JP2013115951A - Rotary drive device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotary drive device that is capable of operating silently and achieving low voltage drive and power saving.SOLUTION: A rotary drive part (60) of a rotary drive device generates linear advance/retreat motion through expansion/contraction of a conductive polymer actuator (1), converts the advance/retreat motion into rotary motion in a forward/backward direction using a gear (3a) or the like, and drives an output axis (37) to unidirectionally rotate by converting the rotary motion in the forward/backward direction into unidirectional rotary motion using another actuator (19a, 19b, 20a, 20b, 21a, 21b, 22a, 22b) or the like. Hand movement control is performed on a hand or the like through the rotation of the output axis (37).

Description

  The present invention relates to a rotary drive device that is useful when applied to a timepiece device or the like.

  Conventionally, rotary electrostatic actuators are known. For example, Patent Document 1 discloses a rotary electrostatic actuator including a rotating shaft, a rotor, and a stator. The rotary electrostatic actuator has fixed polarity to each phase electrode between a plurality of radial electrodes formed on the rotor and a stator formed by connecting the electrodes every predetermined number. A voltage is applied, and the rotor is rotated by an electrostatic attractive force and a repulsive force between the electrodes.

JP 2001-95267 A

  However, in a rotary electrostatic actuator, in order to rotate by generating an electrostatic attractive force and repulsive force between the electrodes, the driving method, that is, the power supply to the rotor electrode is configured in the rotor. The method of feeding the plurality of radial electrodes is complicated, and it is necessary to consider the timing of feeding power to the electrodes formed on the stator. On the other hand, the conductive polymer actuator has a large generated force per unit weight / volume, is light because the structure is a resin, has a simple and small driving structure, has no movement at the molecular level and does not make a sound, low voltage (1 However, there is a problem that application as a rotary drive device has not progressed.

  An object of the present invention is to provide a rotary drive device that has been made in view of such a conventional problem, is quiet, and can achieve low-voltage drive and power saving.

In order to achieve the above object, the present invention
Expansion and contraction means for generating linear advance and retreat movement by expansion and contraction;
Forward / reverse rotation conversion means for converting forward / backward movement by the expansion / contraction means into forward / reverse rotational movement;
Unidirectional rotation conversion means for converting the rotational motion in the forward and reverse directions into rotational motion in one direction and rotationally driving the output shaft in one direction;
An output rotation device comprising:

  According to the present invention, a linear forward / backward movement is generated by expansion / contraction, the forward / backward movement is converted into a forward / reverse rotational movement, and then the forward / reverse rotational movement is converted into a unidirectional rotational movement for output. The shaft can be driven to rotate in one direction. For this reason, it is possible to provide a rotary drive device that is quiet, can be driven at a low voltage, and can save power.

It is a figure which shows the system configuration | structure of the rotational drive apparatus which concerns on this embodiment. It is a figure which shows the rotational drive part of the rotational drive apparatus which concerns on this embodiment. FIG. 3 is an AA arrow view of FIG. 2. It is the figure which showed the principle of the ion conductive polymer actuator used for the rotational drive apparatus which concerns on this embodiment. It is a figure for demonstrating operation | movement when a conductive polymer actuator is extended and a main axis | shaft raises. It is a flow figure explaining transmission of movement and rotation when a main axis rises. It is a figure for demonstrating operation | movement when a conductive polymer actuator shrink | contracts and a main axis | shaft descends. It is a flow figure explaining transmission of movement and rotation when a main axis descends. (A) and (B) are BB arrow views in FIG. 2, and (A) shows the relationship between the main shaft gear, the left and right countershafts, the intermediate shaft gear, and the output shaft when the main shaft portion is raised. Yes. (B) shows the relationship among the main shaft gear, the left and right countershafts, the intermediate shaft gear, and the output shaft when the main shaft is lowered. It is a figure which shows the control flow of the whole rotary drive apparatus which concerns on this embodiment. It is a timing chart figure of the rotation drive device concerning this embodiment. It is a figure which shows the rotational drive part of the rotational drive apparatus which concerns on a modification. (A)-(D) are the figures which showed the principle of the shape memory alloy used in the rotational drive part which concerns on a modification. It is a figure which shows the example which applied the rotational drive apparatus which concerns on a present Example to the table clock.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram showing a system configuration of a rotary drive device 100 according to an embodiment of the present invention. FIG. 2 is a diagram illustrating the rotation driving unit 60 of the rotation driving device 100 according to the embodiment of the present invention. FIG. 3 is an AA arrow view of FIG.

  The rotation drive device 100 includes a rotation drive unit 60, a controller unit 62 that controls the rotation drive unit 60, and a power supply unit 64 that supplies power to each unit. The controller unit performs overall control including the rotation driving unit 60. The power supply unit 65 supplies an operating voltage to each unit under the control of the controller unit 62.

