the first aspect of the present invention, in the drive device configured to apply a predetermined tension to the shape memory alloy wire by the auxiliary member, the shape memory alloy wire is installed and fixed to the fixed body and the movable body. Even after being assembled in the apparatus, the tension of the shape memory alloy wire can be adjusted afterwards, so that the tension of the shape memory alloy wire can be easily adjusted to an appropriate value. In addition, even in mass production of drive devices, the tension of the shape memory alloy wire can be made constant in each drive device, so that there is an advantage that the operation performance of the actuator can be made uniform.

  According to the second aspect of the present invention, in the drive device in which the two shape memory alloy wires are antagonized, the shape memory alloy wire is installed and fixed to the fixed body and the movable body and assembled to the drive device. However, since the tension of the shape memory alloy wire can be adjusted afterwards, the tension of the shape memory alloy wire can be easily adjusted to an appropriate value.

  According to the invention which concerns on Claim 3, according to the structure of a movable body or a fixed body, a magnitude | size, arrangement | positioning relationship, etc., a tension adjustment member can be arrange | positioned in an appropriate location.

  According to the fourth aspect of the present invention, in the drive device configured to apply a predetermined tension to the shape memory alloy wire by the auxiliary member, the shape memory alloy wire and the auxiliary member are installed and fixed to the fixed body and the movable body. Since the tension of the shape memory alloy wire and / or the auxiliary member can be adjusted afterwards even after being assembled to the drive device, the tension of the shape memory alloy wire and / or the auxiliary member can be appropriately set. The value can be easily adjusted.

  According to the invention which concerns on Claim 5, according to the structure of a movable body or a 1st, 2nd fixed body, a magnitude | size, arrangement | positioning relationship, etc., a tension adjustment member can be arrange | positioned in an appropriate location.

  According to the invention of claim 6, since the tension of the shape memory alloy wire can be adjusted by a simple means of heating and softening a tension adjusting member made of a thermoplastic resin, the productivity of the driving device can be improved. it can.

  According to the seventh aspect of the present invention, even if the shape memory alloy wire is actually operated, the tension adjusting member is not heated and softened, and the tension of the shape memory alloy wire can be maintained at a predetermined value.

  According to the invention which concerns on Claim 8, the tension adjustment of a shape memory alloy wire can be performed simply and effectively by making the inversion part of a shape memory alloy wire bite into a tension adjustment member.

  According to the ninth aspect of the invention, since the coarse and fine adjustments of the tension can be selectively performed, the tension adjustment can be performed efficiently and accurately. Furthermore, it is possible to perform tension adjustment only on one side with the reversal portion of the shape memory alloy wire spanning the movable body as a boundary, and the degree of freedom of tension adjustment can be greatly improved.

  According to the invention which concerns on Claim 10, the structure of an auxiliary member can be simplified and the cost of a drive device can be reduced.

  According to the invention which concerns on Claim 11, the holding structure to the fixing body of a shape memory alloy wire can be simplified.

  According to the inventions according to claims 12 to 14, for example, the tension adjusting member is heated and softened after the tension is applied to the linear portion of the shape memory alloy wire or the auxiliary member to a fixed body and a movable body by applying a tension higher than a specified value. The tension adjustment step can be simplified since the tension adjustment can be performed by a simple method of reducing the tension to a specified value by biting in an appropriate amount of the shape memory alloy wire and the linear portion of the auxiliary member. It becomes possible to improve productivity.

  According to the fifteenth aspect of the present invention, it is possible to effectively heat and soften only the required portion (contact portion) of the tension adjusting member, and therefore, the amount of biting of the shape memory alloy wire or the like can be adjusted accurately. Can do.

  According to the invention of claim 16, the tension adjusting member can be heated and softened as a whole by hot wire or hot air, so that workability can be improved when a plurality of tension adjusting members are used. it can.

  According to the seventeenth aspect of the present invention, since the contact portion of the tension adjusting member is heated and softened using the shape memory alloy wire itself as a heat source, it is not necessary to prepare a separate heating means.

  According to the eighteenth aspect of the present invention, heat softening is performed while monitoring the tension, so that the amount of biting can be accurately controlled, and the tension of the shape memory alloy wire and the auxiliary member can be adjusted more accurately. Accordingly, the yield of the driving device can be improved.

Hereinafter, various embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
FIG. 1 is a schematic configuration diagram illustrating a configuration of a drive device S1 according to the first embodiment of the present invention, and FIG. 2 is a cross-sectional view taken along line AA of FIG. The driving device S1 includes a first fixed body 11 and a second fixed body 12, a movable body 2 supported by the first fixed body 11 and the second fixed body 12 in a swingable manner, and the movable body 2 A shape memory alloy wire 3 for applying a driving force to the shape memory, a bias spring 4 (auxiliary member) for applying a predetermined tension to the shape memory alloy wire 3, and a tension adjusting member 5 for adjusting the tension of the shape memory alloy wire 3. Configured.

  As is well known, a shape memory alloy has an austenite phase (parent phase) and a martensite phase, and when the shape memory alloy is cooled to a predetermined temperature or lower (below the martensitic transformation end temperature), martensitic transformation occurs, and austenite Change from phase to martensite phase. On the other hand, when heated to a predetermined temperature or higher (reverse transformation end temperature or higher), the martensite phase changes to the austenite phase. The shape memory alloy has a low elastic modulus in the martensite phase, and when given a predetermined tension in this state, elongation (plastic deformation) of about several percent with respect to the entire length occurs. On the other hand, the shape can be recovered to the original length by heating to the reverse transformation end temperature or higher and returning to the austenite phase to obtain a high elastic modulus in a state where elongation occurs. The drive device S1 according to the present embodiment utilizes such properties of the shape memory alloy, and moves the movable body 2 to the first fixed body 11 by the shape recovery force of the shape memory alloy wire 3 and the biasing force of the bias spring 4. And a driving device that is moved relative to the second fixed body 12.

  The first fixed body 11 and the second fixed body 12 are non-moving bodies with respect to the movable body 2 that is moved in a predetermined direction, and the movable body 2 is the first fixed body 11 and the second fixed body. The position is changed relative to the 12 positions. The first fixed body 11 and the second fixed body 12 can be constituted by an integrated member (of course, it may be constituted by another member), for example, a movable part (movable body 2) in a housing. When the drive device S1 has a structure in which the first side wall portion of the housing is supported by the first fixed body 11 and the second side wall portion of the housing opposite to the first side wall is used. The second fixed body 12 can be used.

  Specifically, when the driving device S1 is applied to a camera shake correction mechanism that performs camera shake correction driving of a photographing lens unit in a digital camera, a camera-equipped mobile phone, etc., one body body of the digital camera, the camera-equipped mobile phone, etc. The parts are the first fixed body 11 and the second fixed body 12. Then, the imaging lens unit supported by the main body body with an appropriate support mechanism (gimbal support mechanism or the like) is driven to swing as the movable body 2 in a direction that cancels camera shake.

  The shape memory alloy wire 3 is made of a wire made of a shape memory alloy (SMA) such as a Ni—Ti alloy, for example, and functions as a line actuator. The shape memory alloy wire 3 is stretched by applying a predetermined tension from the bias spring 4 in a state where the elastic modulus is low (martensite phase) at a low temperature. Then, when heat is applied in the stretched state, the phase is transformed to shift to a state having a high elastic modulus (austenite phase), and the shape is restored from the stretched state to the original length. In addition, the shape memory alloy wire 3 may be a foil-like one in addition to a circular cross-section, an elliptical cross-section, a rectangular cross-section, or a plurality of shape memory alloy linear bodies knitted or twisted together It may be.

  Here, there is no particular limitation on the method of applying heat to transfer the shape memory alloy wire 3 to the austenite phase, but in the present embodiment, the above-described phase transformation is performed by energizing and heating the shape memory alloy wire 3. The structure to perform is employ | adopted (refer FIG. 6 mentioned later). That is, since the shape memory alloy wire 3 is a conductor having a predetermined resistance value, Joule heat is generated by energizing the shape memory alloy wire 3 itself, and from the martensite phase by self-heating based on the Joule heat. It is configured to transform to an austenite phase. Thus, the method of self-heating by Joule heat is preferable since it is excellent in temperature control and accuracy.

