JP2020188578A - Actuator device - Google Patents

Abstract

To provide an actuator device which improves the durability of an actuator member.SOLUTION: An actuator device 11 comprises a first actuator member 21, a second actuator member 22, a sensor device 90, a control part 88, a first holding part 31, a second holding part 32, and a first elastic member 51. When the first actuator member 21 is deformed, the first elastic member 51 gives force in a direction which prevents deformation of the first actuator member 21 to a first actuator member 21, and when the second actuator member 22 is deformed, the first elastic member 51 gives force in a direction which prevents deformation of the second actuator member 22 to the second actuator member 22.SELECTED DRAWING: Figure 1

Description

The present invention relates to an actuator device.

Conventionally, as described in Patent Document 1, an actuator device that rotates an actuated portion by heating an actuator member such as a polymer fiber to cause expansion and contraction deformation and torsional deformation is known.

JP-A-2018-50445

In the configuration described in Patent Document 1, a coil spring for maintaining the tension of the actuator member is arranged. This coil spring is housed in a housing and applies an elastic force to one actuator member via a fixing portion. In this configuration, the number of coil springs may increase depending on the number of actuator members. When the number of parts such as the coil spring increases, the man-hours for assembling the coil spring to the housing increase, and it becomes difficult to manufacture the actuator device.

In view of the above points, the present invention is to provide an actuator device capable of reducing the number of parts.

In order to achieve the above object, the invention according to claim 1 has a first actuator member (21) that deforms according to a change in internal energy and a second actuator member that deforms according to a change in internal energy. (22), the actuated portion (90) connected to one end (211) of the first actuator member and one end (221) of the second actuator member, and the energy of the first actuator member and the second actuator member are controlled. Then, by deforming the first actuator member and the second actuator member, the control unit (88) that controls the displacement of the actuated portion and when the first actuator member is deformed, the deformation of the first actuator member is prevented. Elastic members (51, 55) that apply a directional force to the first actuator member and, when the second actuator member deforms, apply a directional force to the second actuator member to prevent the deformation of the second actuator member. It is an actuator device provided.

In the above configuration, the elastic member applies an elastic force to both the first actuator member and the second actuator member. Therefore, it is not necessary to dispose the elastic members in the first actuator member and the second actuator member, respectively, and the number of elastic members per actuator member can be reduced, and the total number of elastic members can be reduced. .. Therefore, in this actuator device, the number of parts can be reduced.

The reference reference numerals in parentheses attached to each component or the like indicate an example of the correspondence between the component or the like and the specific component or the like described in the embodiment described later.

Sectional drawing of the actuator apparatus of 1st Embodiment. FIG. 6 is a relationship diagram of a first temperature, a first torsional moment, a second temperature, and a second torsional moment of the actuator device of the first embodiment. The flowchart for demonstrating the process of the control part of the actuator device of 1st Embodiment. FIG. 5 is a relationship diagram of a first temperature change amount, a first heating current, a first cooling current, a second temperature change amount, a second heating current, and a second cooling current of the actuator device of the first embodiment. The relationship diagram of the angular deviation of the actuator device of 1st Embodiment, the 1st temperature change amount and the 2nd temperature change amount. FIG. 5 is a relationship diagram of a first temperature change amount, a first contraction amount, a first extension amount, a second temperature change amount, a second contraction amount, and a second extension amount of the actuator device of the first embodiment. FIG. 5 is a cross-sectional view of the actuator device of the first embodiment when it rotates in the first direction. Sectional drawing of the actuator apparatus of 2nd Embodiment.

Hereinafter, embodiments will be described with reference to the drawings. In each of the following embodiments, the same or equal parts are designated by the same reference numerals, and the description thereof will be omitted.

(First Embodiment)
The actuator device 11 of the present embodiment includes a sensor device 90 mounted on a vehicle. The actuator device 11 is used to rotate the sensor device 90. First, the sensor device 90 will be described.

As shown in FIG. 1, the sensor device 90 corresponds to the actuated portion, and is, for example, an infrared sensor that detects the temperature distribution inside the vehicle and the occupants. The infrared sensor of the sensor device 90 has a limited range for detecting the temperature distribution. Therefore, the detection range of the sensor device 90 can be expanded by rotating the sensor device 90 by the actuator device 11 of the present embodiment.

Then, in order to rotate the sensor device 90, the actuator device 11 of the first embodiment includes a support member 91, a first actuator member 21, a second actuator member 22, a first holding portion 31, and a second holding portion 32. ing. Further, the actuator device 11 includes a first elastic member 51, a second elastic member 52, a first heating unit 61, a first cooling unit 71, a second heating unit 62, a second cooling unit 72, a state detection unit 80, and a power supply 85. And a control unit 88 is provided.

The support member 91 can be mounted on a vehicle and supports the first holding portion 31 and the second holding portion 32, which will be described later. Specifically, the support member 91 includes a support recess 911. When the support recess 911 comes into contact with the first holding portion 31 and the second holding portion 32, the first holding portion 31 and the second holding portion 32 are movably supported.

The first actuator member 21 and the second actuator member 22 are deformed in response to changes in internal energy. The first actuator member 21 and the second actuator member 22 are formed of, for example, fibrous polymers, that is, a plurality of polymer fibers. Each of these polymer fibers contains, for example, polyamide and the like.

Further, while the polymer fiber of the first actuator member 21 is heated, tension and a twisting moment about a fiber axis extending in the longitudinal direction of the polymer fiber are given to the polymer fiber of the first actuator member 21. As a result, the constituent molecules of the polymer fibers of the first actuator member 21 are arranged inside the polymer fibers of the first actuator member 21 so as to spiral around the fiber axis. Hereinafter, for convenience, the rotation direction of the spiral of the constituent molecules in the polymer fiber will be referred to as the molecular rotation direction.

When thermal energy is applied to the polymer fibers of the first actuator member 21, the entropy of the polymer fibers of the first actuator member 21 increases. At this time, since the spiral arrangement of the constituent molecules of the polymer fibers of the first actuator member 21 is changed, a twisting moment in the direction opposite to the molecular rotation direction of the first actuator member 21 is generated. Therefore, the constituent molecules of the polymer fibers of the first actuator member 21 change from a spiral regular arrangement to an irregular arrangement.

Further, when the polymer fibers of the first actuator member 21 release heat energy, the entropy of the polymer fibers of the first actuator member 21 decreases. At this time, in order to maintain the spiral arrangement of the constituent molecules in the polymer fiber of the first actuator member 21, a torsional moment in the same rotation direction as the molecular rotation direction of the first actuator member 21 is generated. Therefore, the spiral arrangement of the constituent molecules of the polymer fiber of the first actuator member 21 is maintained in a regular arrangement.

The polymer fibers of the first actuator member 21 are formed in a coil shape spiraling in a direction opposite to the molecular rotation direction of the first actuator member 21. Here, the central axis of the coiled first actuator member 21 is referred to as the first axis CL1. The rotation direction of the coiled first actuator member 21 is the first direction R1 centered on the first axis CL1. Hereinafter, for convenience, the direction of rotation of the spiral of the coiled polymer fiber itself is referred to as the coil direction.

Further, as described above, when the first actuator member 21 is heated, a torsional moment in a direction opposite to the molecular rotation direction of the first actuator member 21 is generated by the constituent molecules of the polymer fibers of the first actuator member 21. To do. Therefore, the direction of the twisting moment generated by the constituent molecules of the polymer fibers of the first actuator member 21 when the first actuator member 21 is heated is the same as the coil direction of the first actuator member 21. That is, the direction of the torsional moment generated by the constituent molecules of the polymer fiber of the first actuator member 21 at this time is the first direction R1. Therefore, when the first actuator member 21 is heated, a torsional moment in the first direction R1 is generated. As a result, when the first actuator member 21 is heated, it is twisted and deformed in the first direction R1 and contracts in the direction of the first axis CL1.

Further, as described above, when the first actuator member 21 is cooled, a torsion moment in the same rotation direction as the molecular rotation direction of the first actuator member 21 is generated by the constituent molecules of the polymer fibers of the first actuator member 21. .. Therefore, the direction of the twisting moment generated by the constituent molecules of the polymer fibers of the first actuator member 21 when the first actuator member 21 is cooled is the direction opposite to the coil direction of the first actuator member 21. That is, the direction of the twisting moment generated by the constituent molecules of the polymer fibers of the first actuator member 21 at this time is the second direction R2, which is the direction opposite to the first direction R1. Therefore, when the first actuator member 21 is cooled, a torsional moment in the second direction R2 is generated. As a result, when the first actuator member 21 is cooled, it extends in the direction of the first axis CL1 while being twisted and deformed in the second direction R2.

