JP2018159351A - Movable device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable device equipped with an energy transmission component.SOLUTION: A movable device 1 includes a fixed base 2. The movable device 1 has a moving part 3 which can mechanically move with respect to the base 2. The movable part 3 can rotationally move around a rotation axis AXR extending along a height direction HD. The movable part 3 reciprocates in a prescribed angle range VRS around the rotation axis AXR. The movable part 3 has a driven body 31. Movement of the driven body 31 is guided by a guide mechanism 5. The driven body 31 is connected with two actuator elements 41, 42. Torsional deformation amounts of the actuator elements 41, 42 are varied in accordance with temperature variation. The actuator elements 41, 42 are alternately driven, and thereby, the driven body 31 is reciprocatingly turned. The actuator elements 41, 42 have a heating wire wound around a material wire.SELECTED DRAWING: Figure 1

Description

  The disclosure herein relates to a movable device that utilizes deformation of an actuator element.

  Patent Document 1 discloses a movable device that utilizes deformation of an actuator element. In this technique, the deformation of the member is directly or indirectly used to mechanically move the driven body. One example of an actuator element is an elongated synthetic fiber.

JP 2016-42783 A

  The prior art does not fully disclose parts or devices for increasing or decreasing the energy of the actuator element. It is desirable that the energy transmission component for increasing or decreasing the energy of the actuator element does not hinder the deformation of the actuator element itself.

  In another aspect, it is desirable that even if the actuator element itself is deformed, energy transfer adapted to both before and after the deformation is realized.

  In view of the above or other aspects not mentioned, there is a need for further improvements in mobile devices.

  One disclosed object is to provide a mobile device with energy transfer components.

  Another object disclosed is to provide a movable device capable of changing a contact state between an energy transmission component and an actuator element.

  Another object of the present disclosure is to provide a movable device in which inhibition of torsional deformation of an actuator element is suppressed.

  Another object to be disclosed is to provide a movable device in which the clamping force of an actuator element by an energy transmission component is suppressed.

  The movable device disclosed herein includes an actuator element (41, 241, 341, 441, 541, 741, and 42) that is deformed by an increase or decrease in energy, and a driven body (31) connected to the actuator element. The actuator element includes a material wire (41a) that causes deformation, and an energy transmission component (41d) that is disposed in contact with the material wire and is an energy transmission component that increases or decreases the energy of the material wire.

  According to the disclosed movable device, energy is transmitted between the energy transmission component and the material wire. The energy transmission component is disposed in contact with the material wire. For this reason, the energy of the material wire can be directly increased or decreased.

  The movable device disclosed here is connected to an actuator element (41, 241, 341, 441, 541, 741, 42) that causes deformation around an actuator axis (AX41, AX42) by increasing or decreasing energy, and the actuator element. A driven body (31), and the actuator element is a material wire (41a) that causes deformation around the actuator axis, and an energy transmission component that increases or decreases the energy of the material wire, and spirally around the material wire And an arranged energy transmission component (41d).

  According to the disclosed movable device, energy is transmitted between the energy transmission component and the material wire. The energy transfer component is arranged in a spiral around the material line. For this reason, the energy of the material wire can be increased or decreased directly or indirectly from a wide range of the outer surface of the material wire.

  The disclosed embodiments of the present specification employ different technical means to achieve each purpose. The reference numerals in parentheses described in the claims and this section exemplify the correspondence with the embodiments described later, and are not intended to limit the technical scope. The objects, features, and advantages disclosed in this specification will become more apparent with reference to the following detailed description and accompanying drawings.

It is a perspective view of the movable device concerning a 1st embodiment. It is a fragmentary sectional view of a movable device. It is a perspective view of an actuator element. It is a flowchart for rocking | fluctuating a movable apparatus. It is a top view which shows the direction of twist or winding. It is a top view which shows the direction of twist or winding. It is a perspective view which shows the output end of an actuator element. It is a table | surface which shows the characteristic of 1st Embodiment. It is a perspective view which shows the output end of 2nd Embodiment. It is a table | surface which shows the characteristic of 2nd Embodiment. It is a perspective view which shows the output end of 3rd Embodiment. It is a table | surface which shows the characteristic of 3rd Embodiment. It is a perspective view which shows the output end of 4th Embodiment. It is a table | surface which shows the characteristic of 4th Embodiment. It is a perspective view which shows the output end of 5th Embodiment. It is a table | surface which shows the characteristic of 5th Embodiment. It is a perspective view of the movable device concerning a 6th embodiment. It is a top view which shows the actuator element of 7th Embodiment.

  A plurality of embodiments will be described with reference to the drawings. In embodiments, functionally and / or structurally corresponding parts and / or associated parts may be assigned the same reference signs or reference signs that differ by more than a hundred. For the corresponding parts and / or associated parts, the description of other embodiments can be referred to.

First Embodiment In FIG. 1, a movable device 1 includes a fixed base 2 and a movable part 3 that can move mechanically with respect to the base 2. The movable part 3 can rotate around a rotation axis AXR extending along the height direction HD. The movable part 3 reciprocates a predetermined angular range RG around the rotation axis AXR. The movable part 3 has a driven body 31. The movement of the movable part 3 is also called rocking. In addition, the moving direction of the movable part 3 is not restricted to rotation. The moving direction of the movable part 3 can be adapted to various movements such as a parallel movement along the height direction HD, a parallel movement along the width direction WD, and a rotational movement around the depth direction DD.

  The movable device 1 has an element 32 mounted on the driven body 31. The element 32 provides an electrically active action or an electrically passive action. The element 32 is, for example, an electrical light source, an electrical blower, an electrical heat source, an electrical radio wave source, or an electrical magnetic source. The element 32 is, for example, an electrical sensor element. The movable device 1 may include a connection member that electrically connects the base 2 and the element 32 for electrical connection. The element 32 has an axis VR32 for the main function. For example, when the element 32 is a light source, the axis VR32 corresponds to the optical axis. For example, when the element 32 is a sensor, the axis VR32 corresponds to a detection axis. The shaft VR32 is swung by the rotation of the driven body 31. The axis VR32 is swung within the range of the rotation angle VRS.

  The movable device 1 is also a sensor device. The element 32 is a sensor element. The element 32 has an axis VR32 indicating a detection direction and a detection range. The element 32 detects a physical quantity in the direction of the axis VR32. The element 32 is provided by various elements such as an image sensor, an infrared sensor, an ultrasonic sensor, a radar antenna, an electromagnetic wave sensor, and a radiation sensor. In this embodiment, the element 32 is an infrared sensor installed indoors. The detection signal of the element 32 is supplied to a device using infrared information by wire or wireless. Infrared information is supplied and used, for example, to an air conditioner. The movable device 1 is installed in a room such as a residence, an office, a vehicle, a ship, and an aircraft, and is used to collect information related to people in the room. The base 2 is placed in these rooms.