  The shape memory alloy wire 3 is stretched over the movable body 2 in a state where the end portion thereof is held (fixed) by the first fixed body 11. That is, the first end 31 that is one end of the shape memory alloy wire 3 and the second end 32 that is the other end are the first caulking member 111 and the second caulking member that are fixed to the first fixed body 11. 112. Thus, the shape memory alloy wire 3 is installed on the movable body 2 in such a manner that a loop that inverts 180 degrees is formed. Note that the shape memory alloy wire 3 is not in the form of forming an inversion loop, so that the first end 31 is held by the first fixed body 11 and the second end 32 is held by the movable body 2. Further, it may be an embodiment that is installed in a straight line. However, from the viewpoint of increasing the amount of movement of the movable body 2, it is desirable to lay the shape memory alloy wire 3 on the movable body 2 in a manner that forms an inversion loop as shown in FIG. 1.

  FIG. 3 is an explanatory view showing a method of holding the end portion of the shape memory alloy wire 3 in the first fixed body 11. Here, a method (caulking method) of fixing the first end portion 31 of the shape memory alloy wire 3 with the first caulking member 111 is illustrated. As shown in FIG. 3A, the first caulking member 111 has an L-shape having a bent portion 111a and a base portion 111b in a side view when not crimped. The base portion 111b is fixed to the surface of the first fixed body 11 by a method such as welding or screwing (see FIG. 2).

  And after aligning the 1st end part 31 of the shape memory alloy wire 3, as shown in FIG.3 (b), using the press apparatus etc., bend | fold the said bending part 111a in the direction closely_contact | adhered to the base part 111b. Press contact. As a result, the first end portion 31 is fixed to the first caulking member 111 and is held by the first fixed body 11. FIG. 3C is a view of the pressure contact state of FIG. 3B as viewed from above. The method for holding the second end 32 by the second caulking member 112 is also the same.

  FIG. 4 is an explanatory view showing another holding method for the first fixed body 11 at the end of the shape memory alloy wire 3. Here, a method (press-fit pin method) for fixing the first end portion 31 of the shape memory alloy wire 3 using the press-fit fixing member 113 and the press-fit pin 115 is illustrated. The press-fit fixing member 113 has a receiving hole 114 into which the press-fit pin 115 can be press-fitted, and one surface thereof is fixed to an appropriate position of the first fixed body 11. As shown in FIG. 4A, the first end portion 31 of the shape memory alloy wire 3 is aligned so as to pass over the receiving hole 114. Thereafter, as shown in FIGS. 4B and 4C, the press-fit pin 115 is press-fitted into the receiving hole 114 so as to embed a part of the first end portion 31 of the shape memory alloy wire 3 into the receiving hole 114. . Accordingly, the first end portion 31 is fixed to the press-fit fixing member 113 and is held by the first fixing body 11.

  As described above, the first end 31 and the second end of the shape memory alloy wire 3 are held by the first fixed body 11, but the intermediate portion of the shape memory alloy wire 3, that is, the extension of the shape memory alloy wire 3. The reversing part 33 whose direction of reversal is 180 degrees is hooked on the movable body 2. That is, as shown in FIG. 1 and FIG. 2, a cylindrical turning part 21 protrudes from the movable body 2, and the shape memory alloy wire 3 extending in the direction of the movable body 2 from the first end 31 is formed by this turning part. The shape memory alloy wire 3 is stretched over the turning portion 21 of the movable body 2 such that the outer circumference of the outer circumference 21 is rotated by 180 degrees and turned around 180 degrees, and the second end portion 32 returns to the first fixed body 11. Yes. A tension adjusting member 5 is interposed between the reversing part 33 and the turning part 21 of the shape memory alloy wire 3. This will be described in detail later.

  The bias spring 4 is a contraction coil spring that applies a prescribed tension to the shape memory alloy wire 3. At both ends of the bias spring 4, a first linear portion 41 and a second linear portion 42 for locking are extended. As the bias spring 4, the shape memory alloy wire in the martensite phase is antagonized while giving a predetermined elongation force, while in the austenite phase, the spring force (shrinkage) is stretched by the shape recovery force of the shape memory alloy wire 3. Is selected. Instead of the bias spring 4, an appropriate tension applying mechanism that can apply tension to the shape memory alloy wire 3 may be adopted.

  The terminal portion of the first linear portion 41 of the bias spring 4 is fixed to the second fixed body 12. Specifically, the terminal portion of the first linear portion 41 is fixed to the fixing portion 121 provided at an appropriate position of the second fixing body 12. Further, the terminal end of the second linear portion 42 of the bias spring 4 is fixed to the movable body 2. Specifically, the terminal portion of the second linear portion 42 is fixed to the fixing portion 22 provided on the top surface of the turning portion 21 provided in the movable body 2.

  The tension adjusting member 5 is a member for adjusting the tension of the shape memory alloy wire 3 installed on the movable body 2 to a predetermined specified value. The tension adjusting member 5 is formed of a member having a substantially crescent shape, and is attached to the outer peripheral surface of the turning portion 21 of the movable body 2 at a position facing the reversing portion 33 of the shape memory alloy wire 3. That is, the tension adjusting member 5 has an arc-shaped contact portion 51 that comes into contact with the shape memory alloy wire 3 when the shape memory alloy wire 3 is stretched over the rolling portion 21.

  The tension adjusting member 5 is made of a thermoplastic resin. Then, as shown in FIG. 5, after the shape memory alloy wire 3 is installed on the movable body 2 (turning part 21), the tension adjusting member 5 is heated and softened, whereby the tension of the shape memory alloy wire 3 is increased. The reversing part 33 of the shape memory alloy wire 3 is bitten into the tension adjusting member 5 by a predetermined depth so that the specified value is as designed. A contact portion 51 indicated by a dotted line in FIG. 5A indicates a state in which the reversing portion 33 is biting. FIG. 5B is a cross-sectional view of the reversing part 33.

  According to this configuration, the erection path of the shape memory alloy wire 3 given tension by the bias spring 4 is changed depending on the degree of biting into the tension adjusting member 5. That is, when a predetermined elongation is given to the shape memory alloy wire 3 by applying a tension by the bias spring 4, if the reversing portion 33 of the shape memory alloy wire 3 bites in the contact portion 51 of the tension adjusting member 5, The construction path of the shape memory alloy wire 3 is shortened in accordance with the amount of biting, that is, the “elongation” is relaxed, and the tension of the shape memory alloy wire 3 can be lowered accordingly. Accordingly, the tension adjusting member 5 is softened by external heating or the like, and the amount of biting in the contact portion 51 of the reversing portion 33 is adjusted, so that the tension of the shape memory alloy wire 3 can be adjusted even after erection.

  Actually, as will be described later with reference to FIG. 7 and FIG. 8, the tension adjusting member 5 is passed over the shape memory alloy wire 3 with the tension higher than the specified value, and is passed over the rotating portion 21 while monitoring the tension of the shape memory alloy wire 3. Is heated and softened so that the reversing portion 33 gradually bites in the contact portion 51 of the tension adjusting member 5, and the tension adjusting member 5 is heated and softened when the tension of the shape memory alloy wire 3 reaches a specified value. Is stopped, the reversing part 33 is bitten into the tension adjusting member 5 by a predetermined depth.

  The tension adjusting member 5 does not soften at least at the first temperature at which the shape memory alloy wire 3 completes the reverse transformation to the austenite phase (reverse transformation temperature; about 90 to 100 ° C.), and is higher than the first temperature. It is desirable to use a thermoplastic resin that softens at a second temperature that is higher by a temperature (for example, about 20 to 30 ° C. or higher). If the tension adjusting member 5 made of such a thermoplastic resin is used, the tension adjusting member 5 will not be softened by heating even if the shape memory alloy wire 3 is heated and driven by changing the phase from a martensite phase to an austenite phase. The tension of the shape memory alloy wire 3 can be maintained at a predetermined value. Examples of such thermoplastic resins include polycarbonate, polyacetal, polyimide, modified polyphenylene ether, polybutylene terephthalate, polyarylate, polysulfone, polyphenylene sulfide, polyether ether ketone, and polyimide resin.