  The rotation driving unit 60 is a device that generates rotation using the conductive polymer actuator 1. For convenience of description of the rotation driving unit 60, the rotation driving unit 60 will be described by dividing it into three parts (first part, second part, and third part). The first part is a part that rotates and lowers the main shaft 11 using the conductive polymer actuator 1 as an expansion / contraction means. The second part is configured such that, for example, the left countershaft first gear 16 meshes with the mainshaft gear 12 when the main shaft 11 rotates upward, and the right countershaft first gear 18 rotates the main shaft gear when the main shaft 11 rotates downward. 12, the rotation of the main shaft 11 is alternately transmitted to the left and right sub-shafts 17 and 15. And the 3rd part consists of a part which transmits rotation of left and right auxiliary shafts 17 and 15 by a gear group, and rotates output shaft 37 to one direction.

  First, the structure of the 1st site | part of the rotational drive part 60 is demonstrated. The conductive polymer actuator 1 constituting the expansion / contraction means is disposed at the central axis portion of the cylindrical case 5. As shown in FIG. 2 and FIG. 3, the conductive molecular actuator 1 has four conductive polymer actuator pieces arranged every 90 degrees when viewed from the central axis direction, and two pieces are connected in series in the central axis direction. Connected to and configured.

  FIG. 4 is a diagram showing the principle of the ion conductive polymer actuator. First, a method for producing an ion conductive polymer actuator will be described. As a solid polymer electrolyte that is a raw material, for example, Naflon (registered trademark) model number EW1000 manufactured by DuPont can be used. In the production method of the ion conductive polymer actuator, first, a solid polymer electrolyte liquid is poured into a mold (casting box) and dried. By performing this series of operations several times, a film having a predetermined film thickness is formed. After completely drying, the ionic polymer film is peeled off and heat treatment is performed. The heat treatment is a process of increasing the structural strength of the film by increasing the strength of the intermolecular bond structure. Then, the plating process is performed with ion exchange water or the like to complete the ion conductive polymer actuator.

  The electrical operation of the ion conductive polymer actuator will be described. When a voltage (about 1.5 V) is applied to the electrode of the ion conductive polymer actuator, the hydrated cation moves to the negative electrode side in the ion conductive polymer film. As a result, the positive electrode side contracts and the negative electrode side expands, resulting in a state bent to the negative electrode side as shown in FIG. When the polarity of the applied voltage is reversed, the bending direction is also reversed. Further, the amount of bending is proportional to the applied voltage.

  The ion conductive polymer actuator is a type in which the displacement direction is displaced in the lateral direction of the element. On the other hand, there is also a type of conductive polymer actuator whose displacement direction expands and contracts in the longitudinal direction of the element. For example, a conductive polymer actuator having a structure in which a polypyrrole resin is employed as a conductive polymer and a conductive polymer and a counter electrode are arranged inside an electrolyte containing ions. The conductive polymer expands and contracts by applying a voltage between the counter electrode and the conductive polymer. It is understood that the main reason for the expansion and contraction of the conductive polymer is that bulk ions are inserted and removed from the polymer chain by the applied electric field. Hereinafter, the term “conductive polymer actuator” is used as a concept including an ion conductive polymer actuator and a conductive polymer actuator.

  In these conductive polymer actuators, the amount of expansion and contraction (displacement amount) can be adjusted by adjusting the length of the element, and the generated force can be arbitrarily changed by adjusting the number (number) of layers to be stacked (bundled). it can. Conductive polymer actuators are basically linearly moved and bent in the axial direction, but they can move in two or three dimensions, or bend with a bimorph structure in which an actuator is provided with an insulating layer. You can also The generated force and displacement of the conductive polymer actuator depend on the thickness and area of the material.

  Returning to FIG. 2, in the embodiment of the present invention, a conductive polymer actuator of a type in which the displacement direction expands and contracts in the longitudinal direction of the element is used as the expansion and contraction means. One side of the conductive polymer actuator piece is supported by the bottom surface of the case 5, and the other side is supported by the roller unit 2. The conductive polymer actuator (extension / contraction means) 1 generates linear advance / retreat movement by extension / contraction. The terminal portion 6 is a relay terminal for applying a voltage to the conductive polymer actuator (extension / contraction means) 1. The wiring from the terminal portion 6 to the conductive polymer actuator (extension / contraction means) 1 is schematically shown.

  The main shaft plate 3 is rotatably coupled by the roller portion 2. The main shaft plate 3 is a displacement rotating member capable of rotating around its central axis. A main shaft plate 3 which is a displacement rotating member is provided with a gear 3a on the outer circumferential surface in the circumferential direction. On the other hand, the case 5 is a fixed cylinder having a central axis coaxial with the rotation axis of the displacement rotation member. A gear 5a is provided on the inner peripheral surface of the case 5 which is a fixed cylinder. In response to the linear advance / retreat movement by the conductive polymer actuator (extension / contraction means) 1, the main shaft plate 3 moves forward / backward while rotating by meshing between the gear 3a and the gear 5a.