  The movable device 1 moves the shaft VR32 so as to swing. The movable device 1 provides a sensor device that moves the axis VR32. The movement of the axis VR32 makes it possible to provide various sensor devices such as a directivity direction variable type, a tracking type, or a scanning type. In this embodiment, since the driven body 31 periodically swings, a scanning sensor device is provided. The axis VR32 rotates about the rotation axis AXR. The axis VR32 is movable within a range of a predetermined rotation angle VRS along a plane extending in the width direction WD and the depth direction DD. In this embodiment, the rotation angle VRS is the scanning range.

  The movable device 1 includes an actuator mechanism 4. The actuator mechanism 4 provides a rotational force for rotating the movable part 3. The actuator mechanism 4 is also a power source. The actuator mechanism 4 provides a rotational force so as to reciprocate.

  The actuator mechanism 4 has two actuator elements 41 and 42. The two actuator elements 41 and 42 are arranged on an extension line of the rotation axis AXR. The two actuator elements 41 and 42 are arranged on both sides of the driven body 31. The driven body 31 and the two actuator elements 41 and 42 are arranged in series. In the figure, the actuator elements 41 and 42 are illustrated with a little emphasis.

  The first actuator element 41 is connected to the driven body 31 and the fixed portion 21. The first actuator element 41 extends along the actuator axis AX41. The actuator axis AX41 is also the central axis of the first actuator element 41. The actuator shaft AX41 is located on the extension of the rotation shaft AXR. The actuator shaft AX41 and the rotation shaft AXR are coaxial.

  The second actuator element 42 is connected to the driven body 31 and the fixed portion 22. The second actuator element 42 extends along the actuator axis AX42. The actuator axis AX42 is also the central axis of the second actuator element 42. The actuator shaft AX42 is located on the extension of the rotation shaft AXR. The actuator shaft AX42 and the rotation shaft AXR are coaxial.

  The driven body 31 is disposed at the center of the base 2. The fixing portion 21 is provided at one end of the base 2. The fixing part 21 is fixed to the base 2. The fixing part 22 is provided at the other end of the base 2. The fixing part 22 is fixed to the base 2. The base 2 is made of a material that can maintain the shape of the movable device 1 against the force generated by the actuator mechanism 4. For example, the base 2 is made of metal or resin. Part or the whole of the base 2 may be provided by a printed wiring board.

  The first actuator element 41 and the second actuator element 42 are arranged symmetrically with respect to the driven body 31. The first actuator element 41 and the second actuator element 42 have a symmetrical structure. In the following description, the first actuator element 41 will be described. This description can be referred to as a description of the second actuator element 42.

  The first actuator element 41 has a fixed end 41 b that can be connected to the fixed portion 21. The fixed end 41b is connected to the fixed portion 21 when at least the first actuator element 41 outputs rotational power. The first actuator element 41 has an output end 41 c that can be connected to the driven body 31. The output end 41c is connected to the driven body 31 when at least the first actuator element 41 outputs rotational power. The driven body 31 is connected to the actuator element 41 on the actuator shaft AX41. The names of the fixed end 41b and the output end 41c are for convenience. In the following description, the fixed end 41b and the output end 41c may be simply referred to as ends.

  The first actuator element 41 has a rod shape. The first actuator element 41 has a shape that can be called an elongated rod shape or a fiber shape. The first actuator element 41 can be formed in a columnar shape or a cylindrical shape.

  The movable device 1 has a guide mechanism 5 for guiding the movement of the movable part 3. The guide mechanism 5 is provided between the support portion 23 provided on the base 2 and the driven body 31. The support part 23 is fixed to the base 2. The guide mechanism 5 allows the rotational movement of the driven body 31 around the height direction HD. The guide mechanism 5 suppresses the rotational motion around the depth direction DD and the rotational motion around the width direction WD. The guide mechanism 5 suppresses the vertical movement in the depth direction DD and the horizontal movement in the width direction WD of the movement of the driven body 31. The guide mechanism 5 may suppress the back-and-forth movement in the height direction HD. The guide mechanism 5 may allow back-and-forth movement in the height direction HD.

  The height direction HD can be defined as the roll axis, the width direction WD as the pitching axis, and the depth direction DD as the yaw axis. In this case, the guide mechanism 5 allows the driven body 31 to roll. The guide mechanism 5 may suppress excessive roll movement exceeding the available range. For example, a direct collision between the driven body 31 and the support portion 23 or an indirect collision via an elastic member limits the roll motion range. The guide mechanism 5 suppresses yawing motion and pitching motion of the driven body 31. Further, the guide mechanism 5 suppresses the vertical and horizontal movements of the driven body 31. The guide mechanism 5 may suppress the back-and-forth movement of the driven body 31. The guide mechanism 5 may allow the back-and-forth movement of the driven body 31 in some cases.

  The movable device 1 includes a control system 7. The control system 7 includes a control device (CNT) 70 and energy increase / decrease devices (EX1, EX2) 71, 72. The energy increasing / decreasing devices 71, 72 are devices that increase / decrease the energy of the two actuator elements 41, 42 in order to extract mechanical motion from the two actuator elements 41, 42. The energy increasing / decreasing devices 71 and 72 increase or decrease the energy of the two actuator elements 41 and 42 so as to rotate the two actuator elements 41 and 42.

  The control device has at least one arithmetic processing unit (CPU) and at least one memory device as a storage medium for storing programs and data. The control device is provided by a microcomputer including a computer-readable storage medium. The storage medium is a non-transitional tangible storage medium that stores a computer-readable program in a non-temporary manner. The storage medium can be provided by a semiconductor memory or a magnetic disk. The controller can be provided by a computer or a set of computer resources linked by a data communication device. The program is executed by the control device to cause the control device to function as the device described in this specification and to cause the control device to perform the method described in this specification.

  The control system includes a plurality of signal sources that supply signals indicating information input to the control device as input devices. The control system acquires information by the control device storing the information in the memory device. The control system has a plurality of control objects whose behavior is controlled by the control device as output devices. The control system controls the behavior of the control object by converting information stored in the memory device into a signal and supplying the signal to the control object. For example, the control device acquires an operation signal and a stop signal from the outside, and intermittently activates the energy increasing / decreasing devices 71 and 72 to cause the movable device 1 to swing.

  The control device, the signal source, and the control object included in the control system provide various elements. At least some of these elements can be referred to as blocks for performing functions. In another aspect, at least some of these elements can be referred to as modules or sections that are interpreted as configurations. Furthermore, the elements included in the control system can also be referred to as means for realizing the functions only when intentional.

  The means and / or functions provided by the control system can be provided by software recorded in a substantial memory device and a computer that executes the software, software only, hardware only, or a combination thereof. For example, if the controller is provided by an electronic circuit that is hardware, it can be provided by a digital circuit including a number of logic circuits, or an analog circuit.