  Next, the operation of the driving device S1 configured as described above will be described with reference to FIGS. Here, the first caulking member 111 and the second caulking member 112 that respectively fix the first end portion 31 and the second end portion 32 of the shape memory alloy wire 3 to the first fixing body 11 are connected to the shape memory alloy wire 3. A configuration in which a drive voltage is applied to the first end portion 31 and the second end portion 32 of the shape memory alloy wire 3 from the power source E via the switch SW is illustrated as an energization electrode. Actually, the energization amount to the shape memory alloy wire 3 is controlled not by the energization control only by the opening / closing operation of the switch SW but by the drive control means equipped with a microcomputer or the like. In FIG. ing.

  FIG. 6A shows a state where the switch SW is “open” and no driving voltage is applied from the power source E to the shape memory alloy wire 3 (energization OFF). In this case, since the shape memory alloy wire 3 is not energized and heated, it is transformed into a martensite phase and has a low elastic modulus and is easily deformable. Accordingly, the contraction force of the bias spring 4 acts on the shape memory alloy wire 3 via the movable body 2 so that the shape memory alloy wire 3 is extended by a predetermined length.

  On the other hand, FIG. 6B shows a state in which the switch SW is “closed” and a predetermined drive voltage is applied from the power source E to the shape memory alloy wire 3 (energization ON). In this case, the current i flows through the shape memory alloy wire 3, and the shape memory alloy wire 3 generates Joule heat due to its own current resistance and is self-heated. As a result, the shape memory alloy wire 3 is reversely transformed into the austenite phase, the elastic modulus is increased, and the memory shape of the original length is restored from the stretched state. That is, the shape memory alloy wire 3 recovers its shape by overcoming the contraction force of the bias spring 4, and as a result, the movable body 2 is moved in the direction of the arrow F1 in the figure.

  Then, as shown in FIG. 6C, when the switch SW is set to “open” again and no driving voltage is applied from the power source E to the shape memory alloy wire 3, the generation of Joule heat stops, and the shape memory alloy is stopped. The wire 3 is cooled by the outside air or the like and transformed into a martensite phase, and returns to a state where the elastic modulus is low. In this case, the contraction force of the bias spring 4 acts on the shape memory alloy wire 3, and the shape memory alloy wire 3 is again extended by a predetermined length. As a result, the movable body 2 is indicated by the arrow F2 in the figure. Will be moved in the direction. By repeating such an operation, the movable body 2 is moved to a desired position.

  Then, the manufacturing method of drive device S1 concerning 1st Embodiment is demonstrated. FIGS. 7A to 7C are diagrams schematically showing a tension adjusting step of the shape memory alloy wire 3 when the driving device S1 is manufactured. In this tension adjustment step, the shape memory alloy wire 3 is applied with a tension of a specified value or more and assembled to the first fixed body 11 and the movable body 2, and then the tension adjustment member 5 is heated and softened to form the shape memory alloy wire 3. This is a step of reducing the tension to a specified value by biting in an appropriate amount.

  First, as shown in FIG. 7A, the movable body 2 is fixed by an appropriate fixing member 60 that temporarily fixes the movable body 2. In this state, the shape memory alloy wire 3 is installed between the first fixed body 11 and the movable body 2. That is, as described above with reference to FIG. 1, the shape memory alloy wire 3 is bridged over the rotating portion 21 of the movable body 2 so as to be inverted 180 degrees, and the first end portion 31 and the second end portion 32 are connected to the first end portion 31. It is fixed with the caulking member 111 and the second caulking member. At this time, a tension (elongation amount) slightly larger than a specified value specified as a design value is applied as the installation tension of the shape memory alloy wire 3. The shape memory alloy wire 3 is installed in a state where the tension adjusting member 5 is interposed between the turning portion 21 and the reversing portion 33 of the shape memory alloy wire 3. Further, the bias spring 4 having a predetermined contraction spring force is also installed between the second fixed body 12 and the movable body 2 (the turning portion 21).

  Next, as shown in FIG. 7 (b), in order to adjust the tension of the shape memory alloy wire 3, the tension detecting means 61 monitors the tension of the shape memory alloy wire 3, and the laser light irradiation means 62 (heating means). ), The tension adjusting member 5 is irradiated with the laser beam L, and the tension adjusting member 5 is softened by heating. The irradiation of the laser beam L from the laser beam irradiation means 62 to the tension adjusting member 5 (heating and softening of the tension adjusting member 5) causes the shape memory alloy wire 3 to bite into the tension adjusting member 5 by a predetermined amount. Continue until the tension reaches the specified value.

  FIG. 8 is an enlarged view showing a portion of the tension adjusting member 5 in FIG. 7B, and the tension adjustment of the shape memory alloy wire 3 will be described in detail based on FIG. In a state where the tension adjusting member 5 is not heated and softened, the reversing portion 33 of the shape memory alloy wire 3 is in contact with the contact portion 51 of the tension adjusting member 5 without biting. That is, the shape memory alloy wire 3 is installed between the first fixed body 11 and the movable body 2 through the installation path indicated by the solid line in FIG.

  On the other hand, when the laser beam L is irradiated from the laser beam irradiation means 62 toward the contact portion 51 of the tension adjusting member 5 and the tension adjusting member 5 is heated and softened at the contact portion 51, the shape memory alloy wire 3 has a tension. Since it possesses, it comes to bite into the tension adjustment member 5, and as shown by the arrow C in the figure, the contact part 51 comes into the inside of the tension adjustment member 5. As a result, the erection route of the shape memory alloy wire 3 is changed to the erection route indicated by the dotted line in FIG. That is, when the reversing portion 33 of the shape memory alloy wire 3 bites into the contact portion 51 of the tension adjusting member 5, the position of the reversing portion 33 moves closer to the first fixed body 11, and the shape memory alloy wire 3 is installed. The route is shorter than the beginning.

  By shortening the installation path, the “elongation” initially given to the shape memory alloy wire 3 is relaxed, and the tension of the shape memory alloy wire 3 is lowered accordingly. Accordingly, the tension detecting means 61 monitors the decrease in tension of the shape memory alloy wire 3 while irradiating the reversing portion 33 by irradiating the laser beam L to the contact portion 51, and the tension of the shape memory alloy wire 3 is a specified value. At this stage, the tension of the shape memory alloy wire 3 can be adjusted to a specified value by stopping the irradiation of the laser light L and suppressing the biting of the reversing part 33.

  Thereafter, as shown in FIG. 7C, when the fixed member 60 is removed and the fixed state of the movable body 2 is released, the bias force of the bias spring 4 acts on the movable body 2, and the shape memory alloy wire. 3 and the bias spring 4 antagonize. At this time, the bias spring 4 generates a bias force according to the design value, and the amount of biting of the reversing portion 33 with respect to the tension adjusting member 5 is adjusted so that the tension of the shape memory alloy wire 3 becomes a specified value. Therefore, the movable body 2 comes to settle at a predetermined position.

  By performing the tension adjustment as described above, the tension of the shape memory alloy wire 3 can be set to a desired specified value for performing the actuator operation. That is, if the tension of the shape memory alloy wire 3 deviates from the specified value, the response when the shape memory alloy wire 3 is heated by energization to recover the shape deteriorates, or the shape memory alloy wire 3 and the bias spring 4 Although there is a disadvantage that the tension balance is lost and the initial position of the movable body 2 is biased, such a disadvantage can be avoided by performing the tension adjustment step as described above.

  In addition, as a method of adjusting the tension of the shape memory alloy wire 3, a method of mechanically shifting the fixing positions of the first end portion 31 and the second end portion 32 of the shape memory alloy wire 3 in the first fixed body 11 is also possible. Although it is conceivable, when a mechanical mechanism is adopted, there is a problem that the change in tension with time and loosening are likely to occur, and a special mechanical mechanism needs to be added. On the other hand, according to the tension adjusting method according to the present embodiment, the tension adjusting member 5 made of thermoplastic resin is heated and softened by the laser light L emitted from the laser light irradiation means 62, and the erection route of the shape memory alloy wire 3 is set. Therefore, the tension can be adjusted easily and in a short time only by performing a partial heating operation after the shape memory alloy wire 3 is installed and assembled. Further, since the tension adjusting member 5 is solidified after the tension adjustment (after heating is stopped), the change in the tension of the shape memory alloy wire 3 with time does not occur.

