JP2020121403A - Linear actuator and robot with use of linear actuator - Google Patents

Abstract

To provide a linear actuator which is usable for various uses.SOLUTION: A linear actuator 1 has a long body 3 having flexibility, and an attitude change mechanism which changes an attitude of the long body 3 to any attitude according to an attitude change command. First and second wiring circuit boards 9, 11 are located at both ends of the long body 3. Materials of the long body 3 and the first and second wiring circuit boards 9, 11, and a relationship between both ends of the long body 3 and the first and second wiring circuit boards 9, 11 are determined so that the long body 3 is controllably deformed when the attitude change mechanism is in a drive state.SELECTED DRAWING: Figure 2

Description

The present invention relates to a linear actuator and a robot using the linear actuator.

Japanese Unexamined Patent Application Publication No. 2011-187050 discloses a conventional example of a linear actuator that can be used in a three-dimensional motion display device capable of expressing soft movements and biological movements. This linear actuator has a flexible long body whose one end is fixed to the surface of a base made of a circuit board and the other end is a free end, and the posture of the long body can be arbitrarily changed according to a posture change command. And a posture changing mechanism for changing the direction. The posture changing mechanism is arranged inside the elongated body and is configured to change the posture of the elongated body using a plurality of shape-memory alloy linear bodies that deform their shapes when energized.

JP, 2011-187050, A

Conventional linear actuators are suitable for use alone. However, this type of linear actuator cannot be connected in series and used. Therefore, there is a problem that applications of the linear actuator are limited.

An object of the present invention is to provide a linear actuator that can be used for various purposes and a robot using the linear actuator.

The linear actuator of the present invention includes a flexible elongated body and a posture changing mechanism that changes the posture of the elongated body to an arbitrary posture in response to a posture change command. The elongated body has a plurality of through holes extending from one end to the other end in the longitudinal direction. The posture changing mechanism includes a plurality of shape memory alloys that extend through the plurality of through holes of the elongated body in the longitudinal direction of the elongated body and are arranged at intervals in the circumferential direction of the elongated body. A linear body, a first wired circuit board having a wiring pattern which is arranged so as to face one end of the elongated main body and allows an electric current to individually flow through a plurality of shape memory alloy linear bodies; and an elongated main body And a first wired circuit board having a wiring pattern that is arranged so as to face the other end of the shape-memory alloy linear body and allows a current to individually flow through the shape-memory alloy linear bodies. The material of the elongated main body and the first and second wired circuit boards and the relationship between the one and the other ends of the elongated main body and the first and second wired circuit boards are such that the posture changing mechanism is in a driven state. At certain times, the elongated body is designed to undergo a controllable deformation.

According to the linear actuator of the present invention, since the elongated main body can be deformed in a controllable manner, the linear actuator can be used as a unit for various purposes.

The first and second printed circuit boards are formed of a substrate material that does not deform, and the other end of the elongated body is fixed when one end of the elongated body is fixed and the elongated body is in a horizontal state. When the elongated main body has flexibility that does not displace, the relationship between one end and the other end of the elongated main body and the first and second printed circuit boards is as follows. can do. That is, the one end and the other end of the elongated body and the first and second printed circuit boards may be in a non-bonded state. Further, one end of the elongated body and the first printed circuit board may be in a joined state, and the other end of the elongated body and the second printed circuit board may be in a non-joined state. Further, one end of the elongated body and the first printed circuit board may be in a joined state, and the other end of the elongated body and the second printed circuit board may be in a joined state.

In addition, the first and second printed circuit boards are formed using a deformable substrate material, and when one end of the elongated body is fixed and the elongated body is placed in a horizontal state, The elongated body may have a hardness such that the other end is displaced. In this case, one end of the elongated body and the first printed circuit board may be in a joined state, and the other end of the elongated body and the second printed circuit board may be in a non-joined state. Alternatively, one end of the elongated body and the first printed circuit board may be in a joined state, and the other end of the elongated body and the second printed circuit board may be in a joined state.

A mounting board on which a current supply circuit that supplies a current to a plurality of shape memory alloy linear bodies through a wiring pattern in accordance with a posture change command may be arranged outside the first printed circuit board. In this case, it is preferable that a plurality of electric wires for supplying a change command signal and electric power to the current supply circuit are arranged so as to penetrate the elongated body and the first printed circuit board. If a mounting board on which the current supply circuit is mounted is separately provided, the wiring patterns of the first and second wiring circuit boards can be freely formed to some extent. Therefore, even if the number of elongated main bodies is increased, it is possible to easily cope with the situation.

It is preferable that each of the first printed circuit board and the mounting board and the second printed circuit board is provided with a connection structure configured so that another linear actuator having the same structure can be connected in series. If such a connection structure is provided in advance, series connection can be easily realized.