  The two actuator elements 41 and 42 are actively deformed in one direction. The deformation directions of the two actuator elements 41 and 42 are opposite directions, that is, symmetrical directions. By using the two actuator elements 41, 42, an active deformation is obtained in both directions, i.e. in a reciprocating direction.

  The actuator elements 41 and 42 are deformed around the actuator axes AX41 and AX42 by increasing or decreasing the thermal energy. The first actuator element 41 is deformed so as to be twisted when the temperature of the first actuator element 41 rises. Since the fixed end 41b is fixed by the fixing portion 21, the driven body 31 rotates in the direction of the arrow M41 that is the first direction. The second actuator element 42 is deformed so as to be twisted when the temperature of the second actuator element 42 rises. Since the fixed end 42b is fixed by the fixing portion 22, the driven body 31 rotates in the direction of the arrow M42 that is the second direction. The direction of the arrow M41 and the direction of the arrow M42 are symmetric with respect to the driven body 31. As a result, the driven body 31 rotates over the angular range indicated by the arrow M31. The arrow M31 corresponds to the rotation angle VRS of the axis VR32.

  Actuator elements 41 and 42 and energy increasing / decreasing devices 71 and 72 that can be used in this embodiment include those described in JP-A-2016-42783. The content described in Japanese Patent Application Laid-Open No. 2016-42783 is incorporated by reference as an explanation of technical elements in this specification. The actuator elements 41 and 42 can be provided by various materials called artificial muscles. For example, materials such as synthetic resins, metals, shape memory alloys, and organic materials can be used.

  One example of the actuator elements 41 and 42 is a synthetic fiber. The synthetic fiber extends along an extension line of the rotation axis AXR. Synthetic fibers are elongated. Synthetic fibers are called polymer fibers. One typical example of a polymer fiber is a monofilament resin. The monofilament resin includes a polyamide resin and a polyethylene resin. For example, a polymer fiber called nylon or polyethylene may have a torsional deformation amount with respect to a temperature change, and can be used as the actuator elements 41 and 42.

  The polymers forming the polymer fibers are oriented so as to extend along the actuator axes AX41 and AX42. The polymer may have a “twist” around the actuator axes AX41, AX42. The term “twist” may refer to a twist in a single fiber and may refer to a twist between multiple fibers. The twist deformation amount with respect to the temperature change of the polymer fiber may appear strongly along the direction of “twist” in the single fiber. In this embodiment, the actuator elements 41 and 42 are single fibers. In another form, the amount of torsional deformation with respect to temperature change of the polymer fiber may appear along the direction of “twist” between the plurality of fibers. The actuator elements 41 and 42 may be a bundle of a plurality of polymer fibers twisted together.

  One example of the actuator elements 41, 42 is a shape memory alloy. Shape memory alloys extending along the actuator axes AX41, AX42 can be used. The shape memory alloy can be used in various shapes such as a single rod shape and a coiled shape. The shape of the shape memory alloy is selected so as to obtain a torsional deformation amount with respect to temperature change.

  The energy increasing / decreasing devices 71 and 72 bidirectionally change the energy state of the actuator elements 41 and 42 between a high energy state and a low energy state. The energy increasing / decreasing devices 71 and 72 can apply and remove energy electrically, optically, magnetically, electromagnetically, or radiationally. The application and removal of electrical energy includes increase / decrease in electrical heat, increase / decrease in current, increase / decrease in electric field, increase / decrease in electric charge, and the like. For example, when the energy state of the actuator elements 41 and 42 is indicated by temperature, the temperature can be increased by applying light, and the temperature can be decreased by blocking light.

  Energy can be applied and removed directly or indirectly. For example, energy may be applied by an energy transmission component that directly contacts the actuator elements 41 and 42, or energy may be indirectly applied by an energy transmission component installed away from the actuator elements 41 and 42. Also good. The energy transmission component can be provided by, for example, an electrical heating member.

  For example, the energy increasing / decreasing devices 71 and 72 increase the thermal energy of the actuator elements 41 and 42 in order to actively rotate the actuator elements 41 and 42. The increase in thermal energy is realized, for example, by supplying current to the heat generating members provided in the actuator elements 41 and 42. For example, the energy increasing / decreasing devices 71 and 72 decrease the thermal energy of the actuator elements 41 and 42 in order to return the actuator elements 41 and 42 from active rotation. The reduction of the thermal energy is realized, for example, by interrupting the current supply to the heat generating members provided in the actuator elements 41 and 42 to dissipate heat.

  In FIG. 2, the fixed portion 21 and the fixed portion 22 are arranged symmetrically with respect to the driven body 31. The fixed part 21 and the fixed part 22 have a symmetrical structure. The driven body 31 has a symmetrical structure with respect to the guide mechanism 5. In the following description, portions related to the first actuator element 41 will be described. This description can be referred to as a description of portions related to the second actuator element 42. As parts related to the first actuator element 41, there are a fixed portion 21 and a third coupling mechanism 31 c provided on the driven body 31.

  The fixing portion 21 includes an end sleeve 21a and an anchor block 21c. The end sleeve 21 a is connected to the end of the actuator element 41. The end sleeve 21a is fixed to the anchor block 21c. The anchor block 21 c is fixed to the base 2.

  The end sleeve 21 a is a cylindrical member that is coaxial with the actuator element 41. The end sleeve 21a may be a polygonal rectangular tube. The end sleeve 21 a has an inner hole that receives the fixed end 41 b of the actuator element 41. The end sleeve 21a includes a first connecting mechanism 21b that connects the fixed end 41b and the end sleeve 21a. The first coupling mechanism 21b couples the fixed end 41b and the end sleeve 21a with respect to the circumferential direction of the actuator shaft AX41 when at least the actuator element 41 outputs turning force.

  The first connecting mechanism 21b is provided by an inner hole and a set screw. The set screw is provided in the radial direction toward the inner hole of the end sleeve 21a. The set screw connects the fixed end 41b and the end sleeve 21a in the axial direction and the circumferential direction by tightening the fixed end 41b in the radial direction.

  The first connection mechanism 21b can be provided by various mechanisms. For example, the first connecting mechanism 21b can be provided by a plurality of set screws arranged radially, a chuck mechanism for fastening the fixed end 41b in the radial direction, a caulking sleeve for fastening the fixed end 41b in the radial direction, and the like. The first connecting mechanism 21b may allow the axial movement of the fixed end 41b relative to the end sleeve 21a along the actuator axis AX41. For example, the fixed end 41b and the end sleeve 21a may be coupled so that the fixed end 41b can move in the axial direction within a limited range. For example, an elastic member such as a spring or rubber can be used. The first connection mechanism 21b may be provided by a mechanism that can be opened and closed. For example, the first coupling mechanism 21b can be provided by an electromagnetic mechanism that can switch between a state in which the fixed end 41b is fixed in the circumferential direction and a state in which the fixed end 41b is rotatable in the circumferential direction. .