  Next, the structure of the 2nd site | part of the rotational drive part 60 is demonstrated. Cylindrical holes are respectively provided in the top surface central axis portion of the first case 5 and the bottom surface central axis portion of the second case 24, and are connected to the main shaft plate 3 to rotate about the central axis 11. However, it extends through the cylindrical holes and extends to the second part. The main shaft portion 11 is hollow on the upper side in FIG. 1, and a first switch 13 and a second switch 14 are provided in the hollow portion. One contact of each of the first switch 13 and the second switch 14 is connected and fixed to the top surface of the second case 24. On the other hand, the other contacts of the first switch 13 and the second switch 14 are fixed to the switch shaft 23, and the switch shaft 23 is raised or lowered as the main shaft portion 11 is raised or lowered. The first switch 13 is closed (turned on) at the rising end of the switch shaft 23 and the second switch 14 is closed at the falling end of the switch shaft 23. The switch shaft 23 moves up or down as the main shaft portion 11 moves up and down, but does not rotate due to the presence of the roller portion 2.

  Two oblong grooves are formed on the bottom surface of the second case 24 and the top surface of the second case 24 so that the left sub shaft 15 and the right sub shaft 17 can move in the coaxial direction of the main shaft 11. Two oval holes are provided, and two oval holes are provided on the corresponding bottom surface of the third case 39. A circular groove for receiving the intermediate shaft 34 and the output shaft 37 is provided on the bottom surface of the third case, and a circular groove for receiving the intermediate shaft 34 is provided below the guide plate 38, and Ellipse-shaped grooves that can move in the coaxial direction of the main shaft 11 while receiving the shaft 17 are provided. The top surface of the third case 39 is provided with an oval groove that can move in the coaxial direction of the main shaft 11 while receiving the left auxiliary shaft 15, and the center axis of the top surface is provided with a hole that receives the output shaft 37. It has been.

  The main shaft 11, the left subshaft 15, and the right subshaft 17 are provided with gears 12, 16, and 18 made of worm gears, respectively. Further, the left countershaft 15 and the right countershaft 17 are displaced in the coaxial direction of the main shaft 11, and the left subshaft movement is used as a mechanism element for alternately transmitting the rotation of the main shaft 11 to the left subshaft 15 and the right subshaft 17. FIG. 2 shows conductive polymer actuators 19a and 19b, springs 20a and 20b constituting the means, and conductive polymer actuators 21a and 21b and springs 22a and 22b constituting the right auxiliary shaft moving means, respectively. It is provided in the part.

  The terminal unit 26 outputs ON / OFF information of the first switch 13 and the second switch 14, and includes conductive polymer actuators (left counter shaft moving means) 19 a and 19 b, conductive polymer actuators ( This is a relay terminal for supplying voltage to the right countershaft moving means) 21a, 21b. As wiring from the terminal 26, wiring 25 related to the switches 13 and 14 and wiring related to the second elastic member are schematically shown in FIG.

  Next, the structure of the 3rd site | part of the rotational drive part 60 is demonstrated. The third portion is configured such that the rotation of the left and right auxiliary shafts is transmitted by the gear group, and the output shaft rotates in one direction. Specifically, a left countershaft second gear 31 is provided near the upper end of the left countershaft 15, and an output shaft second gear 36 is provided in a corresponding portion of the output shaft 37. 13 is engaged when it is displaced toward the output shaft 37 side. On the other hand, a gear group different from the above gear group is provided. That is, the output shaft first gear 35 is provided in the vicinity of the lower end of the output shaft 37, and the right countershaft second gear 32 is provided in the vicinity of the upper end of the right auxiliary shaft 35. Between these two gears, an intermediate gear 33 on the intermediate shaft 34 is provided. In this group of gears, when the left countershaft 13 is displaced toward the output shaft 37, the right countershaft second gear 32 meshes with the intermediate gear 33, thereby rotating the right countershaft 17 with the intermediate gear 33. To the output shaft first gear 35.

  Next, the operation of the rotary drive device using the conductive polymer actuator according to this embodiment will be described.

  FIG. 5 is a view for explaining the operation when the conductive polymer actuator (extension / contraction means) 1 extends and the main shaft 11 rises. FIG. 6 is a flowchart for explaining the transmission of movement and rotation when the main shaft 11 is raised. FIG. 9 is a view taken along the line BB in FIG. 2. FIG. 9A shows the main shaft gear 12, the left and right countershafts 15 and 17, the intermediate shaft gear 33, and the output shaft 37 when the main shaft portion 11 is raised. Shows the relationship.

  First, with reference to FIG. 5, FIG. 6, and FIG. 9 (A), the operation when the conductive polymer actuator (extension / contraction means) 1 is extended and the main shaft 11 is raised will be described. In FIG. 5, the first switch 13 disposed in the central shaft portion of the second case 24 is in an open state (OFF state), and the second switch 14 is on one side of the second switch 14 on the switch shaft 23. A contact is in contact with another contact and is in a closed state (ON state).

  When detecting that the second switch 14 is in the closed state (ON state), the controller 52 applies a predetermined voltage via the second terminal portion 26 until the first switch 14 is closed. Then, it is applied to the conductive polymer actuators (right counter axis moving means) 21a and 21b via the wiring 25b.