In the connection structure, a plurality of conductor penetrating recesses or a plurality of conductor penetrating holes through which a plurality of connecting conductors penetrate are formed at intervals in the circumferential direction on the first wiring circuit board and the mounting board, and the second wiring circuit board. Two linear actuators in which a plurality of connecting conductors are arranged adjacent to each other across a plurality of conductor penetrating recesses or a plurality of conductor penetrating holes and a plurality of conductor penetrating recesses or a plurality of conductor penetrating holes of another linear actuator. Are preferably configured to be electrically and mechanically connected.

It is preferable that both ends of the plurality of shape memory alloy linear bodies are respectively connected by caulking to a plurality of eyelet terminals soldered to the first wiring circuit board and the second wiring circuit board, respectively. By using the eyelet terminal, the shape-memory alloy linear body can be reliably mechanically connected to the printed circuit board.

By connecting a plurality of linear actuators of the present invention in series, it is possible to provide a robot using a linear actuator that performs a peristaltic movement or a meandering movement in the traveling direction.

The application of the linear actuator is not limited to simply connecting in series, but multiple actuator modules are connected in series, so that multiple actuator modules connected in series perform peristaltic movement or meandering movement in the traveling direction. It can also be applied to a robot using the configured linear actuator. In this robot, the actuator module has one end fixed to one end plate of the pair of end plates aligned in the traveling direction, the other end fixed to the other end plate of the pair of end plates, and a predetermined interval in the circumferential direction. N linear actuator units (n is an integer of 2 or more) arranged in parallel. The linear actuator unit is a first linear actuator group composed of n (n is an integer of 2 or more) first linear actuators, one end of which is fixed to one end plate and which are arranged at predetermined intervals in the circumferential direction. And a second linear actuator group including n second linear actuators, one end of which is fixed to the other end plate and which are arranged at a predetermined interval in the circumferential direction. The other ends of the n first linear actuators of the first linear actuator group and the other ends of the n second linear actuators of the second linear actuator group are connected to each other via bendable connecting mechanisms. There is. The first linear actuator and the second linear actuator are each constituted by the linear actuator of the present invention.

In this robot, since a plurality of linear actuator units are installed in parallel between a pair of end plates, a robot whose peristaltic movement or meandering movement can be arbitrarily determined, and which has power is used. Can be provided.

In particular, the n linear actuator units are deformed so as to displace the central portion in the longitudinal direction in a direction orthogonal to the longitudinal direction from the state of linearly extending in the longitudinal direction, and the central portion in the longitudinal direction is defined as the longitudinal direction. The peristaltic movement can be surely realized by configuring so as to deform from the state of being displaced in the orthogonal direction to the state of being linearly extended in the longitudinal direction. Further, by appropriately bending the n linear actuator units, the actuator module can be brought into any of the linear state, the twisted state, the inclined state, and the contracted state. Therefore, by appropriately combining these states, it is possible to provide a robot that makes a complicated peristaltic movement or meandering movement.

The coupling mechanism is arranged between the other end of the first linear actuator and the other end of the second linear actuator, and has a flexible electric wire for electrically connecting the first linear actuator and the second linear actuator. Alternatively, the other end of the first linear actuator and the other end of the second linear actuator may be fitted to each other at both ends thereof to have a flexible tube member for accommodating an electric wire. Since such a connecting structure has high flexibility, the actuator module can be smoothly deformed.

Further, n linear actuator units, one end of which is fixed to one end plate and the other end of which is fixed to the other end plate, are arranged at predetermined intervals in the circumferential direction (n is an integer of 2 or more). ) May be used. In this case, even if each of the n linear actuators is configured by the linear actuator of the present invention, a robot that makes a peristaltic motion or a meandering motion can be easily configured.

The elongated body is made of a material having elasticity and flexibility, and when the posture changing mechanism is in a non-driving state, the elongated body is predetermined by its elasticity or flexibility. Return to posture. A rubber-based material is preferable as the material having elasticity or flexibility. In particular, it is preferable that the elongated body is integrally molded of a silicone rubber material.

Specifically, it is preferable that a plurality of soldering electrodes to which a plurality of eyelet terminals are connected by soldering are formed on the wiring pattern formed on the surface of the circuit board. The eyelet terminal preferably has a shape having a flange portion at one end of the tubular portion. In this case, the flange portion of the eyelet terminal is soldered and connected to the soldering electrode, and the tubular portion is in the crimped state with one end of the shape memory alloy linear body inserted in the tubular portion. preferable. With such a structure, a plurality of shape memory alloy linear bodies can be easily and reliably connected to the circuit pattern mechanically and electrically. In addition, it is preferable that the cylindrical portions of the plurality of eyelet terminals are fitted to one ends of the plurality of through holes formed in the elongated body which are located on the circuit board side. By this fitting, the positioning of one end of the elongated main body with respect to the circuit pattern can be ensured.