One end 211 of the first actuator member 21 is connected to the sensor device 90. One end 211 of the first actuator member 21 is fixed to the sensor device 90 with, for example, an adhesive or the like. Therefore, when the first actuator member 21 is torsionally deformed in the first direction R1, the sensor device 90 rotates in the first direction R1 together with the torsional deformation of the first actuator member 21. Further, when the first actuator member 21 is torsionally deformed in the second direction R2, the sensor device 90 rotates in the second direction R2 together with the torsional deformation of the first actuator member 21.

Further, while the polymer fiber of the second actuator member 22 is heated, tension and a twisting moment about a fiber axis extending in the longitudinal direction of the polymer fiber are given to the polymer fiber of the second actuator member 22. As a result, the constituent molecules of the polymer fiber of the second actuator member 22 are arranged inside the polymer fiber so as to spiral around the fiber axis. Here, the constituent molecules of the polymer fibers of the second actuator member 22 are spirally formed in a direction opposite to the molecular rotation direction of the first actuator member 21 around the fiber axis. It is arranged inside 22 polymer fibers.

When thermal energy is applied to the polymer fibers of the second actuator member 22, the entropy of the polymer fibers of the second actuator member 22 increases. At this time, since the spiral arrangement of the constituent molecules of the polymer fibers of the second actuator member 22 is changed, a twisting moment in the direction opposite to the molecular rotation direction of the second actuator member 22 is generated. Therefore, the constituent molecules of the polymer fibers of the second actuator member 22 change from a spiral regular arrangement to an irregular arrangement.

Further, when the polymer fibers of the second actuator member 22 release heat energy, the entropy of the polymer fibers of the second actuator member 22 decreases. At this time, in order to maintain the spiral arrangement of the constituent molecules in the polymer fiber of the second actuator member 22, a torsional moment in the same rotation direction as the molecular rotation direction of the second actuator member 22 is generated. Therefore, the spiral arrangement of the constituent molecules of the polymer fiber of the second actuator member 22 is maintained in a regular arrangement.

The polymer fibers of the second actuator member 22 are formed in a coil shape spiraling in a direction opposite to the molecular rotation direction of the second actuator member 22. Here, the central axis of the coiled second actuator member 22 is referred to as the second axis CL2. The second axis CL2 is on the same axis as the first axis CL1. The rotation direction of the coiled second actuator member 22 is the second direction R2 centered on the second axis CL2.

Further, as described above, when the second actuator member 22 is heated, a torsional moment in the direction opposite to the molecular rotation direction of the second actuator member 22 is generated by the constituent molecules of the polymer fibers of the second actuator member 22. To do. Therefore, the direction of the twisting moment generated by the constituent molecules of the polymer fibers of the second actuator member 22 when the second actuator member 22 is heated is the same as the coil direction of the second actuator member 22. That is, the direction of the torsional moment generated by the constituent molecules of the polymer fiber of the second actuator member 22 at this time is the second direction R2. Therefore, when the second actuator member 22 is heated, it generates a torsional moment in the second direction R2. As a result, when the second actuator member 22 is heated, it contracts in the second axis CL2 direction while being twisted and deformed in the second direction R2.

Further, as described above, when the second actuator member 22 is cooled, a twisting moment in the same rotational direction as the molecular rotation direction of the second actuator member 22 is generated by the constituent molecules of the polymer fibers of the second actuator member 22. .. Therefore, the direction of the twisting moment generated by the constituent molecules of the polymer fibers of the second actuator member 22 when the second actuator member 22 is cooled is the direction opposite to the coil direction of the second actuator member 22. That is, the direction of the torsional moment generated by the constituent molecules of the polymer fiber of the second actuator member 22 at this time is the first direction R1 direction. Therefore, when the second actuator member 22 is cooled, a torsional moment in the first direction R1 is generated. As a result, when cooled, the second actuator member 22 extends in the second axis CL2 direction while being twisted and deformed in the first direction R1.

One end 221 of the second actuator member 22 is connected to the sensor device 90. For example, one end 221 of the second actuator member 22 is fixed to the sensor device 90 with an adhesive or the like. Therefore, when the second actuator member 22 is torsionally deformed in the first direction R1, the sensor device 90 rotates in the first direction R1 together with the torsional deformation of the second actuator member 22. Further, when the second actuator member 22 is torsionally deformed in the second direction R2, the sensor device 90 rotates in the second direction R2 together with the torsional deformation of the second actuator member 22.

The first holding portion 31 is connected to the other end 212 of the first actuator member 21 and holds the first actuator member 21. For example, the other end 212 of the first actuator member 21 is inserted into a hole formed in the first holding portion 31, and the first holding portion 31 is fixed to the other end 212 of the first actuator member 21 with an adhesive or the like. Has been done.

The second holding portion 32 is connected to the other end 222 of the second actuator member 22 and holds the second actuator member 22. For example, the other end 222 of the second actuator member 22 is inserted into the hole formed in the second holding portion 32, and the second holding portion 32 is fixed to the other end 222 of the second actuator member 22 by an adhesive or the like. Has been done.

Therefore, the first actuator member 21, the sensor device 90, and the second actuator member 22 are arranged between the first holding portion 31 and the second holding portion 32 on the first axis CL1 direction and the second axis CL2. Has been done. Further, the first actuator member 21 is arranged between the first holding portion 31 and the sensor device 90. Further, the second actuator member 22 is arranged between the second holding portion 32 and the sensor device 90. The sensor device 90 is arranged between the first actuator member 21 and the second actuator member 22.

The first elastic member 51 is arranged so as to sandwich the first actuator member 21, the second actuator member 22, and the sensor device 90 with the second elastic member 52 in a direction intersecting the first axis CL1 and the second axis CL2. Has been done. That is, the first actuator member 21, the second actuator member 22, and the sensor device 90 are arranged between the first elastic member 51 and the second elastic member 52.

Further, the first elastic member 51 elastically deforms according to the deformation of the first actuator member 21 and the second actuator member 22. Specifically, when the first actuator member 21 is deformed, the first elastic member 51 applies an elastic force to the first actuator member 21 in a direction that prevents the deformation of the first actuator member 21. As a result, the first elastic member 51 alleviates the influence on the displacement of the sensor device 90 when the first actuator member 21 is naturally deformed. Further, when the second actuator member 22 is deformed, the first elastic member 51 applies an elastic force to the second actuator member 22 in a direction that prevents the deformation of the second actuator member 22. As a result, the first elastic member 51 alleviates the influence on the displacement of the sensor device 90 when the second actuator member 22 is naturally deformed.

For example, one end 511 of the first elastic member 51 is connected to the first holding portion 31. For example, one end 511 of the first elastic member 51 is fixed to the first holding portion 31 with an adhesive or the like. The other end 512 of the first elastic member 51 is connected to the second holding portion 32. For example, the other end 512 of the first elastic member 51 is fixed to the second holding portion 32 with an adhesive or the like. Further, the first elastic member 51 is arranged while being compressed in the first axis CL1 direction or the second axis CL2 direction. As a result, the first elastic member 51 applies an elastic force to the first actuator member 21 and the second actuator member 22 via the first holding portion 31.

Then, when the polymer fiber of the first actuator member 21 bends due to creep, the first elastic member 51 applies an elastic force in a direction that prevents the bending, that is, in a direction that applies tension to the first actuator member 21. It is given to 21. Here, when the polymer fiber of the first actuator member 21 bends, the first elastic member 51 pushes the first holding portion 31 to apply an elastic force in the direction of pulling the first actuator member 21 to the first holding portion 31. Granted through. Further, when the polymer fiber of the second actuator member 22 bends due to creep, the first elastic member 51 applies an elastic force in a direction that prevents the bending, that is, a direction that applies tension to the second actuator member 22. It is given to 22. Here, when the polymer fiber of the second actuator member 22 bends due to creep, the first elastic member applies an elastic force in the direction of pulling the second actuator member 22 by pushing the second holding portion 32. Granted via 32. In this way, the tensions of the first actuator member 21 and the second actuator member 22 are corrected. Therefore, the first elastic member 51 alleviates the influence on the displacement of the sensor device 90 when the first actuator member 21 and the second actuator member 22 are naturally deformed.