  As the tension detecting means 61, it is desirable to use a tension meter that can measure the tension of the shape memory alloy wire 3 in a non-contact manner. For example, a sonic tension meter (for example, a sonic belt tension manufactured by Gates Unitta Asia Co., Ltd.). A total of U-507) can be used. That is, the shape memory alloy wire 3 is irradiated with a sound wave (air vibration) to vibrate the shape memory alloy wire 3, and a vibration sound having a correlation with the tension at this time is picked up by a microphone, and the vibration sound signal is analyzed. It is desirable to employ a method of measuring the tension of the shape memory alloy wire 3 by determining the frequency. Instead of irradiating the shape memory alloy wire 3 with sound waves, a pulse voltage is applied to the shape memory alloy wire 3 to continuously induce a phase change so that the shape memory alloy wire 3 is vibrated. good.

  Further, as the laser light irradiation means 62, a semiconductor light emitting element that generates the laser light L, a driver that drives the semiconductor light emitting element, and an optical system that emits the laser light L with a predetermined spot diameter are used. be able to. If such a laser beam irradiation unit 62 is used as a heating unit for the tension adjusting member 5, only the required portion (contact portion 51) of the tension adjusting member 5 is effectively heated and softened by narrowing the spot diameter of the laser beam L. Can be made. The laser beam L may be irradiated directly on the required portion of the tension adjusting member 5 to be directly heated and softened, or may be irradiated to the shape memory alloy wire 3 (reversing portion 33) and indirectly heated and softened. .

  In addition, it is good also as a structure which heat-softens the said tension | tensile_strength adjustment member 5 with the hot wire or hot air emitted from this hot wire or a hot air generation means as a heating means instead of the said laser beam irradiation means 62. According to this configuration, it is possible to heat and soften the tension adjustment member 5 as a whole with hot wire or hot air, and workability can be improved when a plurality of tension adjustment members 5 are used. Examples of such hot wire or hot air generating means include a micro heater and a hot air blower.

  Alternatively, an energization heating unit that energizes and heats the shape memory alloy wire 3 can also be used as the heating unit. That is, the contact portion 51 of the tension adjusting member 5 may be heated and softened by Joule heat generated by the shape memory alloy wire 3 by energization by the energization heating means. In this case, the shape memory alloy wire 3 can be energized and heated using a circuit including a power source E for driving the shape memory alloy wire 3 as shown in FIG. 6, for example. According to this configuration, since the shape memory alloy wire 3 itself is used as a heat source to heat and soften the contact portion 51 of the tension adjusting member 5, there is an advantage that it is not necessary to prepare a separate heating means. However, if the energization is performed for a long time so that the shape memory alloy wire 3 generates heat enough to heat and soften the tension adjusting member 5, the shape memory alloy wire 3 may be damaged. It is desirable to repeat energization.

In the embodiment described above, the example in which the tension adjusting member 5 is installed in the turning portion 21 provided in the movable body 2 has been shown. However, the tension adjusting member 5 may be provided in a place other than the turning portion 21 of the movable body 2. As long as the position can contact the shape memory alloy wire 3 installed between the fixed body 11 and the movable body 2, the fixed body 11 may be installed at a place other than the movable body 2. Moreover, you may make it provide the tension adjustment member 5 not only in one place but in multiple places. That is, the tension adjusting member 5 can be disposed at any one of the following positions (a) to (c) or at a plurality of these positions. In addition, the drive device S1 shown in FIG. 1 in which the tension adjusting member 5 is provided in the turning portion 21 of the movable body 2 shows an example of the following mode (a).
(A) Predetermined position of movable body 2 (b) Predetermined position of first fixed body 11 (c) Intermediate position between movable body 2 and first fixed body 11

  FIG. 9 is a modified embodiment of the drive device S1 shown in FIG. 1, and is a schematic configuration diagram illustrating the above-described aspect (b). Here, the tension adjustment member 52 is disposed on the first fixed body 11 side, and the tension adjustment member is not interposed in the turning portion 21 of the movable body 2 (of course, the tension adjustment is also applied to the turning portion 21. A member may be interposed).

  The tension adjusting member 52 includes an upper end contact portion 521 and a lower end contact portion 522 that are in contact with the shape memory alloy wire 3 in the vicinity of the first end portion 31 and the second end portion 32 of the shape memory alloy wire 3, respectively. It is a member made of a thermoplastic resin. The upper end contact portion 521 is for exclusively adjusting the tension of the first half portion 3a with the reversal portion 33 of the shape memory alloy wire 3 as a boundary, and the lower end contact portion 522 is exclusively for adjusting the tension of the second half portion 3b. Is to do. 9 illustrates the tension adjusting member 52 in which the upper end contact portion 521 and the lower end contact portion 522 are integrated, but the upper end contact portion 521 and the lower end contact portion 522 may be separated from each other. .

  FIG. 10 is an explanatory view showing the upper end contact portion 521 in an enlarged manner. In a state where the tension adjusting member 52 (upper end contact portion 521) is not heated and softened, the shape memory alloy wire 3 contacts the tension adjusting member 52 without biting as shown in FIG. On the other hand, when the tension adjusting member 52 is heated and softened, the shape memory alloy wire 3 bites into the tension adjusting member 52 and the upper end contact portion 521 is immersed inside the tension adjusting member 52 as shown in FIG. It becomes like this. Thereby, the erection route of the shape memory alloy wire 3 is shortened according to the amount of biting, and the tension of the shape memory alloy wire 3 is reduced accordingly. The same applies to the lower end contact portion 522. Therefore, the tension of the shape memory alloy wire 3 can be adjusted by adjusting the amount of biting of the shape memory alloy wire 3 in the upper end contact portion 521 and the lower end contact portion 522.

  FIG. 11 is another schematic embodiment of the drive device S1 shown in FIG. 1, and is a schematic configuration diagram illustrating the aspect (c). Here, the tension adjusting member 53 is disposed at an intermediate position between the first fixed body 11 and the movable body 2, and no tension adjusting member is interposed in the vicinity of the turning portion 21 of the movable body 2 or the first fixed body 11. (Of course, a tension adjusting member may also be interposed in the vicinity of the turning portion 21 and the first fixed body 11).

  The tension adjusting member 53 is in contact with the shape memory alloy wire 3 in the vicinity of the middle of the shape memory alloy wire 3 that is reversed 180 degrees between the first fixed body 11 and the movable body 2 and reciprocally mounted. It is a member made of a thermoplastic resin provided with a portion 531 and a lower end contact portion 532. The upper end contact portion 531 is for exclusively adjusting the tension of the first half portion 3a with the reversal portion 33 of the shape memory alloy wire 3 as a boundary, and the lower end contact portion 532 exclusively adjusts the tension of the second half portion 3b. Is to do. Also in this modified embodiment, the tension of the shape memory alloy wire 3 is adjusted by adjusting the amount of biting of the shape memory alloy wire 3 in the upper end contact portion 531 and the lower end contact portion 532 as in the case of FIGS. Can be adjusted.

[Second Embodiment]
FIG. 12 is a schematic configuration diagram showing the configuration of the drive device S2 according to the second embodiment of the present invention, and FIG. 13 is a cross-sectional view taken along the line DD of FIG. The driving device S2 includes a first fixed body 13 and a second fixed body 14, a movable body 20 supported by the first fixed body 13 and the second fixed body 14 in a swingable manner, and the movable body 20 The first shape memory alloy wire 310 and the second shape memory alloy wire 320 that apply driving force to the first shape memory alloy wire 320, and the first shape memory alloy wire 310 and the first shape memory alloy wire 320 for adjusting the tension respectively. The tension adjusting member 54 and the second tension adjusting member 55 are provided.