  The conductive polymer actuators (right countershaft moving means) 21a and 21b contract when a predetermined voltage is supplied, the right countershaft 17 moves to the right in FIG. 5, and the main shaft gear 12 and the right countershaft first The gear 18 shifts to a state where it does not mesh. On the other hand, since no voltage is supplied to the conductive polymer actuators (left countershaft moving means) 19a and 19b, they remain stretched, and the left countershaft 15 moves to the right in the drawing by the force of the springs 20a and 20b. The main shaft gear 12 and the left countershaft first gear 16 are in mesh with each other.

  Next, in FIG. 5, when a predetermined voltage is applied from the first terminal portion 6 to the conductive polymer actuator (extension / contraction means) 1 in the first part, the conductive polymer actuator (extension / contraction means) 1 Elongate. Here, the polarity of voltage application shall be extended when the counter electrode is set to a positive potential with respect to the conductive polymer and contracted when the counter electrode is set to a negative potential with respect to the conductive polymer. When the conductive polymer actuator (extension / contraction means) 1 extends, the roller portion 2 moves upward in the drawing. The main shaft plate 3 that is a displacement rotating member that is rotatably connected to the roller portion 2 moves upward while rotating in one direction by meshing with the gear 3a and the gear 5a on the inner periphery of the case 5 that is a fixed cylinder. . Here, the main shaft plate 3, the gear 3a, and the gear 5a on the inner periphery of the case 5 constitute forward / reverse rotation conversion means for converting linear advance / retreat movement by the expansion / contraction means into forward / reverse rotational movement.

  As shown in FIG. 6 and FIG. 9A, when the main shaft 11 connected to the main shaft plate 3 rotates while rising, the rotation of the main shaft gear 12 is transmitted to the first gear 16 of the left countershaft, and further to the left The counter shaft second gear 31 is transmitted to the output shaft second gear 36, and the output shaft 37 rotates in the clockwise direction when viewed from above the drawing.

  FIG. 7 is a view for explaining the operation when the conductive polymer actuator (extension / contraction means) 1 contracts and the main shaft 11 descends. FIG. 8 is a flowchart for explaining the transmission of movement and rotation when the main shaft 11 is lowered. 9 is a view taken along the line BB in FIG. 2, and FIG. 9B shows the relationship among the main shaft gear 12, the left and right countershafts 15, 17, the intermediate shaft gear 33, and the output shaft 37 when the main shaft is lowered. Is shown.

  Next, with reference to FIG. 7, FIG. 8, and FIG. 9 (B), an operation when the conductive polymer actuator (extension / contraction means) 1 contracts and the main shaft 11 descends will be described. In FIG. 7, the first switch 13 disposed in the central axis portion of the second case 24 is in a closed state (ON) when one side contact of the first switch 22 on the switch shaft 23 contacts another contact. The second switch 14 is in an open state (OFF). When detecting that the first switch 13 is in the closed state (ON), the controller 62 wires a predetermined voltage through the second terminal portion 26 until the second switch 14 is closed. The voltage is applied to the conductive polymer actuator (left counter shaft moving means) 19a and 19b via 25a.

  In this state, the conductive polymer actuators (left countershaft moving means) 19a and 19b contract against the springs 20a and 20b, the left countershaft 15 moves to the left in the drawing, and the main shaft gear 12 and the left subshaft. The shaft first gear 16 shifts to a state where it does not mesh. On the other hand, since no voltage is supplied to the conductive polymer actuators (right countershaft moving means) 21a and 21b, the conductive polymer actuators 21a and 21b remain stretched, and the right countershaft 17 is moved to the left side in the drawing. The gear 12 and the right countershaft first gear 18 are in mesh with each other.

  When a predetermined voltage having a polarity opposite to that of the rising is applied from the first terminal portion 6 to the conductive polymer actuator (expandable means) 1 in the first part, the conductive polymer actuator (expandable means) 1 contracts. (FIG. 8). When the conductive polymer actuator (expanding / contracting means) 1 contracts, the roller portion 2 moves downward in the drawing, and the main shaft plate 3 rotatably connected to the roller portion 2 is connected to the gear 4 on the inner periphery of the case 5. Due to the meshing of the gear 3a of the main shaft plate 3, it moves downward while rotating counterclockwise.

  When the main shaft 11 connected to the main shaft plate 3 rotates while descending, the rotation of the main shaft gear 12 is transmitted to the right countershaft first gear 18 and further from the right countershaft second gear 32 through the intermediate gear 33. The output shaft is transmitted to the first gear 35 and transmitted to the output shaft 37. Although the rotation of the main shaft gear 12 is opposite to each other at the time of ascent and descent, since the intermediate gear 33 is provided, the rotation of the output shaft rotates in the same clockwise direction as at the time of ascent.