Like the first elastic member 51, the second elastic member 52 is elastically deformed according to the deformation of the first actuator member 21 and the second actuator member 22. Specifically, when the first actuator member 21 is deformed, the second elastic member 52 applies an elastic force to the first actuator member 21 in a direction that prevents the deformation of the first actuator member 21. As a result, the second elastic member 52 alleviates the influence on the displacement of the sensor device 90 when the first actuator member 21 is naturally deformed. Further, when the second actuator member 22 is deformed, the second elastic member 52 applies an elastic force to the second actuator member 22 in a direction that prevents the deformation of the second actuator member 22. As a result, the second elastic member 52 alleviates the influence on the displacement of the sensor device 90 that accompanies the natural deformation of the second actuator member 22.

For example, one end 521 of the second elastic member 52 is connected to the first holding portion 31. For example, one end 521 of the second elastic member 52 is fixed to the first holding portion 31 with an adhesive or the like. Further, the other end 522 of the second elastic member 52 is connected to the second holding portion 32. For example, the other end 522 of the second elastic member 52 is fixed to the second holding portion 32 with an adhesive or the like. Further, the second elastic member 52 is arranged while being compressed in the first axis CL1 direction or the second axis CL2 direction. As a result, the second elastic member 52 applies an elastic force to the first actuator member 21 and the second actuator member 22 via the first holding portion 31.

Then, when the polymer fiber of the first actuator member 21 bends due to creep, the second elastic member 52 applies an elastic force in a direction that hinders the bending, that is, in a direction that applies tension to the first actuator member 21. It is given to 21. Here, when the polymer fiber of the first actuator member 21 bends, the second elastic member 52 applies an elastic force in the direction of pulling the first actuator member 21 by pushing the first holding portion 31, and the first holding portion 31. Granted through. Further, when the polymer fiber of the second actuator member 22 bends due to creep, the second elastic member 52 exerts an elastic force in a direction that hinders the deflection, that is, in a direction that applies tension to the second actuator member 22. It is given to 22. Here, when the polymer fiber of the second actuator member 22 bends due to creep, the first elastic member applies an elastic force in the direction of pulling the second actuator member 22 by pushing the second holding portion 32. Granted via 32. In this way, the tensions of the first actuator member 21 and the second actuator member 22 are corrected. Therefore, the second elastic member 52 alleviates the influence on the displacement of the sensor device 90 when the first actuator member 21 and the second actuator member 22 are naturally deformed.

The first heating unit 61 heats the first actuator member 21 to give heat energy to the first actuator member 21. For example, the first heating unit 61 is a heating wire and is wound around the first actuator. Then, when an electric current flows through the first heating unit 61, the first heating unit 61 generates heat. This heat generation heats the first actuator member 21, and heat energy is given to the first actuator member 21.

The first cooling unit 71 cools the first actuator member 21 and causes the first actuator member 21 to release heat energy. For example, the first cooling unit 71 is a Peltier element, and the Peltier element is arranged in a cylindrical housing. Further, this cylindrical housing is fixed to the first holding portion 31 and accommodates the first actuator member 21. Then, when a current flows through the first cooling unit 71, the first cooling unit 71 absorbs heat from the first actuator member 21. As a result, the first actuator member 21 is cooled and releases heat energy.

The second heating unit 62 heats the second actuator member 22 to give heat energy to the second actuator member 22. Like the first heating unit 61, the second heating unit 62 is a heating wire and is wound around the second actuator member 22. Then, when an electric current flows through the second heating unit 62, the second heating unit 62 generates heat. This heat generation heats the second actuator member 22, and heat energy is given to the second actuator member 22.

The second cooling unit 72 cools the second actuator member 22 and causes the second actuator member 22 to release heat energy. For example, the second cooling unit 72 is a Peltier element like the first cooling unit 71, and the Peltier element is arranged in a cylindrical housing. Further, this cylindrical housing is fixed to the second holding portion 32 and accommodates the second actuator member 22. Then, when a current flows through the second cooling unit 72, the second cooling unit 72 absorbs heat from the second actuator member 22. As a result, the second actuator member 22 is cooled to release heat energy.

The state detection unit 80 detects the states of the first actuator member 21, the second actuator member 22, and the sensor device 90. Here, the state of the first actuator member 21 is the temperature of the first actuator member 21. The state of the second actuator member 22 is the temperature of the second actuator member 22. The state of the sensor device 90 is the rotation angle θ of the sensor device 90 with respect to the reference position of the sensor device 90. Hereinafter, for convenience, the temperature of the first actuator member 21 will be referred to as the first temperature T1. The temperature of the second actuator member 22 is defined as the second temperature T2. Further, here, the positive direction of the rotation angle θ is the first direction R1, and the negative direction of the rotation angle θ is the second direction R2.

Specifically, the state detection unit 80 includes a first temperature sensor 81, a second temperature sensor 82, and a rotation sensor 83. The first temperature sensor 81 outputs a signal corresponding to the first temperature T1 to the control unit 88 described later. The second temperature sensor 82 outputs a signal corresponding to the second temperature T2 to the control unit 88. The rotation sensor 83 outputs a signal corresponding to the rotation angle θ to the control unit 88.

The power supply 85 is connected to the first heating unit 61, the first cooling unit 71, the second heating unit 62, the second cooling unit 72, and the control unit 88, and the first heating unit 85 is based on a signal from the control unit 88. A current is passed through the unit 61, the first cooling unit 71, the second heating unit 62, and the second cooling unit 72.

The control unit 88 is mainly composed of a microcomputer or the like, and includes a CPU, a ROM, a RAM, an I / O, a bus line for connecting these configurations, and the like. Specifically, the control unit 88 executes the program stored in the ROM, and the power supply 85 to the first heating unit 61, the first heating unit 61, based on the first temperature T1, the second temperature T2, and the rotation angle θ. 1 Controls the current flowing through the cooling unit 71, the second heating unit 62, and the second cooling unit 72. Then, the control unit 88 controls the current flowing from the power supply 85 to the first heating unit 61, the first cooling unit 71, the second heating unit 62, and the second cooling unit 72, thereby controlling the first actuator member 21 and the first actuator member 21. 2 Controls the energy inside the actuator member 22. As a result, the control unit 88 controls the torsional deformation of the first actuator member 21 and the second actuator member 22 to control the rotational displacement of the sensor device 90.

As described above, the actuator device 11 is configured. The actuator device 11 configured in this way improves the durability of the first actuator member 21 and the second actuator member 22 while rotating the sensor device 90.

Specifically, first, the characteristics of the first actuator member 21 and the second actuator member 22 will be described.

In the first actuator member 21, as the first temperature T1 increases, the amount of contraction of the first actuator member 21 in the first axis CL1 direction increases. Therefore, the first torsional moment Mt1 which is the torsional moment of the first actuator member 21 generated by the contraction of the first actuator member 21 becomes large. Therefore, as shown in FIG. 2, the absolute value of the first torsional moment Mt1 increases as the first temperature T1 increases. Further, the amount of change in the first torsional moment Mt1 with respect to the first temperature T1 increases as the first temperature T1 increases. Therefore, the first actuator member 21 generates a relatively large torsional moment when the first temperature T1 is relatively high.

Further, in the second actuator member 22, as the second temperature T2 increases, the amount of contraction of the second actuator member 22 in the second axis CL2 direction increases. Therefore, the second torsional moment Mt2, which is the torsional moment of the second actuator member 22 generated by the contraction of the second actuator member 22, becomes large. Therefore, as shown in FIG. 2, the absolute value of the second torsional moment Mt2 increases as the second temperature T2 increases. Further, the amount of change in the second torsional moment Mt2 with respect to the second temperature T2 increases as the second temperature T2 increases. Therefore, the second actuator member 22 generates a relatively large torsional moment when the second temperature T2 is relatively high. Here, the characteristics of the first actuator member 21 and the second actuator member 22 are the same as each other. Further, here, the positive direction of the first torsional moment Mt1 and the second torsional moment Mt2 is defined as the first direction R1, and the negative direction of the first torsional moment Mt1 and the second torsional moment Mt2 is defined as the second direction R2.

Next, the processing of the control unit 88 when the program is being executed will be described with reference to the flowchart of FIG. Here, for convenience, the control cycle of the control unit 88 is defined as the period of a series of operations from the start of the process of step S101 of the control unit 88 to the return to the process of step S101.

In step S101, the control unit 88 acquires the states of the first actuator member 21, the second actuator member 22, and the sensor device 90 from the state detection unit 80. Here, the control unit 88 acquires the first temperature T1 from the first temperature sensor 81. Further, the control unit 88 acquires the second temperature T2 from the second temperature sensor 82. Further, the control unit 88 acquires the rotation angle θ from the rotation sensor 83. After that, the process proceeds to step S102.