  Also in this drive device S2, the first fixed body 13 and the second fixed body 14 are non-moving bodies with respect to the movable body 20 moved in a predetermined direction, and the movable body 20 is the first fixed body. 13 and the second fixed body 14 are relatively moved relative to the positions of the driving device S1 according to the first embodiment, but the shape recovery force of the shape memory alloy wire 3 and Rather than based on the biasing force of the bias spring 4, the movable body 20 moves by so-called push-pull driving by two sets of shape memory alloy wires, that is, the first shape memory alloy wire 310 and the second shape memory alloy wire 320. This is different from the driving device S1. For this reason, the movable body 20 includes a first turning portion 201 for laying the first shape memory alloy wire 310 and a second turning portion 202 for laying the second shape memory alloy wire 320. It has been.

  The first shape memory alloy wire 310 is stretched over the movable body 20 with the end portion held (fixed) by the first fixed body 13. That is, the first end 311 that is one end of the first shape memory alloy wire 310 and the second end 312 that is the other end are connected to the first caulking member 131 and the first end fixed to the first fixed body 13. The first shape memory alloy wire 310 is held by the two caulking members 132, whereby the first shape memory alloy wire 310 is installed on the movable body 20 in a form that forms a loop that is inverted by 180 degrees. Specifically, a reversing portion 313 in which the extending direction of the first shape memory alloy wire 310 is reversed by 180 degrees is spanned over the first turning portion 201 of the movable body 20. A first tension adjusting member 54 is interposed between the reversing part 313 and the first turning part 201 of the first shape memory alloy wire 310. Such a configuration is substantially the same as that of the first embodiment.

  The second shape memory alloy wire 320 is arranged in place of the bias spring 4 in the first embodiment, and the movable body in the state where the end portion is held (fixed) by the second fixed body 14. 20 over. That is, the first end portion 321 that is one end of the second shape memory alloy wire 320 and the second end portion 322 that is the other end are the first caulking member 141 fixed to the second fixed body 14, The second shape memory alloy wire 320 is held by the two caulking members 142, and thus the second shape memory alloy wire 320 is installed on the movable body 20 in a form that forms a loop that is inverted by 180 degrees. Specifically, an inversion part 323 in which the extending direction of the second shape memory alloy wire 320 is inverted by 180 degrees is spanned over the second turning part 202 of the movable body 20. A second tension adjusting member 55 is interposed between the reversing part 323 and the second turning part 202 of the second shape memory alloy wire 320. This configuration is substantially the same as the construction mode of the first shape memory alloy wire 310.

  The first shape memory alloy wire 310 and the second shape memory alloy wire 320 are erected on the movable body 20 with a predetermined tension, and are in a state of antagonizing each other. Then, as will be described later based on FIG. 14, the movable body 20 moves to the first fixed body 13 side (first direction) by the first shape memory alloy wire 310 performing the shape recovery operation, and the second The shape memory alloy wire 320 is moved to the second fixed body 14 side (second direction) by performing the shape recovery operation.

  In such a configuration, the tension of the first shape memory alloy wire 310 and the second shape memory alloy wire 320 is a predetermined value determined in advance by the first tension adjusting member 54 and the second tension adjusting member 55, respectively. Adjusted to The first tension adjusting member 54 is formed of a member having a substantially crescent shape, and is an outer peripheral surface of the first turning portion 201 of the movable body 20 and is opposed to the reversing portion 313 of the first shape memory alloy wire 310. Is attached. That is, the first tension adjusting member 54 has an arc-shaped contact portion 541 that comes into contact with the first shape memory alloy wire 310 when the first shape memory alloy wire 310 is stretched over the first turning portion 201. Yes. Similarly, the second tension adjusting member 55 is formed of a member having a substantially crescent shape, and is an outer peripheral surface of the second turning portion 202 of the movable body 20 and is opposed to the reversing portion 323 of the second shape memory alloy wire 320. It is attached to the position to be. That is, the second tension adjusting member 55 has an arc-shaped contact portion 551 that comes into contact with the second shape memory alloy wire 320 when the second shape memory alloy wire 320 is stretched over the second turning portion 202. Yes.

  As described above, the first and second tension adjusting members 54 and 55 are made of a thermoplastic resin such as polycarbonate. Then, after the first and second shape memory alloy wires 310 and 320 are installed on the movable body 20 (first and second turning portions 201 and 202), the first and second tension adjusting members 54 and 55 are moved. Each reversing portion 313, 323 has the first and second tensions so that the tension of the first and second shape memory alloy wires 310, 320 becomes a specified value as designed by being heated and softened. The adjusting members 54 and 55 are bitten by a predetermined depth.

  Next, operation | movement of drive device S2 comprised as mentioned above is demonstrated based on Fig.14 (a)-(c). Here, the first caulking member 131 and the second caulking member 132 for fixing the first end portion 311 and the second end portion 312 of the first shape memory alloy wire 310 to the first fixing body 13, respectively, A configuration in which a drive voltage is applied to the first shape memory alloy wire 310 from the first power supply E1 via the first switch SW1 is illustrated as an energization electrode for the shape memory alloy wire 310. Similarly, the first caulking member 141 and the second caulking member 142 for fixing the first end portion 321 and the second end portion 322 to the second fixing body 14 are also provided for the second shape memory alloy wire 320. A configuration in which a driving voltage is applied to the second shape memory alloy wire 320 from the second power source E2 via the second switch SW2 is illustrated as an energization electrode.

  In the driving device S2, the movable body 20 is moved by push-pull driving of two sets of shape memory alloy wires. That is, when the drive device S2 heats the first and second shape memory alloy wires 310 and 320 relatively energized and one shape memory alloy wire recovers in shape, the other shape memory alloy wire It operates in a relationship of being stretched by the shape recovery force.

  In FIG. 14A, both the first switch SW1 and the second switch SW2 are “open”, and the first shape memory alloy wire 310 and the second shape memory alloy wire are connected from the first power source E and the second power source E2. 320 shows a state where no drive voltage is applied to 320 (energization OFF). In this case, since the first and second shape memory alloy wires 310 and 320 are not energized and heated, the first and second shape memory alloy wires 310 and 320 are transformed into a martensite phase, have a low elastic modulus, and are easily deformable. The initial tensions of the first and second shape memory alloy wires 310 and 320 at this time are set to such a degree that some elongation is given.

  On the other hand, FIG. 14B shows a state in which only the first switch SW1 is “closed” and a predetermined drive voltage is applied from the first power supply E1 to the first shape memory alloy wire 310 (energization ON). Show. In this case, the current i1 flows through the first shape memory alloy wire 310, and the first shape memory alloy wire 310 generates Joule heat due to its own current resistance and is self-heated. As a result, the first shape memory alloy wire 310 reversely transforms into the austenite phase and the elastic modulus increases, and the memory shape of the original length is restored from the stretched state. On the other hand, since the second shape memory alloy wire 320 is not energized and heated, it has a low elastic coefficient and is stretched by the shape recovery force of the first shape memory alloy wire 310. As a result, the movable body 20 is moved in the direction of the arrow F3 in the drawing.

  Next, in FIG. 14C, the first switch SW1 is “open” and the second switch SW2 is “closed”, and a predetermined drive from the second power source E2 to the second shape memory alloy wire 320 is performed. A state in which a voltage is applied (energization ON) is shown. In this case, the current i2 flows through the second shape memory alloy wire 320, and the second shape memory alloy wire 320 is self-heated by Joule heat. As a result, the second shape memory alloy wire 320 reversely transforms into the austenite phase and the elastic modulus increases, and the memory shape of the original length is restored from the stretched state. On the other hand, the first shape memory alloy wire 310 is cooled to the martensite phase by being stopped by energization heating, and is returned to a state having a low elastic modulus. Accordingly, the first shape memory alloy wire 310 is stretched by the shape recovery force of the second shape memory alloy wire 320. As a result, the movable body 20 is moved in the direction of the arrow F4 in the drawing. By repeating such an operation, the movable body 2 is moved to a desired position.

  Next, a method for manufacturing the drive device S2 according to the second embodiment will be described. FIGS. 15A to 15C are diagrams schematically showing tension adjusting steps of the first and second shape memory alloy wires 310 and 320 when the driving device S2 is manufactured. In this tension adjustment step, after the first and second shape memory alloy wires 310 and 320 are assembled to the first and second fixed bodies 13 and 14 and the movable body 20, the first and / or second tension adjustment is performed. This is a step of adjusting the tension to a specified value by softening the members 54 and 55 and causing the first and / or second shape memory alloy wires 310 and 320 to bite in an appropriate amount.