  The anchor block 21c has an inner hole for receiving the end sleeve 21a. The anchor block 21c has a second coupling mechanism 21d that couples the end sleeve 21a and the anchor block 21c. The second coupling mechanism 21d couples the end sleeve 21a and the anchor block 21c with respect to the circumferential direction of the actuator shaft AX41 when at least the actuator element 41 outputs turning force.

  The second connecting mechanism 21d is provided by an inner hole and a set screw. The set screw is provided in the radial direction toward the inner hole of the anchor block 21c. The set screw couples the end sleeve 21a and the anchor block 21c in the axial direction and the circumferential direction by tightening the end sleeve 21a in the radial direction.

  The second coupling mechanism 21d can be provided by various mechanisms. For example, the second connecting mechanism 21d can be provided by a plurality of set screws arranged radially, a chuck mechanism that tightens the end sleeve 21a in the radial direction, a caulking sleeve that tightens the end sleeve 21a in the radial direction, and the like. The second connecting mechanism 21d may allow the end sleeve 21a to move in the axial direction along the actuator axis AX41. For example, the anchor block 21c and the end sleeve 21a may be coupled so that the end sleeve 21a can move in the axial direction within a limited range. For example, an elastic member such as a spring or rubber can be used. The second connecting mechanism 21d may be provided by a mechanism that can be opened and closed. For example, the second coupling mechanism 21d is an electromagnetic mechanism capable of switching between a state in which the end of the actuator element 41 is fixed in the circumferential direction and a state in which the end of the actuator element 41 is rotatable in the circumferential direction. Can be provided.

  The driven body 31 has an inner hole that receives the output end 41 c of the actuator element 41. The driven body 31 includes a third connecting mechanism 31a that connects the driven body 31 and the output end 41c. The third connecting mechanism 31a connects the output end 41c and the driven body 31 with respect to the circumferential direction of the actuator shaft AX41 when at least the actuator element 41 outputs rotational power.

  The third coupling mechanism 31a is provided by an inner hole and a set screw. The set screw is provided in the radial direction toward the inner hole of the driven body 31. The set screw connects the driven body 31 and the output end 41c with respect to the axial direction and the circumferential direction by tightening the output end 41c in the radial direction.

  The third connection mechanism 31a can be provided by various mechanisms. For example, the third coupling mechanism 31a can be provided by a plurality of set screws arranged radially, a chuck mechanism that tightens the output end 41c in the radial direction, a caulking sleeve that tightens the output end 41c in the radial direction, and the like. The third coupling mechanism 31a may allow the output end 41c to move in the axial direction with respect to the driven body 31 along the actuator axis AX41. For example, the output end 41c and the driven body 31 may be coupled so that the output end 41c can move in the axial direction within a limited range. For example, an elastic member such as a spring or rubber can be used. The third connection mechanism 31a may be provided by a mechanism that can be opened and closed. For example, the third coupling mechanism 31a can be provided by an electromagnetic mechanism capable of switching between a state in which the output end 41c is fixed in the circumferential direction and a state in which the output end 41c is rotatable in the circumferential direction. .

  The driven body 31 is rotatably supported by the guide mechanism 5. The guide mechanism 5 has a shaft 51 and a guide bore 52. The shaft 51 is provided by a coaxial cylindrical member having a rotation axis AXR. The shaft 51 is fixed to the driven body 31. Both ends of the shaft 51 are fixed to the driven body 31. The driven body 31 has a shaft 51. The guide bore 52 is provided in the support portion 23. The support portion 23 has a guide bore 52. The support portion 23 is a member for supporting the driven body 31. The support part 23 is fixed to the base 2. The support part 23 is a block. The guide bore 52 is provided by a through hole that penetrates the support portion 23. The guide bore 52 receives the shaft 51. The guide bore 52 allows the shaft 51 to rotate. As a result, the support unit 23 supports the driven body 31 in a rotatable manner.

  The outer surface of the shaft 51 and the inner surface of the guide bore 52 are in partial contact. The outer surface of the shaft 51 and the inner surface of the guide bore 52 slide with each other when the driven body 31 rotates. The driven body 31 is guided around the shaft 51. The members that provide the shaft 51 and guide bore 52 are made of a low friction material. The member that provides the shaft 51 or the guide bore 52 may be made of a low friction material. Friction between the shaft 51 and the guide bore 52 is suppressed.

  The support portion 23 faces the driven body 31 at both end faces. The support part 23 is in partial contact with the driven body 31 at both end faces thereof. The support portion 23 and the driven body 31 slide with each other when the driven body 31 rotates.

  The heat of the actuator element 41 is radiated from the entire actuator element 41 to the external environment. The heat of the actuator element 41 is radiated from the fixed end 41 b via the fixed portion 21. At this time, the first connecting mechanism 21b and the second connecting mechanism 21d contribute to lowering the thermal resistance of the heat dissipation path. Further, the heat of the actuator element 41 is radiated from the output end 41 c via the driven body 31. The heat of the actuator element 41 may be radiated from the output end 41 c via the driven body 31, the support portion 23, and the base 2. At this time, the third coupling mechanism 31a contributes to lower the thermal resistance of the heat dissipation path.

  Furthermore, the contact between the driven body 31 and the support portion 23 and / or the contact between the shaft 51 and the guide bore 52 also contributes to lowering the thermal resistance of the heat dissipation path. The heat of the actuator element 41 is radiated from the output end 41 c via the driven body 31, the contact between the driven body 31 and the support portion 23, and the support portion 23. The heat of the actuator element 41 is radiated from the output end 41 c through the driven body 31 through the shaft 51, the contact between the shaft 51 and the guide bore 52, and the support portion 23. Thus, the actuator element 41 radiates heat via the driven body 31 and the guide mechanism 5.

  In FIG. 3, the actuator element 41 has a material wire 41a, a fixed end 41b, an output end 41c, and a heating wire 41d. The material wire 41a is the above-described polymer fiber. The heating wire 41 d is also a part of the energy increasing / decreasing device 71. The heating wire 41d is also an energy transmission component for increasing or decreasing the energy of the material wire 41a. The heating wire 41d is disposed directly or indirectly on the surface of the material wire 41a. The heating wire 41d has a spiral shape or a coil shape. The heating wire 41d is a metal wire that generates heat when energized. The heating wire 41d can be provided by a platinum wire, a copper wire, or the like. The heating wire 41d is provided by a nichrome wire. The heating wire 41d can be provided by a round wire, a square wire, or a metal foil. The heating wire 41d is affixed to the surface of the material wire 41a.

  The heating wire 41d generates heat when energized. The heat supplied by the heating wire 41d is transmitted to the material wire 41a, and raises the temperature of the material wire 41a. On the other hand, the heating wire 41d stops generating heat when energization is interrupted. The heat of the material wire 41a is radiated to the external environment. At this time, the third coupling mechanism 31a and the guide mechanism 5 at the output end 41c contribute to heat dissipation. For this reason, a large temperature difference can be realized in the actuator element 41.