In step S102, the control unit 88 determines whether or not the first actuator member 21 and the second actuator member 22 are in the ready state. Specifically, as described above, the first actuator member 21 and the second actuator member 22 generate a relatively large torsional moment when the temperature is relatively high. Therefore, the control unit 88 determines whether or not the first temperature T1 is equal to or higher than the first preparation temperature T1_pre and the second temperature T2 is equal to or higher than the second preparation temperature T2_pre.

When the first temperature T1 is equal to or higher than the first preparation temperature T1_pre and the second temperature T2 is equal to or higher than the second preparation temperature T2_pre, the first actuator member 21 and the second actuator member 22 are in the ready state, and the process is a step. Move to S106. Further, when the first temperature T1 is lower than the first preparation temperature T1_pre or the second temperature T2 is lower than the second preparation temperature T2_pre, the first actuator member 21 and the second actuator member 22 are not in the ready state, and the processing is performed. , Step S103. The first preparation temperature T1_pre and the second preparation temperature T2_pre are set based on the characteristics of the first actuator member 21 and the second actuator member 22 and the stress applied to the first actuator member 21 and the second actuator member 22. .. Further, here, the first preparation temperature T1_pre and the second preparation temperature T2_pre have the same values.

In step S103, the control unit 88 estimates the first temperature change amount ΔT1 and the second temperature change amount ΔT2 in order to set the first temperature T1 to the first preparation temperature T1_pre and the second temperature T2 to the second preparation temperature T2_pre. To do. Here, the first temperature change amount ΔT1 is an amount that changes the first temperature T1. The second temperature change amount ΔT2 is an amount that changes the second temperature T2.

Specifically, the control unit 88 estimates the first temperature change amount ΔT1 by subtracting the first temperature T1 from the first preparation temperature T1_pre. Further, the control unit 88 estimates the second temperature change amount ΔT2 by subtracting the second temperature T2 from the second preparation temperature T2_pre.

Further, the control unit 88 corrects the first temperature change amount ΔT1 and the second temperature change amount ΔT2 so that the first torsional moment Mt1 and the second torsional moment Mt2 are equivalent so as not to rotate the sensor device 90. To do. For example, the control unit 88 estimates the first torsional moment Mt1 to be generated based on the first temperature change amount ΔT1 estimated as described above. Further, the control unit 88 estimates the generated second torsional moment Mt2 based on the second temperature change amount ΔT2 estimated as described above. Then, the control unit 88 corrects the first temperature change amount ΔT1 and the second temperature change amount ΔT2 to the temperature change amount corresponding to the larger twist moment of the first twist moment Mt1 and the second twist moment Mt2. ..

Subsequently, in step S104, the control unit 88 calculates the first heating current Ih1 and the second heating current Ih2 based on the first temperature change amount ΔT1 and the second temperature change amount ΔT2 estimated in step S103. The first heating current Ih1 is a current flowing from the power supply 85 to the first heating unit 61. The second heating current Ih2 is a current flowing from the power supply 85 to the second heating unit 62.

Specifically, the control unit 88 calculates the first heating current Ih1 by using the relationship diagram between the first temperature change amount ΔT1 and the first heating current Ih1 as shown in FIG. The first cooling current Ic1 and the second cooling current Ic2 shown in FIG. 4 will be described later.

When the first temperature change amount ΔT1 is a positive value, the amount of heat required to heat the first actuator member 21 increases as the first temperature change amount ΔT1 increases. Therefore, in order to increase the first temperature T1 with good response to time, it is necessary to increase the calorific value of the first heating unit 61 and increase the first heating current Ih1. Therefore, in FIG. 4, when the first temperature change amount ΔT1 is a positive value, the first heating current Ih1 increases as the first temperature change amount ΔT1 increases. When the first temperature change amount ΔT1 is zero or less, it is not necessary to heat the first actuator member 21, so that the first heating current Ih1 is zero.

Further, the control unit 88 calculates the second heating current Ih2 by using the relationship diagram between the second temperature change amount ΔT2 and the second heating current Ih2 as shown in FIG.

When the second temperature change amount ΔT2 is a positive value, the amount of heat required to heat the second actuator member 22 increases as the second temperature change amount ΔT2 increases. Therefore, in order to increase the second temperature T2 with good response to time, it is necessary to increase the calorific value of the second heating unit 62 and increase the second heating current Ih2. Therefore, in FIG. 4, when the second temperature change amount ΔT2 is a positive value, the second heating current Ih2 increases as the second temperature change amount ΔT2 increases. When the second temperature change amount ΔT2 is zero or less, it is not necessary to heat the second actuator member 22, so that the second heating current Ih2 is zero.

Therefore, when the first temperature change amount ΔT1 is a positive value, the control unit 88 increases the first heating current Ih1 as the first temperature change amount ΔT1 increases. The control unit 88 considers the first heating current Ih1 to be zero when the first temperature change amount ΔT1 is zero or less. Further, when the second temperature change amount ΔT2 is a positive value, the control unit 88 increases the second heating current Ih2 as the second temperature change amount ΔT2 increases. The control unit 88 considers the second heating current Ih2 to be zero when the second temperature change amount ΔT2 is zero or less. The relationship between the first temperature change amount ΔT1 and the first heating current Ih1 and the relationship between the second temperature change amount ΔT2 and the second heating current Ih2 are set by, for example, an experiment or a simulation.

Subsequently, in step S105, the control unit 88 causes the first heating current Ih1 calculated in step S104 to flow. As a result, the first heating unit 61 generates heat, and the first actuator member 21 is preheated. At this time, the first actuator member 21 contracts, and the first torsional moment Mt1 is generated in the first direction R1. Further, the control unit 88 causes the second heating current Ih2 calculated in step S104 to flow. As a result, the second heating unit 62 generates heat, and the second actuator member 22 is preheated. At this time, the second actuator member 22 contracts, and the second torsional moment Mt2 is generated in the second direction R2 in the direction opposite to the first direction R1. At this time, in step S103, the first torsional moment Mt1 and the second torsional moment Mt2 are made equivalent in order not to rotate the sensor device 90. Therefore, the sum of the first torsional moment Mt1 generated in the first direction R1 and the second torsional moment Mt2 generated in the second direction R2 becomes zero, so that the sensor device 90 does not rotate. After that, the process returns to step S101.

Subsequently, in step S106, since the first actuator member 21 and the second actuator member 22 are in the ready state, the control unit 88 has an angle deviation Δθ based on the rotation angle θ and the target angle θt acquired in step S101. Is calculated. Here, the control unit 88 calculates the angle deviation Δθ by subtracting the rotation angle θ from the target angle θt.

Subsequently, in step S107, the control unit 88 calculates the first temperature change amount ΔT1 and the second temperature change amount ΔT2 for making the angle deviation Δθ calculated in step S106 zero.

Specifically, the control unit 88 calculates the first temperature change amount ΔT1 by using the relationship diagram between the angle deviation Δθ and the first temperature change amount ΔT1 as shown in FIG. In FIG. 5, the relationship between the angle deviation Δθ and the first temperature change amount ΔT1 is shown by a solid line.

When the angle deviation Δθ is a positive value, as the angle deviation Δθ increases, the angle of the first direction R1 until the sensor device 90 is displaced to the target angle θt increases. Therefore, in order to displace the sensor device 90 at the target angle θt, it is necessary to increase the torque for rotating the sensor device 90 in the first direction R1. In order to increase the torque in the first direction R1 applied to the sensor device 90, it is necessary to increase the first torsional moment Mt1 in the first direction R1. In order to increase the first torsional moment Mt1 in the first direction R1, it is necessary to heat the first actuator member 21 to increase the first temperature change amount ΔT1. Therefore, in FIG. 5, when the second temperature change amount ΔT2 is a fixed value and the angle deviation Δθ is a positive value, the first temperature change amount ΔT1 becomes a positive value as the angle deviation Δθ increases. , The first temperature change amount ΔT1 is large.