  First, as shown in FIG. 15A, the movable body 20 is fixed by an appropriate fixing member 60 that temporarily fixes the movable body 20. In this state, the first shape memory alloy wire 310 is installed between the first fixed body 13 and the first turning portion 201 of the movable body 20, and the second shape memory alloy wire 320 is fixed to the second fixed body. It is installed between the body 14 and the second turning part 202 of the movable body 20. In addition, the first and second tension adjusting members 54 and 55 are interposed between the first and second rotating portions 201 and 202 and the reversing portions 313 and 314, respectively. Shape memory alloy wires 310 and 320 are installed.

  Then, the tension detecting means 61 measures whether or not the tension of the first and second shape memory alloy wires 310 and 320 is a specified value. During the installation, a tension (elongation amount) slightly larger than the specified value specified as the design value is applied as the installation tension of the first and second shape memory alloy wires 310 and 320. May be installed.

  Here, for example, when it is found that the tension of the first shape memory alloy wire 310 is higher than a predetermined value, the tension of the first shape memory alloy wire 310 is adjusted as shown in FIG. While the tension of the first shape memory alloy wire 310 is monitored by the tension detecting means 61, the first tension adjusting member 54 is irradiated with the laser light L by the laser light irradiating means 62 (heating means), and the first tension is applied. The adjustment member 54 is softened by heating. When the laser light L is irradiated from the laser light irradiation means 62 to the first tension adjusting member 54 (heat softening of the first tension adjusting member 54), the first shape memory alloy wire 310 is used for the first tension adjusting member 54. Is continued until the tension reaches a specified value.

  As a result, the installation path of the first shape memory alloy wire 310 is shortened from the beginning, and the “elongation” initially given to the first shape memory alloy wire 310 is relaxed, and the first shape memory alloy wire is correspondingly reduced. The tension of 310 decreases. If the tension of the second shape memory alloy wire 320 is also higher than the predetermined value, a similar tension adjustment operation is performed. In addition, when the first and second shape memory alloy wires 310 and 320 are installed, if the tension higher than the design value is intentionally provided in advance, the first and second shape memory alloy wires 310 are provided. 320, the tension adjustment work of both is necessarily performed.

  Thereafter, as shown in FIG. 15C, when the fixed member 60 is removed and the fixed state of the movable body 20 is released, the tension of the first and second shape memory alloy wires 310 and 320 is changed to the movable body. It acts on 20 and both come to antagonize. That is, the movable body 20 settles at a predetermined initial position. By performing the tension adjustment as described above, the tension of the first and second shape memory alloy wires 310 and 320 can be set to a desired specified value when the actuator operation is performed.

  In the embodiment described above, an example in which the first and second tension adjusting members 54 and 55 are installed in the first and second turning portions 201 and 202 provided in the movable body 20 has been described. It may be provided at a place other than the first and second rolling parts 201 and 202, and it may be installed at a place other than the movable body 20 as long as it can contact the first and second shape memory alloy wires 310 and 320. Also good. Moreover, you may make it provide the tension adjustment member which plays the role similar to the 1st, 2nd tension adjustment members 54 and 55 in several places.

[Third Embodiment]
FIG. 16 is a schematic configuration diagram showing the configuration of the drive device S3 according to the third embodiment of the present invention. This drive device S3 is different from the first embodiment in that the tension adjustment can be performed for the bias spring 4 (auxiliary member) in addition to the configuration of the drive device S1 according to the first embodiment. . Hereinafter, this difference will be mainly described.

  In addition to the turning portion 21 described above, the movable body 2A is provided with a protrusion 23 on which the bias spring 4 is bridged. At both ends of the bias spring 4, a first linear portion 41 and a second linear portion 42 for locking are provided. Of these, the second linear portion 42 passes through the protrusion 23. The terminal portion is fixed to a fixing portion 22 provided on the top surface of the turning portion 21 of the movable body 2A. As described above, the curved portion 421 is formed in the second linear portion 42 by passing through the protruding portion 23, and the tension adjustment for the auxiliary member is performed between the curved portion 421 and the protruding portion 23. A member 56 is interposed.

  Accordingly, the auxiliary member tension adjusting member 56 has a contact portion 561 with the second linear portion 42. In the contact portion 561, the curved portion 421 of the second linear portion 42 is bitten by a predetermined depth according to the tension adjustment value for the bias spring 4.

  FIG. 17 is a diagram schematically showing tension adjusting steps of the shape memory alloy wire 3 and the bias spring 4 when the driving device S3 is manufactured. In the case of this drive device S3, the shape of the movable body 2 is memorized by a tension detecting means (not shown) for adjusting the tension of the fixed shape memory alloy wire 3 while the movable body 2 is temporarily fixed by the fixing member 60. While the tension of the alloy wire 3 is monitored, the tension adjusting member 5 is heated and softened by the laser light irradiation means 62 to adjust the tension, and the tension of the second linear portion 42 is monitored and the laser light irradiation means 62 is used. The tension adjustment member 56 for the auxiliary member is heated and softened to adjust the tension with respect to the bias spring 4. As a result, not only the shape memory alloy wire 3 but also the bias spring 4 can be adjusted to an appropriate tension after installation.

In the driving device S3 shown in FIG. 16, the tension adjusting member 5 and the auxiliary member tension adjusting member 56 are installed on the rotating portion 21 and the protruding portion 23 of the movable body 2 respectively. Only one of them may be provided with a tension adjusting member. In addition, tension adjusting members may be installed in places other than the movable body 2, and the tension adjusting members may be provided in a plurality of places instead of only one place. That is, the tension adjusting member can be disposed at any one of the following positions (d) to (i) or at a plurality of these positions. Note that the drive device S3 shown in FIG. 16 shows an example of a mode including the following (d) and (e).
(D) A predetermined position of the movable body 2 and a position in contact with the shape memory alloy wire 3 (e) A predetermined position of the movable body 2 and a position in contact with the second linear portion 42 of the bias spring 4 (f) First (G) A predetermined position of the second fixed body 14 and a position in contact with the first linear portion 41 of the bias spring 4 (h) A movable position. (I) An intermediate position between the movable body 2 and the second fixed body 14 and the first position of the bias spring 4. Position in contact with the linear part 41 or the second linear part 42

[Fourth Embodiment]
FIG. 18 is a schematic configuration diagram showing the configuration of the drive device S4 according to the fourth embodiment of the present invention. In the driving device S4, a fixed body 100 and a movable body 200 such as an imaging lens unit are arranged concentrically so that the movable body 200 can swing in the X-axis direction and the Y-axis direction (to enable camera shake correction driving). ) A driving device supported by the fixed body 100 (for example, disclosed in Japanese Patent Application Laid-Open No. 11-337996).

  First to fourth shape memory alloy wires 34, 35, 36, and 37 are disposed on the outer peripheral surface of the movable body 200 having a cylindrical shape so as to surround the movable body 200. The first to fourth shape memory alloy wires 34, 35, 36, and 37 are curved in contact with the outer peripheral surface of the movable body 200, respectively, and have a predetermined tension (elongation amount). Are attached to the fixed body 100. For example, the first shape memory alloy wire 34 is installed in the Y-axis direction so as to be in contact with the outer peripheral surface of the movable body 200 in the “0 o'clock” direction in front view, and both end portions 341 and 342 are attached to the fixed body 100. Yes. Hereinafter, the second to fourth shape memory alloy wires 35, 36, and 37 are installed while changing the direction in units of 90 degrees, and both end portions 351, 352, 361, 362, 371, and 372 are respectively fixed bodies 100. Is attached.

  Then, the first to fourth shape memory alloy wires 34, 35, 36, and 37 to which a predetermined elongation is given are appropriately energized and heated to recover (shrink) the shape of the movable body 200 in the X-axis direction. Alternatively, it is swung in the Y-axis direction.