  In FIG. 4, a control process 180 for swinging the driven body 31 is shown. The control process 180 is a part of the control process in the control device 70.

  In step 181, it is determined whether the swing of the movable device 1 is required (ON) or not (OFF). For example, when it is required to operate a scanning infrared sensor, the swing is turned on. When it is not required to operate the scanning infrared sensor, the swing is turned off. If the swing is OFF, the control is terminated. If the swing is ON, the process proceeds to a loop process in steps 182 and 183. Step 182 is a process for heating the first actuator element 41. Step 183 is a process for heating the second actuator element 42. By alternately repeating Step 182 and Step 183, the driven body 31 operates in a swinging manner. In step 184, it is determined whether the swing of the movable device 1 is required (ON) or not (OFF).

  Step 182 is a process of rotating the driven body 31 in the forward rotation direction. The forward rotation direction is a direction in which the driven body 31 is rotated in the clockwise direction when viewed from the first actuator element 41. Step 182 includes step 185 and step 186.

  In step 185, first, the first actuator element 41 is activated. In step 185, the heating wire 41d of the first actuator element 41 is energized. Specifically, the control device 70 energizes the heating wire 41d from the energy increasing / decreasing device 71. The process of step 185 is executed so that the first actuator element 41 outputs a twist of a predetermined angle in the forward rotation direction. For example, the rotation angle of the driven body 31 is detected by the rotation angle sensor, and step 185 is continued until a predetermined angle of rotation is obtained. Instead of this, the process of step 185 may be continued for a predetermined time by a timer process.

  In step 186, the first actuator element 41 is deactivated. In step 186, energization to the heating wire 41d of the first actuator element 41 is cut off. Specifically, the control device 70 cuts off the power supply from the energy increasing / decreasing device 71 to the heating wire 41d.

  Step 183 is a process of rotating the driven body 31 in the reverse direction. Step 183 includes step 187 and step 188.

  In step 187, first, the second actuator element 42 is activated. In step 187, the heating wire of the second actuator element 42 is energized. Specifically, the control device 70 energizes the heating wire from the energy increasing / decreasing device 72.

  In step 188, the second actuator element 42 is deactivated. In step 188, energization to the heat generating wire of the second actuator element 42 is cut off. Specifically, the control device 70 cuts off the power supply from the energy increasing / decreasing device 72 to the heating wire.

  In this embodiment, the activation corresponds to energization of the heating wire 41d. Inactivation corresponds to the interruption of energization to the heating wire 41d. Activation and deactivation word pairs can be associated with heating and heat dissipation word pairs, energization and deactivation word pairs, and active and standby word pairs.

  The control device 70 controls the energy increasing / decreasing device 71 so as to alternately repeat the period in which the energy of the actuator element 41 increases and the period in which the energy of the actuator element 41 decreases. As a result, the two actuator elements 41 and 42 are actively driven alternately. When the first actuator element 41 actively outputs a torsional deformation in the forward rotation direction, the second actuator element 42 is passively driven in the forward rotation direction. Conversely, when the second actuator element 42 is actively outputting torsional deformation in the reverse rotation direction, the first actuator element 41 is passively driven in the reverse rotation direction. Since two actuator elements 41, 42 are used and are driven alternately, a stable rotational output is obtained in both directions.

  According to this embodiment described above, the quiet movable device 1 can be provided. This is particularly advantageous when the movable device 1 is used in a device installed indoors. For example, a quiet scanning infrared sensor can be obtained. Since the movable device 1 includes the guide mechanism 5, vibration of the driven body 31 is suppressed. In particular, vibrations in the direction intersecting the rotation axis AXR, that is, the vertical direction and the horizontal direction with respect to the rotation axis AXR are suppressed. Since the guide mechanism 5 defines a rotation axis AXR that is coaxial with the actuator axis AX41, the torsional deformation of the actuator element 41 can be directly taken out. Further, the guide mechanism 5 contributes to heat dissipation of the actuator element 41.

  In FIG. 5, one of the twisting direction or the winding direction of the heating wire 41d is shown. The twist or winding shown is referred to as S twist or S winding. The twist or winding shown in the figure can also be called left-handed or left-handed.

  In FIG. 6, one of the twisting direction or the winding direction of the heating wire 41d is shown. The twist or winding shown is called Z twisting or Z winding. The twist or winding shown in the figure can also be called right-handed winding or right-handed thread.

  In FIG. 7, the output end 41c of the actuator element 41 is enlarged. The actuator element 41 has a material wire 41a. The material wire 41a is made of a material having a negative coefficient of thermal expansion. When the material wire 41a is changed from a low temperature state to a high temperature state, the coefficient of thermal expansion is negative, and thus the material wire 41a undergoes torsional deformation while being slightly contracted. The direction of the polymer orientation 41e in the material wire 41a is the S twist direction. The torsional deformation in the direction of the arrow M41 is generated when the polymer chain contracts in the S twist direction.

  A heating wire 41d is wound around the material wire 41a. The heating wire 41d is fixed to the material wire 41a at least at both ends thereof. The heating wire 41d is in contact with the material wire 41a over the entire circumference and the entire length of the material wire 41a. The heating wire 41d is bonded to the surface of the material wire 41a on the entire surface or at a plurality of locations. For example, the actuator element 41 can include an adhesive 41f applied to the surface of the material wire 41a along the actuator axis AX41. The heating wire 41d is bonded at a portion that intersects the adhesive 41f, that is, at a plurality of locations.

  When the heating wire 41d is energized and generates heat, the material wire 41a becomes a high temperature state. When the energization of the heating wire 41d is cut off and the temperature decreases toward normal temperature (or room temperature) due to heat dissipation, the material wire 41a becomes a low temperature state. When the heating wire 41d is energized and the heating wire 41d generates heat, the material wire 41a is twisted and deformed. The material line 41a generates a torque that twists the material line 41a itself around the actuator axis AX41. The material wire 41a is twisted and deformed in the direction of the arrow M41 around the actuator axis AX41.

  When the material wire 41a is twisted and deformed in the direction of the arrow M41, the heating wire 41d is deformed so as to loosen its winding. For this reason, the heating wire 41d follows the deformation of the material wire 41a. Inhibition of deformation of the material wire 41a by the heating wire 41d is suppressed. The material wire 41a can be deformed according to its own temperature characteristics.

  FIG. 8 is a table describing the characteristics of the material wire 41a and the heating wire 41d. The active torsional deformation of the material wire 41a and the winding of the heating wire 41d are in a relationship in which the heating wire 41d does not excessively fasten the material wire 41a. In this embodiment, torsional deformation and winding are in the same direction.

  First, the material line 41a is switched between an activated state and an inactivated state according to the energy state. The activated state and the inactivated state correspond to a high temperature state and a low temperature state. The material wire 41a is actively deformed in a high temperature state. The active deformation direction of the material wire 41a is the direction of the arrow M41. The material wire 41a is passively deformed in a low temperature state. This passive deformation corresponds to a return movement.