Further, when the angle deviation Δθ is a negative value, as the absolute value of the angle deviation Δθ increases, the angle of the second direction R2 until the sensor device 90 is displaced to the target angle θt increases. Therefore, in order to displace the sensor device 90 to the target angle θt, it is necessary to increase the torque for the sensor device 90 to rotate in the second direction R2. In order to increase the torque in the second direction R2 applied to the sensor device 90, it is necessary to increase the first torsional moment Mt1 in the second direction R2. In order to increase the first torsional moment Mt1 in the second direction R2, the first actuator member 21 is cooled, the first temperature change amount ΔT1 is set to a negative value, and the absolute value of the first temperature change amount ΔT1 is increased. There is a need. Therefore, in FIG. 5, when the second temperature change amount ΔT2 is a fixed value and the angle deviation Δθ is a negative value, the first temperature change amount ΔT1 becomes negative as the absolute value of the angle deviation Δθ increases. The absolute value of the first temperature change amount ΔT1 is large with the value of. Since it is not necessary to displace the sensor device 90 when the angle deviation Δθ is zero, the first temperature change amount ΔT1 is zero. Further, the relationship between the angle deviation Δθ and the first temperature change amount ΔT1 is set by, for example, an experiment or a simulation.

Further, the control unit 88 calculates the second temperature change amount ΔT2 by using the relationship diagram between the angle deviation Δθ and the second temperature change amount ΔT2 as shown in FIG. In FIG. 5, the relationship between the angle deviation Δθ and the second temperature change amount ΔT2 is described by a alternate long and short dash line.

When the angle deviation Δθ is a positive value, as described above, it is necessary to increase the torque for rotating the sensor device 90 in the first direction R1 as the angle deviation Δθ increases. In order to increase the torque in the first direction R1 applied to the sensor device 90, it is necessary to increase the second torsional moment Mt2 in the first direction R1. In order to increase the second torsional moment Mt2 in the first direction R1, the second actuator member 22 is cooled, the second temperature change amount ΔT2 is set to a negative value, and the absolute value of the second temperature change amount ΔT2 is increased. There is a need to. Therefore, in FIG. 5, when the first temperature change amount ΔT1 is a fixed value and the angle deviation Δθ is a positive value, the second temperature change amount ΔT2 becomes a negative value as the angle deviation Δθ increases. , The absolute value of the second temperature change amount ΔT2 is large.

Further, when the angle deviation Δθ is a negative value, as described above, it is necessary to increase the torque for the sensor device 90 to rotate in the second direction R2 as the absolute value of the angle deviation Δθ increases. In order to increase the torque in the second direction R2 applied to the sensor device 90, it is necessary to increase the second torsional moment Mt2 in the second direction R2. In order to increase the second torsional moment Mt2 in the second direction R2, it is necessary to heat the second actuator member 22, set the second temperature change amount ΔT2 to a positive value, and increase the second temperature change amount ΔT2. .. Therefore, in FIG. 5, when the first temperature change amount ΔT1 is a fixed value and the angle deviation Δθ is a negative value, the second temperature change amount ΔT2 becomes negative as the absolute value of the angle deviation Δθ increases. The absolute value of the second temperature change amount ΔT2 is large at the value of. Since it is not necessary to displace the sensor device 90 when the angle deviation Δθ is zero, the second temperature change amount ΔT2 is zero. Further, the relationship between the angle deviation Δθ and the second temperature change amount ΔT2 is set by, for example, an experiment or a simulation.

Therefore, when the angle deviation Δθ is a positive value, the control unit 88 sets the first temperature change amount ΔT1 to a positive value and sets the second temperature change amount ΔT2 to a negative value. At this time, the control unit 88 increases the absolute values of the first temperature change amount ΔT1 and the second temperature change amount ΔT2 as the angle deviation Δθ increases. Further, when the angle deviation Δθ is a negative value, the control unit 88 sets the first temperature change amount ΔT1 to a negative value and sets the second temperature change amount ΔT2 to a positive value. At this time, the control unit 88 increases the absolute values of the first temperature change amount ΔT1 and the second temperature change amount ΔT2 as the absolute value of the angle deviation Δθ increases.

Then, the control unit 88 estimates the displacement amount of the first actuator member 21 based on the calculated first temperature change amount ΔT1. Here, the displacement amount of the first actuator member 21 is the contraction amount of the first actuator member 21 in the first axis CL1 direction and the extension amount of the first actuator member 21 in the first axis CL1 direction. Hereinafter, for convenience, the contraction amount of the first actuator member 21 in the first axis CL1 direction is defined as the first contraction amount ΔLc1. Further, the extension amount of the first actuator member 21 in the first axis CL1 direction is defined as the first extension amount ΔLe1.

For example, the control unit 88 uses the relationship diagram between the first temperature change amount ΔT1 and the first contraction amount ΔLc1 and the first extension amount ΔLe1 as shown in FIG. To estimate. In FIG. 6, the arrow direction is the positive direction, the first contraction amount ΔLc1 is indicated by a negative value, and the first extension amount ΔLe1 is indicated by a positive value.

When the first temperature change amount ΔT1 is a positive value, the amount of heat given to the first actuator member 21 increases as the first temperature change amount ΔT1 increases. Therefore, in FIG. 6, when the first temperature change amount ΔT1 is a positive value, the first shrinkage amount ΔLc1 increases as the first temperature change amount ΔT1 increases.

Further, when the first temperature change amount ΔT1 is a negative value, the amount of heat absorbed by the first actuator member 21 increases as the absolute value of the first temperature change amount ΔT1 increases. Therefore, in FIG. 6, when the first temperature change amount ΔT1 is a negative value, the first extension amount ΔLe1 increases as the absolute value of the first temperature change amount ΔT1 increases. When the first temperature change amount ΔT1 is zero, the first actuator member 21 is not deformed, so that the first contraction amount ΔLc1 and the first extension amount ΔLe1 are zero. Further, the relationship between the first temperature change amount ΔT1 and the first contraction amount ΔLc1 and the first extension amount ΔLe1 is set by, for example, an experiment or a simulation.

Therefore, when the first temperature change amount ΔT1 is a positive value, the control unit 88 increases the estimated value of the first contraction amount ΔLc1 as the first temperature change amount ΔT1 increases. Further, when the first temperature change amount ΔT1 is a negative value, the control unit 88 increases the estimated value of the first extension amount ΔLe1 as the absolute value of the first temperature change amount ΔT1 increases.

Further, the control unit 88 estimates the displacement amount of the second actuator member 22 based on the calculated second temperature change amount ΔT2. Here, the displacement amount of the second actuator member 22 is the contraction amount of the second actuator member 22 in the second axis CL2 direction and the extension amount of the second actuator member 22 in the second axis CL2 direction. Hereinafter, for convenience, the contraction amount of the second actuator member 22 in the second axis CL2 direction is referred to as the second contraction amount ΔLc2. Further, the extension amount of the second actuator member 22 in the second axis CL2 direction is defined as the second extension amount ΔLe2.

For example, the control unit 88 uses the relationship diagram between the second temperature change amount ΔT2, the second contraction amount ΔLc2, and the second extension amount ΔLe2 as shown in FIG. To estimate. In FIG. 6, the second contraction amount ΔLc2 is indicated by a negative value, and the second extension amount ΔLe2 is indicated by a positive value.

When the second temperature change amount ΔT2 is a positive value, the amount of heat given to the second actuator member 22 increases as the second temperature change amount ΔT2 increases. Therefore, in FIG. 6, when the second temperature change amount ΔT2 is a positive value, the second shrinkage amount ΔLc2 increases as the second temperature change amount ΔT2 increases.

Further, when the second temperature change amount ΔT2 is a negative value, the amount of heat absorbed by the second actuator member 22 increases as the absolute value of the second temperature change amount ΔT2 increases. Therefore, in FIG. 6, when the second temperature change amount ΔT2 is a negative value, the second extension amount ΔLe2 increases as the absolute value of the second temperature change amount ΔT2 increases. When the second temperature change amount ΔT2 is zero, the second actuator member 22 is not deformed, so that the second contraction amount ΔLc2 and the second extension amount ΔLe2 are zero. Further, the relationship between the second temperature change amount ΔT2, the second contraction amount ΔLc2, and the second extension amount ΔLe2 is set by, for example, an experiment or a simulation.

Therefore, when the second temperature change amount ΔT2 is a positive value, the control unit 88 increases the estimated value of the second contraction amount ΔLc2 as the second temperature change amount ΔT2 increases. Further, when the second temperature change amount ΔT2 is a negative value, the control unit 88 increases the estimated value of the second extension amount ΔLe2 as the absolute value of the second temperature change amount ΔT2 increases.