  Thus, the main shaft gear (worm gear) 12, the left countershaft first gear (worm gear) 16, the right countershaft first gear (worm gear) 18, the conductive polymer actuator (left countershaft moving means) 19a, 19b. , Springs 20a, 20b, conductive polymer actuators (right countershaft moving means) 21a, 21b, springs 22a, 22b, left countershaft second gear 31, right countershaft second gear 32, intermediate gear 33, output The shaft first gear 35 and the output shaft second gear 36 constitute unidirectional rotation conversion means for converting the rotational motion in the forward and reverse directions into the rotational motion in one direction and driving the output shaft 37 to rotate in one direction. The

  FIG. 10 is a diagram illustrating a control flow of the rotary drive device 100 according to the present embodiment. FIG. 11 is a timing chart of the rotary drive device according to this embodiment.

  The controller 62 detects whether a device rotation input signal (not shown) has been input (step S1), and if detected, branches to YES and proceeds to step S2. If not detected, the process branches to NO, and the rotation driving process is terminated. In step S2, the controller 62 detects whether or not the second switch 14 is ON. If it is ON, the controller 62 branches to YES and proceeds to step S5. If NO, it is detected whether the first switch 13 is ON (step S3). If it is detected, the process branches to YES and proceeds to step 7. If not detected, the process branches to NO and proceeds to step 4.

  By the way, if the power supply is turned off while the conductive polymer actuator is operating, it stops in a certain stretched state due to the balance between its physical properties and the structure of the stretchable part. Therefore, in step S4, the controller 62 determines whether or not the previous stop was stopped at the time of ascent by storing the storage circuit. Then, if it is determined that the previous stop was performed at the time of ascent, the process branches to YES and proceeds to step S5. If it is determined that the vehicle has stopped at the previous descent, the process branches to NO and proceeds to step S7.

  Steps S5 and S6 correspond to the case where the main shaft portion 11 is raised. In step S5, when the second switch S14 is turned on, the controller 62 generates a right countershaft control signal. And the applied voltage for right countershaft is generated and a voltage is applied to actuator 21a, 21b. As a result, the actuators 21a and 21b contract. In step S6, when the second switch S14 is turned on, the controller 62 generates a main shaft raising control signal and applies + V0 as the applied voltage of the expansion / contraction means 1. As a result, the main shaft 11 rises and the output shaft rotates.

  Steps S7 and S8 correspond to the case where the main shaft portion 11 is lowered. In step S7, when the first switch S13 is turned on, the controller 62 generates a left countershaft control signal. Then, an applied voltage for the left countershaft is generated, and a voltage is applied to the actuators 19a and 19b. As a result, the actuators 19a and 19b contract. In step S8, when the first switch S13 is turned on, the controller 62 generates a spindle lowering control signal and applies -V0 as the applied voltage of the expansion / contraction means 1. As a result, the main shaft 11 descends and the output shaft rotates.

  When step S6 or S8 is completed, the controller 52 detects whether or not a device rotation stop signal has been input. If it is determined that it has been input, the controller 52 branches to YES and proceeds to step S10. If it is determined that it has not been input, the process branches to NO and proceeds to step S2.

  In step S10, the controller 52 turns off the applied voltage of the expansion / contraction means 1, moves to step S11, and turns off the main spindle raising control signal V1 or the main spindle lowering control signal V2. Then, the driving process ends.

  FIG. 11 is a diagram illustrating a timing chart of the rotary drive device 100 according to the present embodiment. In FIG. 11, it is assumed that the initial state of the rotary drive device 100 is the time when the first and second switches 13 and 14 are OFF and the process branches to YES in step S4 in the chart of FIG. 10.

  When a device rotation input signal (not shown) is input, the controller 62 generates a right countershaft control signal. And the applied voltage for right countershafts generate | occur | produces and a voltage is applied to actuator 21a, 21b. Further, the controller 62 generates a spindle raising control signal. Then, + V0 is applied to the expansion / contraction means 1, the main shaft 11 rises, and the output shaft rotates.

  When the main shaft 11 is raised and the first switch 13 is turned on, the controller 62 generates a left auxiliary shaft control signal. Then, an applied voltage for the left countershaft is generated, and a voltage is applied to the actuators 19a and 19b. Further, the controller 62 generates a spindle lowering control signal. And -V0 is applied to the expansion-contraction means 1, the main shaft 11 descends, and the output shaft rotates.

  Here, the voltage applied to the expansion / contraction means 1 will be described. The voltage applied to the expansion / contraction means 1 is + V0 when rising and -V0 when falling, and a voltage having the same absolute value is applied. The reason for this is that the gear ratio of the left countershaft second gear 31 and the output shaft second gear 36 that operate when the main shaft portion 11 is raised is 1: 1, while the right gear that operates when the main shaft portion is lowered. The gear ratios of the counter shaft second gear 32, the intermediate gear 33, and the output shaft first gear 35 are also 1: 1. Next, in order to make the rotation speed of the output shaft constant, the ascent speed of the main shaft portion 11 at the time of ascent and the descending speed of the main shaft portion 11 at the time of lowering may be the same. This is because the speed is proportional to the ascending / descending speed of the conductive polymer actuator (expanding / contracting means) 1, and the distorting speed of the conductive polymer actuator is proportional to the driving voltage.