It is preferable that the tubular portion is crimped with the other end of the plurality of shape memory alloy linear bodies and the other end of the conductive wire inserted in the tubular portion of the eyelet terminal for common connection. By using such an eyelet terminal, a plurality of shape memory alloy linear bodies can be easily and surely connected.

It is a perspective view showing a linear actuator of the present embodiment and a plurality of connection conductors. It is a figure which shows the exploded perspective view of a linear actuator, and the elements on larger scale of each part. (A) is a front view of a 1st wiring circuit board, (B) is a front view of a 2nd wiring circuit board, (C) is a front view of a mounting substrate. (A) and (B) are used to explain the relationship between the printed circuit board and the elongated body. This is used for explaining the connection state when the linear actuator of this embodiment is directly connected. It is a schematic diagram of a robot which makes a meandering motion in which a plurality of linear actuators of this embodiment are directly connected. (A) And (B) is a figure which shows a non-deformed state and a deformed state of an actuator module, (C) is a figure used in order to demonstrate the structure of a linear actuator unit. It shows a robot in which six actuator modules are connected in series. It is an example of a robot performing a peristaltic movement. It is an example of a robot performing a meandering motion. (A) thru|or (D) are figures which show the typical example of operation|movement of the actuator module shown in FIG. (A) thru|or (C) are figures which show the typical example of operation|movement of the actuator module which each comprised the four linear actuator units of FIG. 7 by the linear actuator. (A) thru|or (C) are figures which show the typical example of operation|movement of the actuator module which uses three linear actuators.

An example of an embodiment of a linear actuator of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a perspective view showing a linear actuator 1 and a plurality of connection conductors CC of the present embodiment, and FIG. 2 is an exploded perspective view of the linear actuator 1 and a partially enlarged view of each part. 3A is a front view of a first printed circuit board 9 described later, FIG. 3B is a front view of a second printed circuit board 11 described later, and FIG. 3C is a mounting board described later. 15 is a front view of FIG.

As shown in these drawings, the linear actuator 1 according to the present embodiment has a flexible elongated body 3 and a posture that changes the posture of the elongated body to an arbitrary posture in response to a posture change command. And a changing mechanism (7-11). The elongated body 3 has a plurality of through holes 5 extending from one end to the other end in the longitudinal direction. Even if the elongated body 3 has flexibility such that the other end of the elongated body 3 is not displaced when one end of the elongated body 3 is fixed and the elongated body 3 is placed in a horizontal state. Alternatively, it may be flexible so that the other end of the elongated body 3 is displaced when one end of the elongated body 3 is fixed and the elongated body 3 is placed in a horizontal state. In order to realize this, the material of the elongated main body 3 is selected from appropriate materials such as a rubber material or a resin material (a silicone rubber material in this embodiment).

The posture changing mechanisms (7 to 11) are arranged to extend in the longitudinal direction of the elongated body 3 through the plurality of through holes 5 of the elongated body 3 and to be spaced apart in the circumferential direction of the elongated body 3. A plurality of shaped memory alloy linear bodies 7 and a first wiring having wiring patterns WP1 arranged at both ends of the elongated main body 3 and individually flowing current to the plurality of shape memory alloy linear bodies 7. A second printed circuit board 11 having a circuit board 9 and a wiring pattern WP2 is provided. The first printed circuit board 9 and the second printed circuit board 11 may be formed of either a non-deformable substrate material or a deformable substrate material.

In the present embodiment, the material of the elongated body 3 and the first and second wiring circuit boards 9 and b11, one end and the other end of the elongated body 3 and the first and second wiring circuit boards 9 and 11 are used. The relationship is defined so that the elongated main body 3 undergoes controllable deformation when the posture changing mechanism (7 to 11) is in a driven state. Specifically, in the present embodiment, the first and second printed circuit boards 9 and 11 are formed using a substrate material that does not deform, and one end of the elongated main body 3 is fixed to form an elongated shape. The elongated body has flexibility so that the other end of the elongated body 3 is not displaced when the body 3 is placed in a horizontal state. As shown in FIG. 4(A), a gap g is positively formed between one end and the other end of the elongated main body 3 and the first and second printed circuit boards 9 and 11, and the non-bonding is performed. It is in a state. Although a gap is not shown between the second printed circuit board 11 and the elongated main body 3 in FIG. 4(A), both are actually in a non-contact state. As shown in FIG. 4B, it is not necessary to positively form a gap between one end and the other end of the elongated body 3 and the first and second printed circuit boards 9 and 11. Of course.

In this case, one end of the elongated body 3 and one of the first and second wired circuit boards 9 and 11 are brought into a joined state, and the other end of the elongated body 3 and the first and second wired circuit boards are joined. The other of 9 and 11 may be unbonded. Further, one end of the elongated main body 3 and one of the first and second wired circuit boards 9 and 11 are bonded to each other, and the other end of the elongated main body 3 and the first and second wired circuit boards 9 and 11 are connected. You may make the other side of 11 into a joining state.