Then, as described above, when the angle deviation Δθ is a positive value, the control unit 88 needs to rotate the sensor device 90 in the first direction R1, so that the first temperature change amount ΔT1 is set to a positive value. , The second temperature change amount ΔT2 is set to a negative value. At this time, the first actuator member 21 contracts and the second actuator member 22 expands. Therefore, the control unit 88 corrects the first temperature change amount ΔT1 and the second temperature change amount ΔT2 so that the estimated first contraction amount ΔLc1 and the second extension amount ΔLe2 are equivalent. For example, the control unit 88 sets the first temperature change amount ΔT1 and the second temperature change amount ΔT2 to the temperature change amount corresponding to the smaller displacement amount of the estimated first contraction amount ΔLc1 and second extension amount ΔLe2. To correct. Since the angle deviation Δθ only approaches zero in the current control cycle of the control unit 88 due to this correction, here, the angle deviation Δθ is set to zero by repeating the program of the control unit 88. ..

Further, as described above, when the angle deviation Δθ is a negative value, the control unit 88 needs to rotate the sensor device 90 in the second direction R2, so that the first temperature change amount ΔT1 is set to a negative value. , Set the second temperature change amount ΔT2 to a positive value. At this time, the first actuator member 21 expands and the second actuator member 22 contracts. Therefore, the control unit 88 corrects the first temperature change amount ΔT1 and the second temperature change amount ΔT2 so that the estimated first extension amount ΔLe1 and the second contraction amount ΔLc2 are equivalent. For example, the control unit 88 corrects the first temperature change amount ΔT1 and the second temperature change amount ΔT2 to the temperature change amount corresponding to the smaller displacement amount of the first extension amount ΔLe1 and the second contraction amount ΔLc2. .. Since the angle deviation Δθ only approaches zero in the current control cycle of the control unit 88 due to this correction, here, the angle deviation Δθ is set to zero by repeating the program of the control unit 88. ..

Subsequently, in step S108, the control unit 88 uses the first heating current Ih1, the second heating current Ih2, and the first cooling based on the first temperature change amount ΔT1 and the second temperature change amount ΔT2 estimated in step S107. The current Ic1 and the second cooling current Ic2 are calculated. The first cooling current Ic1 is a current flowing from the power supply 85 to the first cooling unit 71. The second cooling current Ic2 is a current flowing from the power supply 85 to the second cooling unit 72.

Specifically, the control unit 88 uses the relationship diagram between the first temperature change amount ΔT1 and the first heating current Ih1 and the first cooling current Ic1 as shown in FIG. 4, and the first heating current Ih1 and the first The cooling current Ic1 is calculated. In FIG. 4, the relationship between the first temperature change amount ΔT1 and the first heating current Ih1 is shown by a solid line. Further, the relationship between the first temperature change amount ΔT1 and the first cooling current Ic1 is described by the alternate long and short dash line.

When the first temperature change amount ΔT1 is a positive value, the first heating current Ih1 becomes a positive value and the first cooling current Ic1 becomes zero in order to heat the first actuator member 21. Further, when the first temperature change amount ΔT1 is a positive value, as described above, as the first temperature change amount ΔT1 increases, the amount of heat required to heat the first actuator member 21 increases. Therefore, in order to increase the first temperature T1 with good response to time, it is necessary to increase the calorific value of the first heating unit 61 and increase the first heating current Ih1. Therefore, in FIG. 4, when the first temperature change amount ΔT1 is a positive value, the first heating current Ih1 increases as the first temperature change amount ΔT1 increases. Therefore, in FIG. 4, when the first temperature change amount ΔT1 is a positive value, the first heating current Ih1 increases as the first temperature change amount ΔT1 increases.

Further, when the first temperature change amount ΔT1 is a negative value, the first heating current Ih1 becomes zero and the first cooling current Ic1 becomes a positive value in order to cool the first actuator member 21. .. Further, when the first temperature change amount ΔT1 is a negative value, the first cooling unit 71 performs the first actuator in order to cool the first actuator member 21 as the absolute value of the first temperature change amount ΔT1 increases. The amount of heat absorbed from the member 21 increases. Therefore, it is necessary to increase the first cooling current Ic1 in order to reduce the first temperature T1 with good response to time. Therefore, when the first temperature change amount ΔT1 is a negative value, the first cooling current Ic1 increases as the absolute value of the first temperature change amount ΔT1 increases. When the first temperature change amount ΔT1 is zero or more, it is not necessary to cool the first actuator member 21, so that the first cooling current Ic1 is zero.

Therefore, the control unit 88 considers the first cooling current Ic1 to be zero when the first temperature change amount ΔT1 is a positive value. At this time, the control unit 88 increases the first heating current Ih1 as the first temperature change amount ΔT1 increases. Further, the control unit 88 considers the first heating current Ih1 to be zero when the first temperature change amount ΔT1 is a negative value. At this time, the control unit 88 increases the first cooling current Ic1 as the absolute value of the first temperature change amount ΔT1 increases.

Further, the control unit 88 uses the relationship diagram between the second temperature change amount ΔT2 and the second heating current Ih2 and the second cooling current Ic2 as shown in FIG. 4, and uses the second heating current Ih2 and the second cooling current Ic2. Is calculated. In FIG. 4, the relationship between the second temperature change amount ΔT2 and the second heating current Ih2 is shown by a solid line. Further, the relationship between the second temperature change amount ΔT2 and the second cooling current Ic2 is described by the alternate long and short dash line.

When the second temperature change amount ΔT2 is a positive value, the second heating current Ih2 becomes a positive value and the second cooling current Ic2 becomes zero in order to heat the second actuator member 22. Further, when the second temperature change amount ΔT2 is a positive value, the amount of heat required to heat the second actuator member 22 increases as the second temperature change amount ΔT2 increases. Therefore, in order to increase the second temperature T2 with good response to time, it is necessary to increase the calorific value of the second heating unit 62 and increase the second heating current Ih2. Therefore, in FIG. 4, when the second temperature change amount ΔT2 is a positive value, the second heating current Ih2 increases as the second temperature change amount ΔT2 increases.

Further, when the second temperature change amount ΔT2 is a negative value, the second heating current Ih2 becomes zero and the second cooling current Ic2 becomes a positive value in order to cool the second actuator member 22. .. Further, when the second temperature change amount ΔT2 is a negative value, the second cooling unit 72 uses the second actuator to cool the second actuator member 22 as the absolute value of the second temperature change amount ΔT2 increases. The amount of heat absorbed from the member 22 increases. Therefore, it is necessary to increase the second cooling current Ic2 in order to reduce the second temperature T2 with good response to time. Therefore, when the second temperature change amount ΔT2 is a negative value, the second cooling current Ic2 increases as the absolute value of the second temperature change amount ΔT2 increases.

Therefore, the control unit 88 considers the second cooling current Ic2 to be zero when the second temperature change amount ΔT2 is a positive value. At this time, the control unit 88 increases the second heating current Ih2 as the second temperature change amount ΔT2 increases. Further, the control unit 88 considers the second heating current Ih2 to be zero when the second temperature change amount ΔT2 is a negative value. At this time, the control unit 88 increases the second cooling current Ic2 as the absolute value of the second temperature change amount ΔT2 increases.

Subsequently, in step S109, the control unit 88 causes the first heating current Ih1, the second heating current Ih2, the first cooling current Ic1 and the second cooling current Ic2 calculated in step S108 to flow. Then, the first actuator member 21 and the second actuator member 22 are twisted and deformed, so that the sensor device 90 rotates and the angle deviation Δθ approaches zero.

For example, when the angle deviation Δθ is a positive value, the first temperature change amount ΔT1 is a positive value, and the second temperature change amount ΔT2 is a negative value. In this case, the first heating current Ih1 is a positive value, the second heating current Ih2 is zero, the first cooling current Ic1 is zero, and the second cooling current Ic2 is a positive value. ..

Therefore, in this case, as shown in FIG. 7, the first heating current Ih1 flows through the first heating unit 61, and the first actuator member 21 is heated. As a result, the first actuator member 21 contracts and twists and deforms in the first direction R1. Further, the second cooling current Ic2 flows through the second cooling unit 72 to cool the second actuator member 22. As a result, the second actuator member 22 extends and twists and deforms in the first direction R1.

Therefore, the sensor device 90 rotates in the first direction R1 with the torsional deformation of the first actuator member 21 and the second actuator member 22. Further, in step S107, the first temperature change amount ΔT1 and the second temperature change amount ΔT2 are corrected so that the first contraction amount ΔLc1 becomes equivalent to the second elongation amount ΔLe2. Therefore, since the distance from the first holding portion 31 to the second holding portion 32 does not change, the first elastic member 51 and the second elastic member 52 are not displaced. In FIG. 7, the position of the sensor device 90 before rotating in the first direction R1 is described by a two-dot chain line.

