JP2007221973A5

JP2007221973A5 -

Info

Publication number: JP2007221973A5
Application number: JP2006042841A
Authority: JP
Filing date: 2006-02-20
Publication date: 2010-07-08
Anticipated expiration: 2026-02-20

Claims

In a vibration type actuator in which a rotating body performs a rotational motion of at least two degrees of freedom
A friction member provided on the rotating body and extending in one rotation direction of the rotating body;
An oscillating body comprising an arc portion, an inner end of the arc portion facing the rotating body, and a part of the inner end contacting the friction member;
Vibration control means for controlling a phase difference between the plurality of traveling waves in order to generate a plurality of traveling waves having different vibration displacement directions on the vibrating body and to change the rotation direction of the rotating body. Vibration type actuator.

When the rotating body performs one of the two-degree-of-freedom rotating motions, the vibration control means is configured to perform the one rotating motion generated between the vibrating body and the friction member. When the distribution of the driving force is controlled to move on the vibrating body, and the rotating body performs the other rotational movement of the two degrees of freedom, the vibration body and the friction member 2. The vibration type actuator according to claim 1, wherein a distribution of the driving force for the other rotational motion generated therebetween is controlled so as not to move on the vibrating body.

The vibration type actuator according to claim 1, wherein the vibration control unit generates in-plane vibration and out-of-plane vibration in the vibrating body.

4. The vibration type actuator according to claim 3, wherein the in-plane vibration and the out-of-plane vibration are traveling waves traveling in a circumferential direction on the vibrating body.

Claim wherein the friction member is, as the contact pressure between the friction member and the rotating member during rotation of the rotating body is constant, characterized that you have a width along the stretching direction is changed 1. The vibration type actuator according to 1.

It said friction member, wherein said as the surface pressure between the friction member during rotation of the rotating body and the rotating body is constant, characterized that you have a thickness along the stretching direction is changed Item 2. The vibration type actuator according to Item 1.

The vibration type actuator according to claim 1, wherein a position of contact of the vibrating body with the friction member is changed by the rotational movement of the rotating body.

The vibration control means includes
A coordinate system obtained by replacing each angular coordinate in the two-degree-of-freedom rotational motion with an XY coordinate plane is used as a command coordinate system, and a predetermined portion on the rotator relative to the distance that the command coordinate system should move in a unit time. A relative movement speed command means for commanding the relative movement speed as a movement speed;
A direction in which the predetermined portion on the rotating body should move is an angle formed with respect to the X axis in the command coordinate system as a relative movement direction, and a relative movement direction command means for commanding the relative movement direction;
An actual relative movement speed detecting means for detecting an actual relative movement speed of the predetermined portion on the rotating body;
An actual relative movement direction detecting means for detecting an actual relative movement direction of the predetermined portion on the rotating body;
The difference between the relative movement speed commanded by the relative movement speed command means and the relative movement speed detected by the actual relative movement speed detection means, the relative movement direction commanded by the relative movement direction command means and the actual relative speed AC voltage control means for controlling at least one of the amplitude, frequency, and phase of a plurality of AC voltages to be applied to the vibrator based on the difference from the relative movement direction detected by the movement direction detection means. The vibration type actuator according to claim 1, comprising:

An imaging optical system that has a focal point at the center of rotation in the two-degree-of-freedom rotational motion of the rotating body and that rotates together with the rotating body;
An image detecting means provided at the focal position and for converting an image formed by the imaging optical system into an electrical signal;
Based on the electrical signal obtained by the image detection means, further comprising a position detection means for detecting the position of a predetermined portion on the rotating body,
The actual relative movement speed detection means and the actual relative movement direction detection means are configured to detect the actual relative movement speed and the actual relative movement speed based on the positions of the predetermined portion on the rotating body detected in time series by the position detection means. 9. The vibration type actuator according to claim 8, wherein each of the relative movement directions is detected.

The AC voltage control means controls the relative movement speed of the rotating body and adjusts the phase of the plurality of AC voltages by adjusting the amplitude and frequency of the plurality of AC voltages to be applied to the vibrating body. The vibration type actuator according to claim 8, wherein a relative movement direction of the rotating body is controlled by the control.

A criteria object provided on the vibrator integrally on the outside of the rotating body,
An imaging optical system having a focal point at the rotation center of the rotating body and rotating in unison with the rotating body;
An image detecting means provided at the focal position and for converting an image formed by the imaging optical system into an electrical signal;
Based on the electric signals obtained by said image detection means further includes a position detecting means for detecting the position of the front Kimoto quasi object,
The vibration control means includes
The two degrees of freedom each angular coordinate a coordinate system is replaced onto the X-Y coordinate plane by the command coordinate system, relative movement speed distance to be moved in front Kimoto quasi subject the command coordinate system in unit time in rotational movement of And relative movement speed command means for commanding the relative movement speed;
Before Kimoto quasi object direction to be moved, the angle a relative movement direction makes with the X axis in the command coordinate system, and the relative movement direction command means for commanding said relative movement direction,
The actual relative movement speed detection means for detecting an actual relative movement speed before Kimoto quasi object,
The actual relative movement direction detection means for detecting an actual relative movement direction before Kimoto quasi object,
The difference between the relative movement speed commanded by the relative movement speed command means and the relative movement speed detected by the actual relative movement speed detection means, the relative movement direction commanded by the relative movement direction command means and the actual relative speed AC voltage control means for controlling at least one of the amplitude, frequency, and phase of a plurality of AC voltages to be applied to the vibrator based on the difference from the relative movement direction detected by the movement direction detection means. The vibration type actuator according to claim 1, comprising:

Before Kimoto quasi object is a plurality of linear body extending in the longitudinal direction and the latitudinal direction of the rotating body,
Image vibration-type actuator according to claim 11, characterized in that the image-shaped expanded Ru rated child in the X-Y coordinate plane detected by the image detection means.

Before Kimoto quasi subject, the vibration type actuator according to claim 11 which is a multiple of the absolute position detecting pattern.