In addition, the first and second printed circuit boards 9 and 11 are formed by using a substrate material that deforms like a flexible substrate, and one end of the elongated body 3 is fixed so that the elongated body 3 is horizontal. In the case where the elongated body has a hardness such that the other end of the elongated body 3 is displaced when brought into the state, the following may be performed. That is, one end of the elongated main body 3 and one of the first and second wired circuit boards 9 and 11 are joined to each other, and the other end of the elongated main body 3 and the first and second wired circuit boards 9 and 11 are connected. The other is not joined, or one end of the elongated body 3 and one of the first and second printed circuit boards are joined, and the other end of the elongated body 3 and the first and second The other of the printed circuit boards 9 and 11 may also be joined. In this way, the elongated main body 3 can be deformed in a controllable manner.

As shown in FIG. 3A, the first wiring circuit board 9 has the same wiring pattern WP1 formed on both front and back surfaces so that both front and back surfaces can be used. Soldering electrodes SE are formed around six through holes TH1 formed at equal intervals. On the outer peripheral portion of the first printed circuit board 9, six recesses R opening outward in the radial direction are formed at equal intervals in the circumferential direction, and the end electrodes EE1 are formed around the recess R1. ing.

Further, as shown in FIG. 3B, a wiring pattern WP2 is formed on the surface of the second wiring circuit board 11, and the wiring pattern WP2 is formed at equal intervals in the circumferential direction. Six soldering electrodes SE2 are formed around the through holes TH2. The six soldering electrodes SE2 are connected to the common connection line CL to which +5V is applied. On the outer peripheral portion of the second printed circuit board 11, six recesses R2 opening outward in the radial direction are formed at equal intervals in the circumferential direction, and end electrodes EE2 are formed around the recess R2. ing. Further, four through holes TH3 are formed at equal intervals in the circumferential direction in the vicinity of the central portion of the second printed circuit board 11, and through hole conductive portions are formed in the through holes TH3.

As shown in FIG. 3C, the current supply circuit CSC is mounted on the surface of the mounting board 15, and the outer peripheral portion of the mounting board 15 is provided with twelve recesses R3 that open outward in the radial direction. The electrodes are formed at equal intervals in the direction, and the end electrodes EE3 are formed around the recess R3. Further, four through holes TH4 are formed at equal intervals in the circumferential direction in the vicinity of the central portion of the mounting substrate 15, and through hole conductive portions are formed in the through holes TH4.

On the outer side of the first printed circuit board 9, a mounting board 15 on which a current supply circuit CSC that supplies a current to the six shape memory alloy linear bodies 7 via a wiring pattern is mounted according to a posture change command is arranged. When the electric wire 17 for supplying the change command signal and the electric power to the supply circuit CSC penetrates the elongated body 3 and the first printed circuit board 9, the wiring patterns of the first and second printed circuit boards 9 and 11 are arranged. Can be formed to some extent freely. Therefore, even when the number of the elongated main bodies 6 is increased, it is possible to easily cope with the increase.

As shown in FIG. 2, in the present embodiment, the wiring pattern WP1 is provided on the outside of the first printed circuit board 9 via the insulating sheet 13 in accordance with the posture change command on the plurality of shape memory alloy linear bodies 7. And a mounting board 15 on which a current supply circuit CSC for supplying a current via WP2 is mounted.

As shown in the two enlarged views of FIG. 2, one end 7A and the other end 7B of the shape memory alloy linear body 7 are soldered to the wiring patterns WP of the first printed circuit board 9 and the second printed circuit board 11. The eyelets ET to be soldered to the attachment electrode SE are respectively connected by crimping. The eyelet terminal ET has a shape having a flange portion ET2 at one end of the tubular portion ET1, and when the end portion of the shape memory alloy linear body 7 is inserted into the tubular portion ET1, the tubular portion ET1 is The crimping completes the connection of the shape memory alloy linear bodies 7. In the present embodiment, as shown in the enlarged views 2A and 2B shown in FIG. 2, the flange portion ET2 of the eyelet terminal ET is connected to the soldering electrode EE1 of the first printed circuit board 9 and the second printed circuit board 11 respectively. The soldering electrode EE2 is soldered and connected by the solder layer S. In the present embodiment, the tubular portion ET1 is crimped in a state where the one end 7A and the other end 7B of the shape memory alloy linear body 7 are inserted into the tubular portion ET1 before soldering. With such a structure, the shape memory alloy linear body 7 can be mechanically and electrically connected to the wiring pattern easily and reliably. According to the present embodiment, it becomes possible to easily connect a plurality of shape memory alloy linear bodies 7 having poor solderability to the electrodes SE1 and SE2 of the wiring pattern using the eyelet terminals ET. .. In this embodiment, before the soldering of the eyelet terminal to the electrode, the shape memory alloy linear body is caulked to the eyelet terminal, but other connecting means is used without using the eyelet terminal. Of course, the shape memory alloy linear body may be connected to the soldering electrode.