After the first heating current Ih1, the second heating current Ih2, the first cooling current Ic1 and the second cooling current Ic2 calculated in step S108 have flowed by the control unit 88, the process returns to step S101.

As described above, the processing of the control unit 88 is performed, and the sensor device 90 rotates. In the actuator device 11, the operating noise is smaller when the sensor device 90 is displaced as compared with an actuator using an electric motor or the like. Therefore, the actuator device 11 is relatively quiet. Then, it will be described below that the actuator device 11 of this embodiment relaxes the stress applied to the 1st actuator member 21 and the 2nd actuator member 22.

In the present embodiment, the first elastic member 51 and the second elastic member 52 exert an elastic force on the first actuator member 21 in a direction that prevents the first actuator member 21 from being deformed when the first actuator member 21 is deformed. Is given. Further, the first elastic member 51 and the second elastic member 52 apply an elastic force to the second actuator member 22 in a direction that prevents the deformation of the second actuator member 22 when the second actuator member 22 is deformed. .. Specifically, one end 511 of the first elastic member 51 and one end 521 of the second elastic member 52 are connected to the first holding portion 31. Further, the other end 512 of the first elastic member 51 and the other end 522 of the second elastic member 52 are connected to the second holding portion 32.

As a result, the first elastic member 51 and the second elastic member 52 apply elastic force to both the first actuator member 21 and the second actuator member 22. Therefore, it is not necessary to arrange the first elastic member 51 and the second elastic member 52 on the first actuator member 21 and the second actuator member 22, respectively. Therefore, the number of the first elastic member 51 and the second elastic member 52 per member can be reduced, and the total number of the first elastic member 51 and the second elastic member 52 can be reduced. Therefore, in this actuator device 11, the number of parts is reduced. Further, the man-hours for assembling the coil spring to the first holding portion 31 and the second holding portion 32 and the like can be reduced, and the actuator device 11 can be easily manufactured.

Further, since the total number of the first elastic member 51 and the second elastic member 52 can be reduced, the stress applied to the first actuator member 21 and the second actuator member 22 may be relaxed.

Here, the initial stress applied to the first actuator member 21 and the second actuator member 22 is σ0. Let N be the number of the first elastic member 51 and the second elastic member 52, and let k be the elastic constants of the first elastic member 51 and the second elastic member 52. Let α be the coefficient of linear expansion of the first actuator member 21 and the second actuator member 22. Let E be the Young's modulus of the first actuator member 21 and the second actuator member 22. Let S be the cross-sectional area of the first actuator member 21 in the direction perpendicular to the first axis CL1 and the cross-sectional area of the second actuator member 22 in the direction perpendicular to the second axis CL2. Let φ be a predetermined angle of the polymer fiber of the first actuator member 21 woven in a spiral shape with respect to the first axis CL1 and a predetermined angle of the polymer fiber of the second actuator member 22 woven in a spiral shape with respect to the second axis CL2. Let L be the length of the first actuator member 21 in the first axis CL1 direction and the length of the second actuator member 22 in the second axis CL2 direction. Let ΔTmax be the maximum temperature change of the first actuator member 21 and the second actuator member 22. Then, assuming that the maximum stress applied to the first actuator member 21 and the second actuator member 22 is σmax, σmax is expressed by the following relational expression (1).

According to the above relational expression (1), the maximum stress applied to the first actuator member 21 and the second actuator member 22 has a large number of the first elastic member 51 and the second elastic member 52 when their elastic coefficients are the same. As it grows, it gets bigger. Therefore, in the actuator device 11 of the present embodiment, the total number of the first elastic member 51 and the second elastic member 52 can be reduced, so that the maximum stress applied to the first actuator member 21 and the second actuator member 22 is reduced. You may be able to.

In addition, the actuator device 11 also has the effects described in [1]-[3] below.

[1] The first actuator member 21, the second actuator member 22, and the sensor device 90 are arranged between the first elastic member 51 and the second elastic member 52. As a result, the direction of the bending moment applied to the first holding portion 31 and the second holding portion 32 due to the elastic force of the first elastic member 51 is changed to the direction of the first holding portion 31 and the second holding portion 31 due to the elastic force of the second elastic member 52. The direction is opposite to the direction of the bending moment applied to the holding portion 32. Therefore, the bending moment due to the elastic force of the first elastic member 51 and the bending moment due to the elastic force of the second elastic member 52 cancel each other out. Therefore, since the bending moment applied to the first holding portion 31 and the second holding portion 32 is reduced, the bending moment applied to the first actuator member 21 and the second actuator member 22 can be reduced. Therefore, the bending stress applied to the first actuator member 21 and the second actuator member 22 can be reduced. Therefore, the durability of the first actuator member 21 and the second actuator member 22 is improved.

[2] When the sensor device 90 is rotated in the first direction R1, the control unit 88 applies thermal energy to the first actuator member 21 to contract the first actuator member 21. Further, when the sensor device 90 is rotated in the first direction R1, the control unit 88 releases heat energy to the second actuator member 22 to extend the second actuator member 22 in the direction in which the first actuator member 21 contracts. Let me.

As a result, when the sensor device 90 is rotated, the distance from the first holding portion 31 to the second holding portion 32 does not change, so that the lengths of the first elastic member 51 and the second elastic member 52 do not change. Therefore, since the elastic forces of the first elastic member 51 and the second elastic member 52 do not increase, the increase in stress applied to the first actuator member 21 and the second actuator member 22 due to these elastic forces is suppressed. Therefore, the durability of the first actuator member 21 and the second actuator member 22 is improved.

[3] As described above, in the first actuator member 21, a relatively large torsional moment is generated when the first temperature T1 is relatively high. Further, in the second actuator member 22, a relatively large torsional moment is generated when the second temperature T2 is relatively high. Therefore, when the sensor device 90 is rotated in the first direction R1, the control unit 88 applies thermal energy to both the first actuator member 21 and the second actuator member 22. After that, the control unit 88 deforms the first actuator member 21 and the second actuator member 22. For example, here, the control unit 88 has the first actuator member 21 and the second actuator member when the first temperature T1 is equal to or higher than the first preparation temperature T1_pre and the second temperature T2 is equal to or higher than the second preparation temperature T2_pre. 22 is deformed.

As a result, the sensor device 90 can be rotated while the torsional moments of the first actuator member 21 and the second actuator member 22 are relatively high. Therefore, when the first actuator member 21 and the second actuator member 22 are deformed, the sensor device 90 tends to rotate, so that the responsiveness of the control of the sensor device 90 by the control unit 88 can be improved.

[4] The first elastic member 51 and the second elastic member 52 are arranged in parallel with the first actuator member 21, the second actuator member 22, and the sensor device 90 between the first holding portion 31 and the second holding portion 32. Have been placed. As a result, the space between the first holding portion 31 and the second holding portion 32 is compared with the case where the first elastic member 51 and the second elastic member 52 are arranged in the directions of the first axis CL1 and the second axis CL2. Is effectively used. Therefore, as compared with the case where the first elastic member 51 and the second elastic member 52 are arranged in the directions of the first axis CL1 and the second axis CL2, the physique of the actuator device 11 in the first axis CL1 and the second axis CL2 directions. Can be miniaturized.

(Second Embodiment)
The second embodiment is the same as the first embodiment except that the first holding portion and the second holding portion are not arranged and one elastic member is arranged.

As shown in FIG. 8, one end 551 of the elastic member 55 of the actuator device 12 of the second embodiment is connected to the other end 212 of the first actuator member 21. For example, the other end 212 of the first actuator member 21 is wound around one end 551 of the elastic member 55, so that the other end 212 of the elastic member 55 and the other end 212 of the first actuator member 21 are fixed.

Further, the other end 552 of the elastic member 55 is connected to the other end 222 of the second actuator member 22. For example, the other end 552 of the elastic member 55 and the second actuator member 22 are fixed by winding the other end 222 of the second actuator member 22 around the other end 552 of the elastic member 55.

In the actuator device 12 of the second embodiment, the first cooling unit 71 and the second cooling unit 72 are attached to a jig (not shown). Further, the first actuator member 21 and the second actuator member 22 are supported by pulleys or the like (not shown).

Even with such a configuration, since it is not necessary to arrange the elastic members 55 on the first actuator member 21 and the second actuator member 22, the total number of elastic members 55 can be reduced. Therefore, the actuator device 12 of the second embodiment has the same effect as that of the first embodiment.