  In such a configuration, the contact portions between the first to fourth shape memory alloy wires 34, 35, 36, 37 and the outer peripheral surface of the movable body 200 have first to fourth tension adjusting members 571, 572, 573 and 574 are arranged. Then, according to the tension adjustment values of the first to fourth shape memory alloy wires 34, 35, 36, and 37, the first to fourth tension adjustment members 571, 572, 573, and 574 each have a predetermined depth. Have been bitten. Thus, even after the first to fourth shape memory alloy wires 34, 35, 36, 37 are installed on the fixed body 100 and the movable body 200, the first to fourth tension adjusting members 571, 572, The tensions of the first to fourth shape memory alloy wires 34, 35, 36, and 37 can be adjusted by appropriately heating and softening 573 and 574 to adjust the amount of each bite.

[Description of Other Modified Embodiments]
As mentioned above, although it demonstrated per embodiment of this invention, this invention is not limited to these embodiment, For example, the following modified embodiment can be taken.
[1] In the embodiment shown in FIG. 1 and others, an example in which one tension adjusting member 5 (one contact portion 51) is arranged in the turning portion 21 has been described. However, a plurality of tension adjusting members (a plurality of tension adjusting members are provided in the turning portion 21). May be provided. In this case, a contact position of the tension adjusting member with respect to the shape memory alloy wire 3 is appropriately selected, a tension adjusting member for coarsely adjusting the tension of the shape memory alloy wire 3, and a tension adjusting member for finely adjusting the tension; It is desirable to install.

  FIG. 19 is a configuration diagram illustrating an example in which a plurality of tension adjusting members are provided in the rolling unit 21. The shape memory alloy wire 3 is reversed and spanned by approximately 180 degrees on the turning portion 21. And between this rolling part 21 and the shape memory alloy wire 3, the tension adjusting member 581 for rough adjustment (the first tension adjusting member) for roughly adjusting the tension of the shape memory alloy wire 3, and the tension A first fine adjustment tension adjustment member 582 and a second fine adjustment tension adjustment member 583 (second tension adjustment member) for coarse adjustment are interposed.

  The coarse adjustment tension adjusting member 581 is for adjusting the tension of the shape memory alloy wire 3 as a whole, and is attached to the turning portion 21 so as to have a contact portion 5811 in contact with the reversing portion 330 of the shape memory alloy wire 3. It has been. The first fine-adjustment tension adjusting member 582 is used to exclusively adjust the tension of the first half portion 3a of the shape memory alloy wire 3 with the reversing portion 330 as a boundary. It is attached to the turning part 21 so as to have a contact part 5821 in contact with the first contact point 331 located on the first end part 31 side. Further, the second fine adjustment tension adjusting member 583 is used to exclusively adjust the tension of the rear half portion 3b of the shape memory alloy wire 3 with the reversing portion 330 as a boundary. It is attached to the turning part 21 so as to have a contact part 5831 in contact with the second contact point 332 located on the second end part 32 side.

  If comprised in this way, as shown to Fig.20 (a), by changing the amount of biting with respect to the contact part 5811 of the tension adjustment member 581 for rough adjustment of the inversion part 330 of the shape memory alloy wire 3, The construction route of the shape memory alloy wire 3 can be largely changed (shortened). That is, since it is suitable for changing the degree of elongation of the shape memory alloy wire 3 relatively large, the overall tension of the shape memory alloy wire 3 is roughly adjusted by adjusting the amount of biting in the contact portion 5811. be able to.

  On the other hand, as shown in FIG. 20B, even if the amount of biting into the contact portion 5821 of the first fine adjustment tension adjustment member 582 is changed, the construction path change of the shape memory alloy wire 3 is slight. The same applies to the contact portion 5831 of the second fine adjustment tension adjusting member 583. Accordingly, since the degree of elongation of the shape memory alloy wire 3 is suitable to be changed relatively small, the first half portion 3a or the second half of the shape memory alloy wire 3 is adjusted by adjusting the amount of biting in the contact portions 5821 and 5831. Fine adjustment of the tension of the portion 3b, and hence fine adjustment of the overall tension can be performed.

  From the above, when rough adjustment of the total tension of the shape memory alloy wire 3 is performed, the rough adjustment tension adjusting member 581 is heated and softened to adjust the degree of biting of the reversing portion 330, and the first half of the shape memory alloy wire 3. When fine adjustment of the tension of 3a or the latter half portion 3b or fine adjustment of the entire tension is performed, the first fine adjustment tension adjustment member 582 and / or the second fine adjustment tension adjustment member 583 is heated and softened to perform the first adjustment. By adjusting the biting degree of the contact 331 and / or the second contact point 332, the tension can be adjusted efficiently and precisely.

[2] Although FIG. 7 shows an example in which the tension adjusting member 5 is heated and softened while the tension of the shape memory alloy wire 3 is monitored by the tension detecting means 61, in order to improve productivity, The relationship between the heating time and the tension fluctuation of the shape memory alloy wire 3 is tabulated in advance, and only the initial tension is measured after the shape memory alloy wire 3 is installed, and the laser beam irradiation means 62 is used for the time corresponding to the initial tension. Thus, the tension adjusting member 5 may be heated.

[3] As the movable body, various driven members can be targeted. In addition to the above-described imaging lens unit that is driven to correct camera shake, a lens that is driven for zooming or focusing may be used. Further, not limited to the components of the imaging apparatus, for example, a valve body that performs an opening / closing operation in a pipe line, a swing head in an endoscope, and the like may be used as a movable body.

It is a schematic block diagram which shows the structure of drive device S1 concerning 1st Embodiment of this invention. It is the sectional view on the AA line of FIG. It is explanatory drawing which shows the holding method of the shape memory alloy wire 3, (a) is a side view before crimping, (b) is a side view after crimping, (c) is a top view after crimping. It is explanatory drawing which shows the other holding | maintenance methods of the shape memory alloy wire 3, (a) is a side view before press-fit pin insertion, (b) is a side view after press-fit pin insertion, (c) is after press-fit pin insertion. It is a sectional side view. (A) is an enlarged view of the attachment part of the tension adjustment member 5, (b) is sectional drawing of the tension adjustment member 5 in the inversion part 33. FIG. (A)-(c) is explanatory drawing which shows operation | movement of drive device S1 sequentially. (A)-(c) is explanatory drawing which shows the manufacture procedure of drive device S1 sequentially. It is an enlarged view which expands and shows the part of the tension adjustment member 5 in FIG.7 (b). It is a schematic block diagram which shows the deformation | transformation embodiment of drive device S1. It is explanatory drawing which expands and shows the principal part of FIG. It is a schematic block diagram which shows other modified embodiment of drive device S1. It is a schematic block diagram which shows the structure of drive device S2 concerning 2nd Embodiment of this invention. It is the DD sectional view taken on the line of FIG. (A)-(c) is explanatory drawing which shows operation | movement of drive device S2 sequentially. (A)-(c) is explanatory drawing which shows the manufacture procedure of drive device S2 sequentially. It is a schematic block diagram which shows the structure of drive device S3 concerning 3rd Embodiment of this invention. It is explanatory drawing for demonstrating the manufacturing method of drive device S3. It is a schematic block diagram which shows the structure of drive device S4 concerning 4th Embodiment of this invention. It is a block diagram which shows the example which provided the several tension adjustment member in the rolling part. (A) is explanatory drawing which shows rough adjustment of tension | tensile_strength, (b) is explanatory drawing which shows fine adjustment of tension | tensile_strength.