In the present embodiment, the first printed circuit board 9 has a through hole TH5 penetrating the board in the thickness direction at a central position surrounded by the six soldering electrodes EE1. A center through hole 6 extending in the longitudinal direction is formed in the elongated body 7 at a central position surrounded by the six through holes 5. A through hole TH6 is formed in the center of the insulating sheet 13. Further, four through holes TH3 provided in the central portion of the second printed circuit board 11, a central through hole 6 of the elongated body 7, a through hole TH5 of the first printed circuit board, a through hole of the insulating sheet 13. 6, and four coated conductive wires 17 for power supply and signal supply are arranged through the four through holes TH4 of the mounting board 15. Note that, in order to facilitate understanding, the length of the conductive line 17 is drawn in a long state in FIG. One ends of the core wires of the four conductive wires 17 are soldered and connected to electrodes provided around the four through holes TH4 of the mounting board 15. The other ends of the cores of the four conductive wires 17 are soldered to electrodes provided around the four through holes TH3 of the second printed circuit board 11.

Of the end electrodes EE3 provided around the twelve recesses R3 provided on the outer periphery of the mounting substrate 15, every other six end electrodes EE3 are 6 of the first printed circuit board 9. The mounting substrate 15 is arranged outside the first printed circuit board 9 via the insulating sheet 13 so as to be aligned with the end electrodes EE1 and the six end portions are connected by the six pin-shaped connection conductors CC. The electrode EE1 and the six end electrodes EE3 are electrically and mechanically connected.

As shown in FIG. 3, among the end electrodes EE3 provided around the twelve recesses R3 provided on the outer peripheral portion of the mounting substrate 15, the remaining six end electrodes EE3 are arranged in series. The six end electrodes EE2 of the second wired circuit board 11 of the other linear actuator 1 to be connected are electrically and mechanically connected by the six pin-shaped connection conductors CC. Reference numeral 17 is an insulating sheet. Each pin-shaped connection conductor CC is connected to each electrode by soldering. In the present embodiment, the end electrodes EE1 provided inside and inside the recesses R1 to R3 that form the conductor penetrating recesses provided in the first printed circuit board 9 and the mounting board 15 and the second printed circuit board 11. The EE3 and the connection conductor CC form a connection structure in which another linear actuator 1 having the same structure is connected in series. If such a connection structure is provided in advance, series connection can be easily realized. Instead of the recesses R1 to R3, conductor through holes penetrating the connection conductor CC may be provided. In this case, the diameter dimensions of the first printed circuit board 9, the mounting board 15, and the second printed circuit board 11 may be made larger than the diameter of the elongated main body 3.

In the present embodiment, if a current is supplied between at least one shape memory alloy linear body selected from the six shape memory alloy linear bodies 7 and the installation electrode GND, the elongated main body 3 is deformed. To do. That is, the elongated main body 3 can be bent in an arbitrary direction by applying a current to the shape memory alloy linear body 7. For example, when the elongated main body 3 is bent outward at 60° intervals in the circumferential direction, energizing only one shape memory alloy linear body 7 causes the shape memory alloy linear body 7 to contract and contract, for example, Elongated main body by moving the first wired circuit board 9 with respect to the second wired circuit board 11 (or by moving the second wired circuit board 11 with respect to the first wired circuit board 9) Bend 3 in the direction in which the one shape memory alloy linear body 7 is located. In order to bend in the opposite direction, an electric current is applied to the shape memory alloy linear body 7 located 180° opposite to the one shape memory alloy linear body 7, and the elongated main body 3 bends in the opposite direction. .. When an electric current is applied to two adjacent shape memory alloy linear bodies 7, the elongated main body 3 is bent in a direction directly toward the middle of the two memory alloy linear bodies 7. By properly setting the amount and timing of the electric current flowing through each shape memory alloy linear body 7, the elongated body 3 is not only bent in one direction, but also complicated such as turning, vibration and a combination thereof. Can perform various exercises.

(Long robot)
By connecting a plurality of linear actuators 1 of the present embodiment in series, it is possible to provide a robot using a linear actuator that makes a meandering motion in the traveling direction as shown in FIG. Further, as shown in FIGS. 7A and 7B, a plurality of actuator modules 21 configured by connecting in parallel a plurality of actuator modules 21 configured by connecting two linear actuators 1A and 1B in series are advanced. When combined so as to perform a peristaltic motion or a meandering motion in a direction, the robot 30 using a linear actuator can be configured. FIG. 8 shows a configuration of a robot 30 using a linear actuator configured to perform the peristaltic movement or the meandering movement.