  The winding of the heating wire 41d is S winding. When the material wire 41a is activated, that is, when the material wire 41a changes from a low temperature to a high temperature, the winding of the heating wire 41d changes in the loosening direction. After the material wire 41a is activated, that is, after the material wire 41a becomes high temperature, the winding of the heating wire 41d is maintained in a loose state. On the other hand, when the material wire 41a is inactivated, that is, when the material wire 41a changes from a high temperature to a low temperature, the winding of the heating wire 41d changes in the tightening direction. After the material wire 41a is deactivated, that is, after the material wire 41a is cooled, the winding of the heating wire 41d is maintained in the tightened state.

  In the manufacturing method of the actuator element 41, the heating wire 41d is wound around the material wire 41a in the normal temperature state, that is, the room temperature state. In other words, when the material wire 41a is in an inactive state, the heating wire 41d is wound around the material wire 41a. In this embodiment, the heating wire 41d is wound around the material wire 41a in an environment of about 20 ° C.

  The heating wire 41d wound around the inactive state material wire 41a is maintained in the initial state after manufacture during the period in which the inactive state of the material wire 41a is maintained. Therefore, there is no change in winding after manufacture. When the material wire 41a is activated, the torsional deformation of the material wire 41a loosens the winding of the heating wire 41d wound in the inactive state. Adhesion at a plurality of locations or across the entire surface is effective for preventing the heating wire 41d from moving on the material wire 41a.

  According to this embodiment described above, the energy state of the material wire 41a can be reliably increased or decreased by winding the heating wire 41d around the material wire 41a. The heating wire 41d can apply energy to the material wire 41a or remove it from a wide range of the surface of the material wire 41a. From another viewpoint, the contact state between the heating wire 41d and the material wire 41a can be changed.

  The direction of active torsional deformation (M41) of the material wire 41a and the winding direction of the heating wire 41d are the same direction. Even if the material wire 41a generates active torsional deformation, the direction is a direction in which the winding of the heating wire 41d is loosened. Therefore, inhibition of torsional deformation of the material wire 41a due to the heating wire 41d is suppressed. It can be said that the energy transmission component is disposed so as to suppress interference between the material wire 41a and the energy transmission component due to the deformation of the material wire 41a.

  From another viewpoint, the polymer orientation 41e constituting the material wire 41a and the winding direction of the heating wire 41d are the same. This configuration makes it possible to loosen the winding of the heating wire 41d by active torsional deformation when the thermal expansion coefficient of the material wire 41a is negative. From another viewpoint, the tightening force of the material wire 41a by the heating wire 41d is suppressed.

Second Embodiment This embodiment is a modified example based on the preceding embodiment. In the above embodiment, the actuator element 41 causes torsional deformation of the arrow M41. Instead, in this embodiment, the actuator element 241 provides a torsional deformation M241 in the reverse direction.

  As shown in FIG. 9, the actuator element 241 has a material wire 41a. The direction of active torsional deformation of the material wire 41a is the direction of the arrow M241. The material of the material wire 41a has a negative coefficient of thermal expansion. The polymer forming the material wire 41a is oriented in the Z twist direction in order to generate the torsional deformation of the arrow M241. The winding direction of the heating wire 41d is Z winding.

  FIG. 10 is a table corresponding to FIG. Also in this embodiment, the direction of active torsional deformation (M241) of the material wire 41a and the winding direction of the heating wire 41d are the same direction. The polymer orientation 41e (Z twist) and the heating wire 41d winding direction (Z winding) are the same. The active torsional deformation of the material wire 41a is a deformation in the direction of loosening the winding of the heating wire 41d.

Third Embodiment This embodiment is a modification in which the preceding embodiment is a basic form. In the above embodiment, the material of the material wire 41a has a negative coefficient of thermal expansion. In this case, when the material wire 41a is heated, the material wire 41a is thermally contracted to cause torsional deformation. Instead, in this embodiment, the material of the material wire 41a has a positive coefficient of thermal expansion. In this case, when the material wire 41a is heated, it is thermally expanded to cause torsional deformation.

  As illustrated in FIG. 11, the actuator element 341 includes a material wire 41a. The direction of active torsional deformation of the material wire 41a is the direction of the arrow M41. The material of the material wire 41a has a positive coefficient of thermal expansion. The polymer forming the material wire 41a is oriented in the Z twist direction in order to generate the torsional deformation of the arrow M41. The winding direction of the heating wire 41d is S winding. In this embodiment, the polymer orientation 41e (Z twist) and the winding direction of the heating wire 41d (S winding) are opposite directions.

  FIG. 12 is a table corresponding to FIG. Also in this embodiment, the direction of active torsional deformation (M41) of the material wire 41a and the winding direction of the heating wire 41d are the same direction. The active torsional deformation of the material wire 41a is a deformation in the direction of loosening the winding of the heating wire 41d.

  From this disclosure, it is understood that materials with a positive coefficient of thermal expansion can also be used to produce the torsional deformation of arrow M241. For example, the polymer orientation 41e can be S-twisted. When the direction of torsional deformation is an arrow M241, the heating wire 41d is wound by Z winding.

Fourth Embodiment This embodiment is a modified example based on the preceding embodiment. In the above embodiment, the heating wire 41d is wound when the material wire 41a is in an inactive state. Instead, in this embodiment, the heating wire 41d is wound when the material wire 41a is in the active state.

  As illustrated in FIG. 13, the actuator element 441 includes a material wire 41 a. The direction of active torsional deformation of the material wire 41a is the direction of the arrow M41. The material of the material wire 41a has a negative coefficient of thermal expansion. The polymer forming the material wire 41a is oriented in the S twist direction in order to generate the torsional deformation of the arrow M41. The winding direction of the heating wire 41d is Z winding. In this embodiment, the polymer orientation 41e (S twist) and the winding direction (Z winding) of the heating wire 41d are opposite to each other.

  FIG. 14 is a table corresponding to FIG. In the manufacturing method of the actuator element 441, the heating wire 41d is wound in a state where the material wire 41a is heated to a high temperature. That is, the heating wire 41d is wound around the material wire 41a in the active state. Therefore, the material wire 41a is torsionally deformed when the heating wire 41d is wound. The direction of torsional deformation (M41) and the winding direction of the heating wire 41d (Z winding) are opposite. The actuator element 441 is cooled to room temperature after manufacturing. At this time, the material wire 41a is deformed in the direction of loosening the winding of the heating wire 41d. For this reason, in the inactive state, the heating wire 41d is maintained in a loose state. The actuator element 441 is in a loose state in an inactive state where the winding of the heating wire 41d does not cause deformation around the actuator axis.