Explanation of symbols

11, 13 First fixed body (fixed body)
DESCRIPTION OF SYMBOLS 12, 14 2nd fixed body 2, 20 Movable body 21 Turning part 3 Shape memory alloy wire 310 1st shape memory alloy wire 320 2nd shape memory alloy wire 4 Bias spring (auxiliary member)
5 Tension Adjustment Member 51 Contact Portion 54 First Tension Adjustment Member 55 Second Tension Adjustment Member 56 Auxiliary Member Tension Adjustment Member 571-574 First to Fourth Tension Adjustment Member 581 Coarse Adjustment Tension Adjustment Member 582 First Tension adjusting member for fine adjustment 583 Tension adjusting member for second fine adjustment 61 Tension detection means 62 Laser light irradiation means (heating means)
S1, S2, S3, S4 Drive device

Claims (18)

A shape memory alloy wire;
A fixed body for holding at least one end of the shape memory alloy wire;
A movable body constructed such that the shape memory alloy wire is installed and movable relative to the fixed body by performing a shape recovery operation of the shape memory alloy wire;
In a driving device comprising an auxiliary member that acts on the movable body and applies a predetermined tension to the shape memory alloy wire,
A tension adjusting member for adjusting the tension of the shape memory alloy wire, and the tension adjusting member has a contact portion in contact with the shape memory alloy wire;
The driving device according to claim 1, wherein the shape memory alloy wire is bitten into the tension adjusting member in accordance with a predetermined tension adjustment value at the contact portion. First and second shape memory alloy wires;
First and second fixed bodies that respectively hold at least one ends of the first and second shape memory alloy wires;
The first and second shape memory alloy wires are respectively installed, the first shape memory alloy wire moves in a first direction by performing a shape recovery operation, and the second shape memory alloy wire has a shape. A movable body capable of moving in a second direction different from the first direction by performing a recovery operation;
In the drive device that is assembled so that each of the first and second shape memory alloy wires antagonizes each other to have a predetermined tension,
A tension adjusting member for adjusting the tension of the first and / or second shape memory alloy wire is provided, and the tension adjusting member has a contact portion in contact with the first and / or second shape memory alloy wire. Have
The drive device according to claim 1, wherein the first and / or second shape memory alloy wire is bitten into the tension adjusting member in accordance with a predetermined tension adjustment value at the contact portion. 3. The driving device according to claim 1, wherein the tension adjusting member is provided in any one of a group consisting of the following (a) to (c) or a plurality of locations.
(A) Predetermined position of movable body (b) Predetermined position of fixed body (c) Intermediate position between movable body and fixed body A shape memory alloy wire;
An auxiliary member that includes a linear portion and applies a predetermined tension to the shape memory alloy wire;
A first fixed body for holding at least one end of the shape memory alloy wire;
A second fixed body for holding one end of the auxiliary member;
The shape memory alloy wire and the linear portion of the auxiliary member are respectively constructed, and the shape memory alloy wire performs a shape recovery operation so that the drive includes a movable body that is movable relative to the fixed body. In the device
A tension adjusting member for adjusting the tension of the shape memory alloy wire and / or the auxiliary member is provided, and the tension adjusting member has a contact portion in contact with the shape memory alloy wire and / or the linear portion of the auxiliary member. Have
The driving device according to claim 1, wherein the shape memory alloy wire and / or the linear portion of the auxiliary member are bitten into the tension adjusting member in accordance with a predetermined tension adjustment value at the contact portion. The drive device according to claim 4, wherein the tension adjusting member is provided in any one of a group consisting of the following (d) to (i) or in a plurality of locations.
(D) A predetermined position of the movable body and a position in contact with the shape memory alloy wire (e) A predetermined position of the movable body and a position in contact with the linear portion of the auxiliary member (f) A predetermined position of the first fixed body ( g) Predetermined position of the second fixed body (h) Intermediate position between the movable body and the first fixed body (i) Intermediate position between the movable body and the second fixed body The tension adjusting member is made of a thermoplastic resin,
After the shape memory alloy wire is installed on the movable body, the shape adjusting alloy member is bitten into the tension adjusting member by a predetermined depth by heating and softening the tension adjusting member. The drive apparatus in any one of Claims 1-5.   The tension adjusting member is not softened at least at a first temperature at which the shape memory alloy wire is reversely transformed into an austenite phase, and is softened at a second temperature higher by a predetermined temperature than the first temperature. The drive device according to claim 6, wherein The movable body is provided with a turning portion on which the shape memory alloy wire is reversed and bridged by approximately 180 degrees,
The drive device according to claim 6, wherein the tension adjusting member is provided in the turning portion so as to be in contact with the reversing portion of the shape memory alloy wire. The movable body is provided with a turning portion on which the shape memory alloy wire is reversed and bridged by approximately 180 degrees,
A first tension adjusting member provided in contact with the reversal part of the shape memory alloy wire in the turning part;
The drive device according to claim 6, further comprising: a second tension adjusting member provided so as to be in contact with the shape memory alloy wire before and after the reversal portion of the shape memory alloy wire.   The drive device according to claim 1, wherein the auxiliary member includes a bias spring.   The drive device according to claim 1, wherein the shape memory alloy wire is held on the fixed body by a caulking method or a press-fit pin method. A shape memory alloy wire, a fixed body that holds at least one end of the shape memory alloy wire, and the shape memory alloy wire is installed and relative to the fixed body by performing a shape recovery operation. A movable body movable to the movable body, and an auxiliary member that acts on the movable body and applies a predetermined tension to the shape memory alloy wire,
A tension adjusting member for adjusting the tension of the shape memory alloy wire is disposed at a predetermined position so as to have a contact portion in contact with the shape memory alloy wire,
The tension adjusting member is heated and softened by a predetermined heating means, and the shape memory alloy wire is bitten into the tension adjusting member according to a predetermined tension adjustment value at the contact portion, thereby adjusting the tension of the shape memory alloy wire. The manufacturing method of the drive device characterized by comprising the tension adjustment step to perform. First and second shape memory alloy wires, first and second fixed bodies that respectively hold at least one ends of the first and second shape memory alloy wires, and the first and second shape memory alloys The first shape memory alloy wire moves in the first direction by performing a shape recovery operation, and the second shape memory alloy wire performs the shape recovery operation. A movable body capable of moving in a second direction different from the direction, and the first and second shape memory alloy wires antagonize so that each has a predetermined tension. A manufacturing method of a drive device, comprising:
A tension adjusting member for adjusting the tension of the first and / or second shape memory alloy wire is provided at a predetermined position so as to have a contact portion in contact with the first and / or second shape memory alloy wire. Place and
The tension adjusting member is heated and softened by a predetermined heating means, and the first and / or second shape memory alloy wires are bitten into the tension adjusting member according to a predetermined tension adjustment value at the contact portion. A drive device manufacturing method comprising a tension adjusting step for adjusting the tension of the first and / or second shape memory alloy wire. A shape memory alloy wire, an auxiliary member that includes a linear portion and applies a predetermined tension to the shape memory alloy wire, a first fixed body that holds at least one end of the shape memory alloy wire, and one end of the auxiliary member. The second fixed body to be held, the shape memory alloy wire, and the linear portions of the auxiliary member are respectively installed, and the shape memory alloy wire can move relative to the fixed body by performing a shape recovery operation. A method of manufacturing a drive device comprising a movable body,
A tension adjusting member for adjusting the tension of the shape memory alloy wire and / or the auxiliary member is provided at a predetermined position so as to have a contact portion in contact with the shape memory alloy wire and / or the linear portion of the auxiliary member. Place and
The tension adjusting member is heated and softened by a predetermined heating means, and the shape memory alloy wire and / or the linear portion of the auxiliary member is bitten into the tension adjusting member according to a predetermined tension adjustment value at the contact portion. And a tension adjusting step for adjusting the tension of the shape memory alloy wire and / or the linear portion of the auxiliary member. The tension adjusting member is made of a thermoplastic resin, laser light irradiation means is used as the heating means,
The drive device according to any one of claims 12 to 14, wherein the contact portion is heated and softened by irradiating the contact portion of the tension adjusting member with laser light emitted from the laser light irradiation means. Production method. The tension adjusting member is made of a thermoplastic resin, and a hot wire or hot air generating means is used as the heating means,
15. The method for manufacturing a driving device according to claim 12, wherein the tension adjusting member is heated and softened by a hot wire or hot air emitted from the hot wire or hot air generating means. The tension adjusting member is made of a thermoplastic resin, and the heating means is an energization heating means to the shape memory alloy wire,
The method for manufacturing a driving device according to claim 12, wherein the contact portion of the tension adjusting member is heated and softened by Joule heat generated by the shape memory alloy wire when energized by the energization heating unit. . In softening the tension adjusting member by the heating means,
The drive according to any one of claims 12 to 17, wherein the shape memory alloy wire is softened by heating while applying vibration to the shape memory alloy wire and detecting the frequency thereof. Device manufacturing method.

Images