The actuator module 21 used in the robot 30 has one end fixed to one end plate 23 of the pair of end plates 23 and 25 arranged in the traveling direction, the other end fixed to the other end plate 25, and a predetermined interval in the circumferential direction. It has a structure including four linear actuator units 27 that are arranged open. Each of the 4n linear actuator units 27 is deformed so as to displace the central portion in the longitudinal direction in a direction orthogonal to the longitudinal direction from the state of linearly extending in the longitudinal direction, and the central portion in the longitudinal direction is orthogonal to the longitudinal direction. It is configured to be deformed from a state in which it is displaced in the direction of the arrow to a state in which it extends linearly in the longitudinal direction.

As shown in FIGS. 7A and 7B, the linear actuator unit 27 includes four first linear actuators whose one end is fixed to one end plate 23 and which are arranged at a predetermined interval in the circumferential direction. A first linear actuator group consisting of 1A and a second linear actuator group consisting of four second linear actuators 1B, one end of which is fixed to the other end plate 25 and which are arranged at a predetermined interval in the circumferential direction. It has and. Then, the other ends of the four first linear actuators 1A of the first linear actuator group and the other ends of the four second linear actuators 1B of the second linear actuator group are respectively bendable via a coupling mechanism 29. It is connected. In the present embodiment, the first linear actuator 1A and the second linear actuator 1B are each configured by the linear actuator 1.

In the robot 30 using the actuator module 21, the four linear actuator units 27 are arranged side by side between the pair of end plates 23 and 25, so that the length can be arbitrarily determined and the power can be reduced. A robot having a peristaltic motion or a meandering motion can be provided.

As shown in FIG. 7C, the coupling mechanism 29 is disposed between the other end of the first linear actuator 1A and the other end of the second linear actuator 1B, and the first linear actuator 1A and the second linear actuator 1A. A flexible electric wire EW for electrically connecting to the electric wire 1B, and a flexible electric wire EW for accommodating the electric wire EW by fitting both ends to the other end of the first linear actuator 1A and the other end of the second linear actuator 1B. And a tube member CM having In the present embodiment, the tube member CM is made of a silicon tube. Since such a connecting structure 29 is highly flexible, the actuator module 21 can be smoothly deformed. On both surface portions of the pair of end plates 23 and 25, recesses 20 for fitting and fixing are formed at regular intervals in the circumferential direction. Inside the recess 20, four pin-shaped terminal electrode portions (not shown) that are fitted to the end electrodes EE3 of the mounting board 19 or the end electrodes EE2 of the second printed circuit board 11 and can be electrically connected Are fixed at regular intervals in the circumferential direction. Further, inside the pair of end plates 23 and 25, a control circuit or a transmission circuit for transmitting electric power and a control command to the adjacent actuator module 21 is mounted. The electric power supplied to the actuator module 21 may be supplied via a power cable, or a battery may be arranged in the end plates 23 and 25 and supplied from this battery.

In the linear actuator module 21 shown in FIG. 7(A), four four linear actuator units 27 are linear, and in FIG. 6(B), the connecting structure 29 of the four linear actuator units 27 has a diameter. The first linear actuator 1A and the second linear actuator 1B are curved so that the other end of the first linear actuator 1A and the other end of the second linear actuator 1B move outward so as to project outward in the direction. ing.

FIG. 8 shows a robot in which six actuator modules 21A to 21F are connected in series. In FIG. 7, the actuator modules 21B, 21D and 21E are in a deformed state, and the other actuator modules 21A, 21C and 21F are in a non-deformed state. By appropriately changing the deformed actuator module, the robot makes a peristaltic movement similar to that of a so-called earthworm.

FIG. 9 is an example of a robot that performs a peristaltic motion, and among the actuator modules 21A to 21M, the actuator modules 21A, 21B, 21E, 21F, 21J, and 21K have a shape that swells outward in the radial direction. The modules 21C, 21D, 21G, and 21L are shaped to bulge outward in the radial direction by about half, and the actuator modules 21H, 21I, and 21M are linear. By repeating such deformation of the actuator module so as to sequentially move in the longitudinal direction, the robot makes a peristaltic movement in the arrow direction.

Further, FIG. 10 shows an example of a robot performing a meandering motion. Among the actuator modules 21A to 21N, the actuator modules 21A, 21B and 21G are linear, and the actuator modules 21C to 21F and 21H are indicated by arrows. The two linear actuator units located on the left side in the traveling direction are deformed to the outside, the two actuator modules 21I to 21L are deformed to the outside on the right side in the traveling direction, and the actuator modules 21M and 21N are The two linear actuator units located on the left side in the traveling direction are deformed outward to form a meandering shape, and the deformation of the actuator module is sequentially moved in the longitudinal direction so that the meandering shape deformation moves. By repeating the above, the robot makes a meandering motion.