[Modification]
Next, the rotation drive unit 61 of the rotation drive device 100 according to a modification of the present embodiment will be described. In the following description, the same components as those of the rotation drive unit 60 according to the present embodiment are denoted by the same reference numerals and detailed description thereof is omitted.

  FIG. 12 is a diagram illustrating a rotation driving unit 61 according to a modification.

  The rotation drive unit 61 according to the modification uses a type in which the displacement direction of the conductive polymer actuator piece is displaced in the lateral direction of the conductive polymer actuator piece as the expansion / contraction means 1. The conductive actuator piece is mounted at a predetermined angle with respect to the central axis, and is configured to expand and contract as a whole of the conductive polymer actuator (extension / contraction means) 51 by being displaced laterally. Further, spur gears 54, 55, and 56 are provided on the main shaft 11, the left countershaft 13, and the right countershaft 15, respectively.

  Further, shape memory alloys are used as the left countershaft moving means 57a and 57b and the right countershaft moving means 58a and 58b.

  FIG. 13 is a view showing the principle of the shape memory alloy used in the rotation drive unit 61 according to the modification. Some types of metal, even if greatly deformed, have a phenomenon that when they are warmed, their shape returns to their previous shape. This phenomenon is called a shape memory effect, and a metal that exhibits the shape memory effect is called a shape memory alloy. The deformation amount of the shape memory alloy is large. For example, when a Ti—Ni-based shape memory alloy is pulled and deformed, the amount of deformation that can be recovered may reach nearly 10% of the original length.

  The shape memory alloy used in the modification shrinks when a voltage is applied, and returns to the original memorized state when the voltage is not applied. This will be described below. Now, it is assumed that the spring of the shape memory alloy remembers a contracted shape as shown in FIG. In a low temperature state (normal temperature), this spring is soft and can be extended with a small force (deformation force) f1. One end of the spring is fixed to the fixed end, and a weight w is attached to the other end. If the force f2 by which the spring is pulled by the weight w is larger than f1, the spring is pulled and stretched (FIGS. 13B and 13C). A force applied in advance to deform the shape memory alloy in a low temperature state, such as the force f2 due to the weight, is referred to as a bias force. In addition to the weight, a spring, a magnet, or the like is used as a means for the bias force.

  When the spring of the shape memory alloy stretched by the deformation force f1 is warmed (current is passed), it becomes hard and contracts while lifting the weight by the force of the shape recovery force F (FIG. 13D). The magnitude of the bias force f2 is smaller than the shape recovery force F and larger than the deformation force f1. When you stop warming (turn off the current), it softens again and stretches due to the deformation force. That is, this shape memory alloy converts thermal energy generated by electric current into mechanical energy. In other words, the shape memory alloy can take out work by raising the temperature (flowing current through the shape memory alloy).

  Returning to FIG. 12, the main shaft plate 52, which is a displacement rotating member, is rotatably coupled by the roller portion 2. The main shaft plate 3 is provided with a spiral-shaped protrusion (projection) 52a which is a guided contact portion on the outer peripheral surface in the circumferential direction. On the other hand, a spiral-shaped groove 53a that is a guided contact portion is provided on the inner peripheral surface of the case 53 that is a fixed cylinder. In response to the advance / retreat movement of the conductive polymer actuator (extension / contraction means) 51, the main shaft plate 52 has a spiral-shaped protrusion (projection) 52a of the main shaft plate 52 and an inner peripheral screw of the case 53. Due to the meshing with the line-shaped groove 53a, it moves forward and backward while rotating.

  Here, the main shaft plate 52, a spiral-shaped protrusion (projection) 52a serving as a guided contact portion, and a spiral (helical) groove 53a serving as a guided contact portion are straight lines formed by expansion and contraction means. Forward / reverse rotation converting means for converting a typical forward / backward movement into a forward / reverse rotational movement is configured.

  The main shaft plate 52 has a spiral-shaped groove 52b which is a guided contact portion on the outer circumferential surface in the circumferential direction, and a spiral (which is a guided contact portion) on the inner circumferential surface of the case 53. Spiral (ridges) 53b may be provided.

  In the modified example, there is the above difference, but the operation of the rotation drive unit is the same as the operation of the rotation drive unit 60 according to the embodiment.

  FIG. 14 is a diagram illustrating an example in which the rotary driving device 100 according to the present embodiment is applied to a table clock 80. A CPU (Central Processing Unit) 41 that performs overall control including the rotation drive unit 60, a ROM (Read Only Memory) 67 that stores a control program and control data executed by the CPU 41, and a work memory area in the CPU 41. RAM (Random Access Memory) 68, a plurality of operation buttons, an operation unit 69 for inputting an external command, a clock circuit 45 as time counting means for counting current time data, and an operating voltage at each unit Power supply unit 65 and the like. In the ROM 42 of the table clock 80, a basic clock mode process for displaying a time according to a control program of the rotation driving unit 60 and a clock data of the clock circuit 66 or performing an alarm operation at a set time, and various types according to an input of the operation unit 69 Stores each program of operation input processing for setting. Here, the rotation drive unit 60, the CPU 41, the ROM 67, the RAM 68, and the power supply unit 65 correspond to the rotation drive device 100.