  When the material wire 41a changes from the inactive state to the active state, the heat generating wire 41d is deformed in the direction of tightening the winding due to active torsional deformation. At this time, the winding of the heating wire 41d returns to the winding state in the manufacturing process, that is, the initial state. The actuator element 441 is tightened from the loosened state in the active state where the winding of the heating wire 41d causes deformation around the actuator axis. For this reason, the heating wire 41d does not excessively tighten the material wire 41a. Thereby, the durable heat generating wire 41d can be provided.

  According to this embodiment, inhibition of torsional deformation of the material wire 41a caused by the heating wire 41d is suppressed. From another viewpoint, the tightening force of the material wire 41a by the heating wire 41d is suppressed. From another viewpoint, the contact state between the heating wire 41d and the material wire 41a can be changed. For example, when the heating wire 41d generates heat and the material wire 41a is torsionally deformed, the winding of the heating wire 41d is tightened. For this reason, the heating wire 41d is in contact with the material wire 41a. It becomes easy to transfer the heat of the heating wire 41d to the material wire 41a. As a result, the material wire 41a is further torsionally deformed. On the other hand, when the heat generation of the heating wire 41d is stopped, the material wire 41a passively twists and deforms. As a result, since the winding of the heating wire 41d is loosened, heat radiation from the heating wire 41d and the material wire 41a is promoted.

Fifth Embodiment This embodiment is a modified example based on the preceding embodiment. In the above embodiment, the winding of the heating wire 41d is loosened after manufacture. Instead, in this embodiment, the winding of the heating wire 41d is tightened after manufacturing.

  As shown in FIG. 15, the actuator element 541 has a material wire 41a. The direction of active torsional deformation of the material wire 41a is the direction of the arrow M41. The material of the material wire 41a has a negative coefficient of thermal expansion. The polymer forming the material wire 41a is oriented in the S twist direction in order to generate the torsional deformation of the arrow M41. The winding direction of the heating wire 41d is S winding. In this embodiment, the polymer orientation 41e (S twist) and the heating wire 41d winding direction (S winding) are the same.

  FIG. 16 is a table corresponding to FIG. In the manufacturing method of the actuator element 541, the heating wire 41d is wound in a state where the material wire 41a is heated to a high temperature. That is, the heating wire 41d is wound around the material wire 41a in the active state. Therefore, the material wire 41a is torsionally deformed when the heating wire 41d is wound. The direction of torsional deformation (M41) and the direction of winding of the heating wire 41d (S winding) are the same. The actuator element 541 is cooled to room temperature after manufacturing. At this time, the material wire 41a is deformed in a direction in which the winding of the heating wire 41d is tightened. For this reason, in the inactive state, the heating wire 41d is maintained in the tightened state. The actuator element 541 is in a tightened state in an inactive state in which the winding of the heating wire 41d does not cause deformation around the actuator axis.

  When the material wire 41a changes from the inactive state to the active state, the heat generating wire 41d is deformed in the direction of loosening its winding due to active torsional deformation. At this time, the winding of the heating wire 41d returns to the winding state in the manufacturing process, that is, the initial state. The actuator element 541 is loosened from the tightened state in the active state in which the winding of the heating wire 41d causes deformation around the actuator axis.

  In this case, the heating wire 41d is in strong contact with the material wire 41a in the inactive state, and heat is easily transferred to the material wire 41a when energization to the heating wire 41d is started. As a result, at the start of energization of the heating wire 41d, the material wire 41a is torsionally deformed with high responsiveness. On the other hand, even if the material wire 41a is activated, the state of the material wire 41a and the heating wire 41d is maintained in the initial state given in the manufacturing stage.

Sixth Embodiment This embodiment is a modification in which the preceding embodiment is a basic form. In the above embodiment, two actuator elements 41 and 42 are used. Instead of this, only one actuator element 41 may be provided. In this case, a passive rotation mechanism can be used instead of the second actuator element 42. The passive rotation mechanism can be provided by various mechanisms such as rubber, resin spring, metal spring, and air spring. A passive rotation mechanism is called a return mechanism.

  In FIG. 17, the movable device 1 includes a return mechanism 622 instead of the second actuator element 42. The return mechanism 622 includes a passive elastic member 661, a fixing portion 662, and a fixing portion 663. The fixed portion 662 is a block fixed to the base 2. The fixing portion 663 is fixed to the driven body 31.

  The elastic member 661 is a metal coil spring. The elastic member 661 applies a counterclockwise force to the driven body 31 by being pulled from the free state. The elastic member 661 uses one end of the rotation range M631 of the driven body 31 as a reference position. The elastic member 661 is arranged to be pulled by the torsional motion of the actuator element 41. The elastic member 661 applies a return force against the rotational force in the direction of the arrow M41. As a result, when the actuator element 41 is driven intermittently, in other words, by periodically repeating the activation state and the inactivation state, the driven body 31 rotates in the rotation range M631. Exercise.

  According to this embodiment, the reciprocating motion of the driven body 31 can be obtained by one actuator element 41. In addition, since the guide mechanism 5 is provided, the driven body 31 is stabilized. The configuration of this embodiment can also be used in other preceding embodiments.

Seventh Embodiment This embodiment is a modified example based on the preceding embodiment. In the above embodiment, the polymer orientation 41e in the material wire 41a and the winding direction of the heating wire 41d are the same. In addition, the polymer orientation 41e and the heating wire 41d may be arranged in parallel.

  In FIG. 18, the actuator element 741 has a material wire 41a. The polymer in the material wire 41a is oriented along the S twist. The heating wire 41d is arranged in parallel with the polymer orientation 41e.

Other Embodiments The disclosure herein is not limited to the illustrated embodiments. The disclosure encompasses the illustrated embodiments and variations by those skilled in the art based thereon. For example, the disclosure is not limited to the combinations of parts and / or elements shown in the embodiments. The disclosure can be implemented in various combinations. The disclosure may have additional parts that can be added to the embodiments. The disclosure includes those in which parts and / or elements of the embodiments are omitted. The disclosure encompasses the replacement or combination of parts and / or elements between one embodiment and another. The technical scope disclosed is not limited to the description of the embodiments. The several technical scopes disclosed are indicated by the description of the claims, and should be understood to include all modifications within the meaning and scope equivalent to the description of the claims.

  In the plurality of preceding embodiments, the guide mechanism 5 is provided by the shaft 51 and the guide bore 52. The shaft 51 and the guide bore 52 provide a so-called bearing mechanism. The bearing mechanism that provides the guide mechanism 5 can be provided by many mechanisms such as a ball bearing, a fluid bearing, and a magnetic bearing in addition to the sliding bearing as in the embodiment. In this embodiment, in consideration of the upper limit of the rotational torque that can be output by the actuator elements 41 and 42, a relatively simple and lightweight sliding bearing is employed.

  In the plurality of preceding embodiments, the separate shaft 51 is fixed to the driven body 31. Instead, the shaft may be formed integrally with the driven body 31 or the support portion 23. For example, a cylindrical portion in place of the shaft 51 can be formed on the driven body 31 or the support portion 23 by machining. In addition, a cylindrical portion instead of the shaft 51 may be insert-molded on the driven body 31 or the support portion 23.