11A to 11D are diagrams showing typical examples of the operation of one actuator module 21. FIG. 11A shows the state of the actuator modules 21 when the four linear actuator units 27 are de-energized and each actuator module 21 is in a straight state. FIG. 11B shows a state of the actuator module 21 when each of the four linear actuator units 27 is bent in the same circumferential direction. In this state, the actuator module 21 is in a twisted state. FIG. 11C shows a state in which each of the four linear actuator units 27 is bent outward in the radial direction and the actuator module 21 is tilted in an arbitrary direction. FIG. 11D shows the actuator module 21 contracted by bending each of the four linear actuator units 27 outward in the radial direction. In the above-described embodiment shown in FIGS. 6 to 10, the posture modes of the actuator module 21 shown in FIG. 11 are combined to realize the peristaltic movement and the meandering movement of the robot.

In the above-described embodiment, the actuator module 21 is composed of four actuator units 27. However, as shown in FIGS. 12A to 12C, the four actuator units 27 of FIG. Alternatively, the actuator module 21 may be configured by 1. FIG. 12A shows the state of the actuator module 21 when the four linear actuators 1 are de-energized and each actuator unit 1 is in a straight state. FIG. 12B shows a state of the actuator module 21 when each of the four linear actuators 1 is bent in the same circumferential direction. In this state, the actuator module 21 is in a twisted state. FIG. 12C shows a state in which the actuator modules 21 are tilted in an arbitrary direction by changing the bending degree of each of the four linear actuators 1. Note that, as shown in FIGS. 13A to 13C, the actuator module 21 may be configured by configuring each of the three linear actuator units 27 by the linear actuator 1. Even a robot in which a plurality of actuator modules 21 each composed of three or more linear actuator units 27 are connected to each other by linear actuators 1 is a robot that performs a peristaltic motion and a meandering motion by changing the state of the linear actuator 1 in each actuator module 21. Can be realized. For example, the spacing dimension between the pair of end plates 23 and 25 becomes smaller or larger depending on whether the twisting operation is performed as shown in FIG. 12(B) or FIG. 13(B) or not. Therefore, when a plurality of actuator modules 21 are linearly connected and the odd-numbered actuator modules and the even-numbered actuator modules alternately perform twisting operation and non-twisting operation, as shown in FIG. It is possible to realize the movement as if Further, by connecting the plurality of actuator modules 21 of FIGS. 12 and 13 in a linear shape and arbitrarily combining the movements of the respective actuator modules 21, it is possible to realize movements that meander.

Of course, the robot of FIGS. 8 to 10 may be provided with an exterior.

According to the linear actuator of the present invention, since the elongated main body can be deformed in a controllable manner, the linear actuator can be used as a unit for various purposes.

1 Linear Actuator 3 Long Body 5 Through Hole 7 Shape Memory Alloy Linear Body 9 First Wiring Circuit Board 11 Second Wiring Circuit Board 13 Insulating Sheet 15 Mounting Board 17 Wire 21 Actuator Module 23, 25 End Plate 27 Linear Actuator unit 29 Connection structure 30 Robot g Gap

Claims (14)