  In the table clock 80, the output shaft 37 of the rotation driving unit 60 rotates under the control of the CPU 41, and the rotation is input to the gear train mechanism 70 to rotate the second hand 71, minute hand 72, and hour hand 73.

  As described above, in the rotary drive device 100 according to the present embodiment and the modification, the expansion / contraction means that generates linear advance / retreat movement by extension / contraction, and the forward / reverse direction that converts the forward / backward movement by the extension / contraction means into a rotational movement in the forward / reverse direction Since the rotation conversion means and the one-way rotation conversion means for converting the rotation motion in the forward and reverse directions into the rotation motion in one direction and driving the output shaft to rotate in one direction are provided. An output rotation device can be realized.

  In addition, since the expansion / contraction means includes a conductive polymer actuator that expands and contracts according to changes in the applied voltage, it is quieter due to the silence of the conductive polymer actuator, driving at low voltage (about 1.5V), and saving power Can be achieved.

  Further, the forward / reverse rotation converting means is displaced in the axial direction by the advancing / retreating movement by the expansion / contraction means, and is coaxial with the gear provided on the outer periphery of the displacement rotating member capable of rotating about the same axis and the rotation axis of the displacement rotating member. The displacement rotating member moves forward and backward while rotating around the rotation shaft by meshing with a gear provided on the inner surface of the fixed cylinder having the central axis of the one-way rotation converting means. Sometimes, it is configured to include a two-line gear mechanism that alternately engages and rotates with the displacement rotating member and transmits the rotation as a one-way rotation to the output shaft, so that one-way rotation can be reliably obtained.

  Further, the forward / reverse rotation converting means is displaced in the axial direction by the forward / backward movement of the expansion / contraction means, and is guided by a contact contact portion provided on the outer periphery of a displacement rotating member capable of rotating about the same axis, and the rotation of the displacement rotating member And a guided contact portion provided on the inner periphery of a fixed cylinder having a central axis coaxial with the shaft, at least one of the guided contact portion and the guided contact portion is formed in a spiral shape, and the guided contact portion is guided The displacement rotating member moves forward and backward while rotating around the rotation axis by contacting the contacted portion and spirally guided, and the one-way rotation converting means moves the displacement rotating member when the displacement rotating member advances and retracts. Since it is configured to include two series of gear mechanisms that rotate in mesh with the members alternately and transmit the rotation as a one-way rotation to the output shaft, one-way rotation can be reliably obtained.

  In addition, a timepiece device that is quiet, low-voltage driven, and power-saving can be realized by providing a timepiece device that includes the rotation drive device having the above-described configuration and a time display hand that is driven by the rotation drive device. be able to.

  Further, in the timepiece device having the above-described configuration, as a timepiece having a train wheel mechanism that transmits the rotation of the output shaft to the time display hand between the output shaft and the time display hand in the rotation driving device. Since it is configured, it is quiet, low-voltage driving, power saving, and can move the driving operation reliably.

  In addition to the table clock described above, the rotary drive device having the above-described configuration can be applied to various electronic devices such as a thermometer, an altimeter, a display of a measurement panel unit of an automobile, a measurement device, and a home appliance.

Although the embodiment of the present invention has been described, the scope of the present invention is not limited to the above-described embodiment, and is included in the invention described in the claims and the equivalent scope thereof. Hereinafter, the invention described in the scope of claims of the present application will be appended.
[Appendix]
<Claim 1>
Expansion and contraction means for generating linear advance and retreat movement by expansion and contraction;
Forward / reverse rotation conversion means for converting forward / backward movement by the expansion / contraction means into forward / reverse rotational movement;
Unidirectional rotation conversion means for converting the rotational motion in the forward and reverse directions into rotational motion in one direction and rotationally driving the output shaft in one direction;
A rotary drive device comprising:
<Claim 2>
2. The rotary drive device according to claim 1, wherein the expansion / contraction means includes a conductive polymer actuator that expands and contracts according to a change in applied voltage.
<Claim 3>
The forward / reverse rotation converting means is displaced in the axial direction by advancing and retreating movement by the expansion / contraction means, and is provided with a gear provided on the outer periphery of a displacement rotating member capable of rotating about the same axis, and a rotating shaft of the displacement rotating member The displacement rotating member moves forward and backward while rotating around the rotating shaft by meshing with a gear provided on the inner surface of a fixed cylinder having a coaxial central axis,
The one-way rotation converting means includes a two-line gear mechanism that alternately engages and rotates with the displacement rotating member and transmits the rotation to the output shaft as one-way rotation when the displacement rotating member advances and retreats. The rotary drive device according to claim 2, wherein
<Claim 4>
The forward / reverse rotation converting means is displaced in the axial direction by the advancing and retreating movement of the expansion / contraction means, and guided contact portions provided on the outer periphery of a displacement rotating member capable of rotating about the same axis, and the displacement rotating member A guided contact portion provided on an inner periphery of a fixed cylinder having a central axis coaxial with the rotation axis, and at least one of the guided contact portion and the guided contact portion is formed in a spiral shape, The displacement rotating member makes an advancing and retreating motion while rotating around the rotation axis by the contact portion contacting the guided contacted portion and being guided in a spiral shape,
The one-way rotation converting means includes a two-line gear mechanism that alternately engages and rotates with the displacement rotating member and transmits the rotation to the output shaft as one-way rotation when the displacement rotating member advances and retreats. The rotary drive device according to claim 2, wherein
<Claim 5>
A rotary drive device according to claim 1, 2, 3 or 4;
A time display hand driven by the rotation drive device;
A timepiece device comprising:
<Claim 6>
The timepiece device according to claim 5, wherein
A timepiece device comprising: a gear train mechanism for transmitting rotation of the output shaft to the hands between the output shaft and the time display hands in the rotation driving device.