  In a plurality of preceding embodiments, the movable device 1 includes a guide mechanism 5. Instead of this, the driven body 31 may be supported by the actuator elements 41 and 42 and the connection member without providing the guide mechanism 5. The winding-shaped connecting member enables the driven body 31 to be stably rotated. In the plurality of preceding embodiments, the guide mechanism 5 includes a shaft 51 and a guide bore 52. Instead, a guide mechanism that suspends the driven body like a pendulum, or a guide mechanism that supports the driven body at a fulcrum like an inverted pendulum may be adopted.

  In addition to the preceding embodiment, the fixing portion may include a mechanism that mechanically limits the rotation direction. For example, a ratchet mechanism can be provided in the fixing portion. For example, when the fixed end 41b rotates in the direction of the arrow M42, the ratchet mechanism fixes the fixed end 41b. Conversely, when the fixed end 41b rotates in the direction of the arrow M41, the fixed end 41b is opened. The ratchet mechanism is in a fixed state to allow active deformation, and is in an open state to negate passive deformation.

  In addition to the preceding embodiment, the fixing force at the fixed end 41b or the output end 41c may be variable. In this case, you may provide the fixing | fixed part which can control a fixing force variably electrically. The fixing force by the fixing portions 21 and 22 may be changed between an open state and a fixed state, or strength. For example, the coupling mechanism 21d may be switched between a state in which it is strongly tightened on the outer peripheral surface of the end sleeve 21a and a state in which it is weakly pressed against the outer peripheral surface of the end sleeve 21a. In this case, the end sleeve 21a rotates while rubbing against the set screw.

  In the preceding embodiment, the heating wire 41d is directly wound around the material wire 41a. Instead, a member may be disposed between the material wire 41a and the heating wire 41d. For example, a support member that is electrically insulating and has excellent thermal conductivity can be disposed. The support member can be provided by insulating paper wound around the material wire 41a or a glass tube that accommodates the material wire 41a therein. As described above, in one embodiment, the heating wire 41d is in direct contact with the material wire 41a, but in another embodiment, the heating wire 41d is wound without being in direct contact with the material wire 41a. Has a shape. A heat generating member may be disposed on the inner surface of the support member.

  In the preceding embodiment, the actuator element 41 includes a bobbin 741s. Alternatively, the energy transmission component can be supported in a reciprocating manner without the bobbin 741s. For example, the heating wire 741d itself may be fixed to the fixing portion 21. Further, the heating wire 741d may be disposed on the inner surface of the bobbin 741s.

  In the preceding embodiment, several combinations of elements such as the direction of active torsional deformation of the material wire 41a (M41 / M241), the polymer orientation 41e, the coefficient of thermal expansion, the winding direction of the heating wire 41d, and the manufacturing method are combined. Illustrated. However, the combination is not limited to an example. For example, the direction of active torsional deformation of the material wire 41a may be the reverse direction (M241), and a manufacturing method in which the heating wire 41d is wound around the material wire 41a in the activated state may be employed.

  In the preceding embodiment, the energy of the material wire 41a is increased or decreased by heating with the heating wire 41d and heat radiation. Instead, the energy of the material wire 41a can be increased or decreased by cooling with the cooling device and cooling. For example, the Peltier effect element can be disposed along the material line 41a. The Peltier effect element provides an energy transfer component. In this case, when the material wire 41a is cooled, the material wire 41a is thermally expanded or contracted to cause torsional deformation.

  In the preceding embodiment, a nichrome wire is used as the heating wire 41d. Alternatively, the energy transmission component can be provided by various electric heating members. For example, the heat generating member may be provided by a conductive thin film called a conductive polymer or a conductive metal film. In this case, the film is formed on the surface of the material wire 41a. For example, the conductive polymer or the conductive metal film is formed on the surface of the material wire 41a by various methods such as plating, synthesis, and sputtering. The shape is a spiral wound around the material wire 41a. Alternatively, a spiral heat-generating member may be formed by winding a ribbon-like conductive polymer or conductive metal film formed separately from the material wire 41a and disposed outside the material wire 41a.

1 mobile device, 2 base,
21 fixing part, 22 fixing part, 23 supporting part,
3 moving parts, 31 driven body,
4 Actuator mechanism,
41 Actuator element, 42 Actuator element,
41a material wire, 41b fixed end, 41c output end,
41d heating wire, 41e polymer orientation, 41f adhesive,
5 guide mechanism, 51 shaft, 52 guide bore,
7 control system, 70 control device,
71, 72 Energy increase / decrease device,
241 Actuator element, 341 Actuator element,
441 Actuator element, 541 Actuator element,
622 return mechanism, 741 actuator element,
AX41 Actuator shaft, AXR rotation shaft.

Claims (10)

An actuator element (41, 241, 341, 441, 541, 741, 42) that deforms by increasing or decreasing energy; and
A driven body (31) connected to the actuator element;
The actuator element is:
A material wire (41a) that causes the deformation;
A movable device comprising: an energy transmission component that increases or decreases the energy of the material wire, and an energy transmission component (41d) disposed in contact with the material wire.   The movable device according to claim 1, wherein the energy transmission component is arranged so as to suppress interference between the material wire and the energy transmission component due to the deformation of the material wire. Actuator elements (41, 241, 341, 441, 541, 741, 42) that cause deformation around the actuator axis (AX41, AX42) by increasing or decreasing energy;
A driven body (31) connected to the actuator element;
The actuator element is:
A material wire (41a) that causes deformation around the actuator axis;
An energy transmission component that increases or decreases the energy of the material wire, the movable device comprising an energy transmission component (41d) arranged in a spiral around the material wire.   4. The movable device according to claim 3, wherein the actuator element (41, 241, 441, 541) has a deformation direction around the actuator axis and a winding direction (S, Z) of the energy transmission component in the same direction. 5. .   5. The movable device according to claim 3, wherein the actuator element (41, 241, 341, 541) is a direction in which the direction of deformation around the actuator axis is a direction in which the winding of the energy transmission component is loosened.   The said actuator element (441) is a movable apparatus of Claim 3 or Claim 4 whose direction of a deformation | transformation around the said actuator axis | shaft is a direction which tightens the winding of the said energy transmission component.   The actuator element (441) is in a loose state in an inactive state in which the winding of the energy transmission component does not cause deformation around the actuator axis, and in an active state in which deformation around the actuator axis occurs. The movable device according to claim 3, wherein the movable device is tightened.   The actuator element (541) is in a tightened state in an inactive state where the winding of the energy transmission component does not cause deformation around the actuator axis, and in an active state in which deformation around the actuator axis occurs. 4. A movable device according to claim 3, wherein the movable device is loosened.   The movable device according to claim 1, wherein the actuator element causes the deformation by increasing or decreasing thermal energy.   The movable device according to claim 1, wherein the actuator element is a synthetic fiber.

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