A long body having flexibility,
A posture changing mechanism for changing the posture of the elongated main body to an arbitrary posture according to a posture changing command,
The elongated body has a plurality of through holes extending from one end in the longitudinal direction to the other end,
The posture changing mechanism,
A plurality of shape memory alloy wires extending in the longitudinal direction of the elongated body through the plurality of through holes of the elongated body and arranged at intervals in the circumferential direction of the elongated body. A shape,
A first printed circuit board having a wiring pattern which is arranged so as to face the one end of the elongated main body and allows a current to individually flow through the plurality of shape memory alloy linear bodies;
A second wired circuit board having a wiring pattern that is arranged so as to face the other end of the elongated main body, and that allows a current to individually flow through the plurality of shape memory alloy linear bodies;
The material of the elongated body and the first and second wired circuit boards, the relationship between the one end and the other end of the elongated body, and the first and second wired circuit boards are the postures. A linear actuator, characterized in that the elongated body is defined to undergo controllable deformation when the changing mechanism is in a driven state. The first and second printed circuit boards are formed using a substrate material that does not deform,
The elongated main body has the flexibility such that the other end of the elongated main body is not displaced when the one end of the elongated main body is fixed and the elongated main body is placed in a horizontal state. Cage,
The linear actuator according to claim 1, wherein the one end and the other end of the elongated body and the first and second printed circuit boards are in a non-bonded state. The first and second printed circuit boards are formed using a substrate material that does not deform,
The elongated main body has the flexibility such that the other end of the elongated main body is not displaced when the one end of the elongated main body is fixed and the elongated main body is placed in a horizontal state. Cage,
The one end of the elongated body and the first printed circuit board are in a joined state, and the other end of the elongated body and the second printed circuit board are in a non-joined state. The linear actuator according to claim 1. The first and second printed circuit boards are formed using a substrate material that does not deform,
The elongated main body has the flexibility such that the other end of the elongated main body is not displaced when the one end of the elongated main body is fixed and the elongated main body is placed in a horizontal state. Cage,
The one end of the elongated body and the first printed circuit board are in a joined state, and the other end of the elongated body and the second printed circuit board are in a joined state. The linear actuator according to claim 1. The first and second printed circuit boards are formed by using a deformable substrate material,
The elongate body has a hardness such that the other end of the elongate body is displaced when the one end of the elongate body is fixed and the elongate body is horizontal.
The one end of the elongated body and the first printed circuit board are in a joined state, and the other end of the elongated body and the second printed circuit board are in a non-joined state. The linear actuator according to claim 1. The first and second printed circuit boards are formed by using a deformable substrate material,
The elongate body has a hardness such that the other end of the elongate body is displaced when the one end of the elongate body is fixed and the elongate body is horizontal.
The one end of the elongated body and the first printed circuit board are in a joined state, and the other end of the elongated body and the second printed circuit board are in a joined state. The linear actuator according to claim 1. A mounting board on which a current supply circuit that supplies a current to the plurality of shape memory alloy linear bodies according to the posture change command is provided on the outside of the first printed circuit board is provided. Cage,
7. A plurality of electric wires for supplying the change command signal and power to the current supply circuit are arranged so as to penetrate the elongated body and the first printed circuit board. The linear actuator described in. The first wiring circuit board, the mounting board, and the second wiring circuit board are each provided with a connection structure configured so that another linear actuator having the same structure can be connected in series. Linear actuator. In the connection structure, a plurality of conductor penetrating recesses or a plurality of conductor penetrating holes, through which a plurality of connecting conductors penetrate, are circumferentially spaced between the first wiring circuit board and the mounting board, and the second wiring circuit board. Is formed by
Two linear actuators in which the plurality of connecting conductors are arranged adjacent to each other across the plurality of conductor penetrating recesses or the plurality of conductor penetrating holes and the plurality of conductor penetrating recesses or the plurality of conductor penetrating holes of the another linear actuator. 9. The linear actuator according to claim 8, wherein the linear actuator is configured to be electrically and mechanically connected. Both ends of the plurality of shape memory alloy linear bodies are respectively connected by caulking to a plurality of eyelet terminals soldered to the first wiring circuit board and the second wiring circuit board, respectively. The linear actuator according to any one of 1 to 6. A robot using a linear actuator, wherein a plurality of linear actuators according to claims 1 to 6 are connected in series and configured to perform a peristaltic movement or a meandering movement in a traveling direction. A plurality of actuator modules are connected in series, the plurality of actuator modules connected in series is a robot using a linear actuator configured to perform a peristaltic movement or a meandering movement in the traveling direction,
The actuator module has one end fixed to one end plate of the pair of end plates arranged in the traveling direction, the other end fixed to the other end plate of the pair of end plates, and a predetermined interval in the circumferential direction. Consists of n linear actuator units (n is an integer of 2 or more) arranged,
The linear actuator unit has a first linear actuator composed of n (n is an integer of 2 or more) first linear actuators, one end of which is fixed to the one end plate and arranged at predetermined intervals in the circumferential direction. An actuator group; and a second linear actuator group composed of n second linear actuators, one end of which is fixed to the other end plate and which are arranged at a predetermined interval in the circumferential direction, The other ends of the n first linear actuators of the linear actuator group and the other ends of the n second linear actuators of the second linear actuator group are connected via bendable connecting mechanisms, respectively. Cage,
A robot using a linear actuator, wherein the first linear actuator and the second linear actuator are each configured by the linear actuator according to any one of claims 1 to 10. The connection mechanism is arranged between the other end of the first linear actuator and the other end of the second linear actuator, and electrically connects the first linear actuator and the second linear actuator. A flexible electric wire, and a flexible tube member having both ends fitted to the other end of the first linear actuator and the other end of the second linear actuator to accommodate the electric wire. A robot using the linear actuator according to claim 12. A plurality of actuator modules are connected in series, the plurality of actuator modules connected in series is a robot using a linear actuator configured to perform a peristaltic movement or a meandering movement in the traveling direction,
The actuator module has one end fixed to one end plate of the pair of end plates arranged in the traveling direction, the other end fixed to the other end plate of the pair of end plates, and a predetermined interval in the circumferential direction. Consists of n linear actuator units (n is an integer of 2 or more) arranged,
One end of the linear actuator unit is fixed to the one end plate and the other end of the linear actuator unit is fixed to the other end plate, and n linear actuator units are arranged at predetermined intervals in the circumferential direction (n is 2 or more). Integer integer) linear actuator,
A robot using a linear actuator, wherein each of the n linear actuators is formed by the linear actuator according to any one of claims 1 to 10.