1 Conductive polymer actuator (stretching means)
2 Bearing portion 3 Main shaft plate 3a Gear 5 First case 5a Gear 6 First terminal portion 11 Main shaft 12 Main shaft gear (worm gear)
13 First switch 14 Second switch 15 Left countershaft 16 Left countershaft first gear (worm gear)
17 Right countershaft 18 Right countershaft first gear (worm gear)
19a, 19b Conductive polymer actuator (left countershaft moving means)
20a, 20b Spring 21a, 21b Conductive polymer actuator (right countershaft moving means)
22a, 22b Spring 23 Switch shaft 24 Second case 25, 25a, 25b Wiring 26 Second terminal portion 31 Left countershaft second gear 32 Right countershaft second gear 33 Intermediate gear 34 Intermediate shaft 35 Output shaft first 1 gear 36 output shaft second gear 37 output shaft 38 guide plate 39 third case 51 conductive polymer actuator (extension / contraction means)
52 Spindle plate 52a Spiral ridge (convex ridge) (guided contact portion)
53 1st case 53a Spiral (helical) groove 53a (guide contact part)
54 Main shaft gear (spur gear)
55 Left countershaft first gear (spur gear)
56 Right countershaft first gear (spur gear)
57a, 57b Shape memory alloy (left countershaft moving means)
58a, 58b Shape memory alloy (right countershaft moving means)
60, 61 Rotation drive unit 62 Controller (control device)
63 CPU (control device)
64, 65 Power supply unit 66 Clock circuit 67 ROM
68 RAM
69 Operation unit 70 Train wheel mechanism 71 Second hand 72 Minute hand 73 Hour hand 80 Desk clock 100 Rotation drive device

Claims (6)

Expansion and contraction means for generating linear advance and retreat movement by expansion and contraction;
Forward / reverse rotation conversion means for converting forward / backward movement by the expansion / contraction means into forward / reverse rotational movement;
Unidirectional rotation conversion means for converting the rotational motion in the forward and reverse directions into rotational motion in one direction and rotationally driving the output shaft in one direction;
A rotary drive device comprising:   2. The rotary drive device according to claim 1, wherein the expansion / contraction means includes a conductive polymer actuator that expands and contracts according to a change in applied voltage. The forward / reverse rotation converting means is displaced in the axial direction by advancing and retreating movement by the expansion / contraction means, and is provided with a gear provided on the outer periphery of a displacement rotating member capable of rotating about the same axis, and a rotating shaft of the displacement rotating member The displacement rotating member moves forward and backward while rotating around the rotating shaft by meshing with a gear provided on the inner surface of a fixed cylinder having a coaxial central axis,
The one-way rotation converting means includes a two-line gear mechanism that alternately engages and rotates with the displacement rotating member and transmits the rotation to the output shaft as one-way rotation when the displacement rotating member advances and retreats. The rotary drive device according to claim 2, wherein The forward / reverse rotation converting means is displaced in the axial direction by the advancing and retreating movement of the expansion / contraction means, and guided contact portions provided on the outer periphery of a displacement rotating member capable of rotating about the same axis, and the displacement rotating member A guided contact portion provided on an inner periphery of a fixed cylinder having a central axis coaxial with the rotation axis, and at least one of the guided contact portion and the guided contact portion is formed in a spiral shape, The displacement rotating member makes an advancing and retreating motion while rotating around the rotation axis by the contact portion contacting the guided contacted portion and being guided in a spiral shape,
The one-way rotation converting means includes a two-line gear mechanism that alternately engages and rotates with the displacement rotating member and transmits the rotation to the output shaft as one-way rotation when the displacement rotating member advances and retreats. The rotary drive device according to claim 2, wherein A rotary drive device according to claim 1, 2, 3 or 4;
A time display hand driven by the rotation drive device;
A timepiece device comprising: The timepiece device according to claim 5, wherein
A timepiece device comprising: a gear train mechanism for transmitting rotation of the output shaft to the hands between the output shaft and the time display hands in the rotation driving device.

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