Further, in the second embodiment, it is not necessary to arrange the first holding portion 31 and the second holding portion 32. Therefore, the mass of the actuator device 12 can be reduced, and the natural frequency of the actuator device 12 can be increased. As a result, when the actuator device 12 is mounted on a vehicle or the like, resonance is suppressed. Therefore, the actuator device 12 can improve the durability of the first actuator member 21 and the second actuator member 22.

(Other embodiments)
The present invention is not limited to the above embodiment, and can be appropriately modified with respect to the above embodiment. Further, in each of the above embodiments, it goes without saying that the elements constituting the embodiment are not necessarily essential except when it is clearly stated that they are essential and when they are clearly considered to be essential in principle. No.

The controls and methods thereof described in the present disclosure are realized by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. May be done. Alternatively, the controls and methods thereof described in the present disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the controls and methods described herein are by a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

(1) In the above embodiment, the sensor device 90 is an infrared sensor. On the other hand, the sensor device 90 is not limited to the infrared sensor, and may be a camera or the like that captures an image of the vehicle interior.

(2) In the above embodiment, the first actuator member 21 and the second actuator member 22 are formed of polymer fibers that are deformed in response to heat energy given from the outside. On the other hand, the first actuator member 21 and the second actuator member 22 are not limited to the polymer fibers, but are electrically, optically, chemically, thermally, absorbed, or have energy given from the outside by other means. It may be made of a material that deforms accordingly. Examples of such a material include shape memory alloys, dielectric elastomers, magnetic gels, conductive polymers, and the like.

(3) In the above embodiment, the first actuator member 21 and the second actuator member 22 are made of polymer fibers such as polyamide. On the other hand, the polymer fiber is not limited to polyamide, and may be formed of, for example, polyethylene, polypropylene, polyester, or a composite material thereof.

(4) In the above embodiment, one first actuator member 21 is arranged in the actuator device 11. On the other hand, the first actuator member 21 is not limited to being arranged alone in the actuator device 11. For example, a plurality of first actuator members 21 may be arranged in the actuator device 11 so as to be parallel to each other in a direction intersecting the first axis CL1. Further, one second actuator member 22 is arranged in the actuator device 11. On the other hand, the second actuator member 22 is not limited to being arranged alone in the actuator device 11. For example, a plurality of second actuator members 22 may be arranged in the actuator device 11 so as to be parallel to the second axis CL2 in a direction intersecting with each other.

(5) In the above embodiment, the first holding portion 31 is fixed to the other end 212 of the first actuator member 21 with an adhesive or the like. The second holding portion 32 is fixed to the other end 222 of the second actuator member 22 by an adhesive or the like. On the other hand, the method of fixing the first holding portion 31 and the first actuator member 21 and the method of fixing the second holding portion 32 and the second actuator member 22 are not limited to using an adhesive. For example, the first actuator member 21 may be wound around the first holding portion 31. Further, the second actuator member 22 may be wound around the second holding portion 32.

(6) In the above embodiment, the first elastic member 51 and the second elastic member 52 are connected to the first holding portion 31 and the second holding portion 32, respectively. On the other hand, the second elastic member 52 is not connected to the first holding portion 31 and the second holding portion 32, and only the first elastic member 51 is connected to the first holding portion 31 and the second holding portion 32, respectively. May be good. Alternatively, the first elastic member 51 may not be connected to the first holding portion 31 and the second holding portion 32, and only the second elastic member 52 may be connected to the first holding portion 31 and the second holding portion 32, respectively.

(7) In the above embodiment, the first heating unit 61 and the second heating unit 62 are heating wires. On the other hand, the first heating unit 61 and the second heating unit 62 are not limited to the heating wire, and are, for example, metal plating formed on the surfaces of the first actuator member 21 and the second actuator member 22. May be good. The first actuator member 21 and the second actuator member 22 may be heated by the flow of an electric current through the metal plating.

(8) In the above embodiment, the first elastic member 51 applies an elastic force in the direction of applying tension to the first actuator member 21 to the first actuator member 21 and applies tension to the second actuator member 22. Is applied to the second actuator member 22. Further, the second elastic member 52 applies an elastic force in the direction of applying tension to the first actuator member 21 to the first actuator member 21, and a second elastic force in the direction of applying tension to the second actuator member 22. It is applied to the actuator member 22. On the other hand, the first elastic member 51 and the second elastic member 52 are attached to the first actuator member 21 and the second actuator member 22 in the direction of suppressing the natural expansion of the first actuator member 21 and the second actuator member 22. It may be given.

(9) In the above embodiment, when the first actuator member 21 is heated, it contracts in the first axis CL1 direction while being twisted and deformed in the first direction R1. On the other hand, when the first actuator member 21 is cooled, it may be twisted and deformed in the first direction R1 and contracted in the first axis CL1 direction.

For example, the polymer fiber of the first actuator member 21 is formed in a coil shape spiraling in the same rotation direction as the molecular rotation direction of the first actuator member 21. Further, the rotation direction of the spiral coiled first actuator member 21 is the first direction R1 with respect to the first axis CL1 which is the central axis of the coiled first actuator member 21.

Further, as described above, when the first actuator member 21 is cooled, a torsion moment in the same rotation direction as the molecular rotation direction of the first actuator member 21 is generated by the constituent molecules of the polymer fibers of the first actuator member 21. .. Therefore, the direction of the twisting moment generated by the constituent molecules of the polymer fibers of the first actuator member 21 when the first actuator member 21 is cooled is the same rotation direction as the coil direction of the first actuator member 21. That is, the direction of the torsional moment generated by the constituent molecules of the polymer fiber of the first actuator member 21 at this time is the first direction R1. Therefore, when the first actuator member 21 is cooled, a torsional moment in the first direction R1 is generated. As a result, when the first actuator member 21 is cooled, it is twisted and deformed in the first direction R1 and contracts in the direction of the first axis CL1. In this case, when the first actuator member 21 is heated, it extends in the direction of the first axis CL1 while being twisted and deformed in the second direction R2. Further, when the sensor device 90 is rotated in the first direction R1 by the control unit 88, the first actuator member 21 is cooled.

Further, in the above embodiment, when the second actuator member 22 is heated, it contracts in the second axis CL2 direction while being twisted and deformed in the second direction R2. On the other hand, when the second actuator member 22 is cooled, it may be twisted and deformed in the second direction R2 and contracted in the second axis CL2 direction.

For example, the polymer fiber of the second actuator member 22 is formed in a coil shape spiraling in the same rotation direction as the molecular rotation direction of the second actuator member 22. Further, the rotation direction of the spiral coiled second actuator member 22 is the second direction R2 with respect to the second axis CL2 which is the central axis of the coiled second actuator member 22.

Further, as described above, when the second actuator member 22 is cooled, a twisting moment in the same rotational direction as the molecular rotation direction of the second actuator member 22 is generated by the constituent molecules of the polymer fibers of the second actuator member 22. .. Therefore, the direction of the twisting moment generated by the constituent molecules of the polymer fibers of the second actuator member 22 when the second actuator member 22 is cooled is the same rotation direction as the coil direction of the second actuator member 22. That is, the direction of the torsional moment generated by the constituent molecules of the polymer fiber of the second actuator member 22 at this time is the second direction R2. Therefore, when the second actuator member 22 is cooled, a torsional moment in the second direction R2 is generated. As a result, when the second actuator member 22 is cooled, it is twisted and deformed in the second direction R2 and contracts in the second axis CL2 direction. In this case, when the second actuator member 22 is heated, the second actuator member 22 extends in the second axis CL2 direction while being twisted and deformed in the first direction R1. Further, when the sensor device 90 is rotated in the first direction R1 by the control unit 88, the second actuator member 22 is heated.

(Summary)
According to the first aspect, the actuator device includes a first actuator member that deforms according to a change in internal energy, a second actuator member that deforms according to a change in internal energy, and one end of the first actuator member. By controlling the energy of the actuated portion connected to one end of the second actuator member and the first actuator member and the second actuator member to deform the first actuator member and the second actuator member, the actuated portion is actuated. When the control unit that controls the displacement of the unit and the first actuator member are deformed, a force in a direction that hinders the deformation of the first actuator member is applied to the first actuator member, and when the second actuator member is deformed, the second actuator member is second. It includes an elastic member that applies a force in a direction that hinders deformation of the actuator member to the second actuator member. As a result, the number of parts can be reduced.

According to the second aspect, the actuator device further includes a first holding portion connected to the other end of the first actuator member and a second holding portion connected to the other end of the second actuator member. When the first actuator member is deformed, the elastic member applies a force in a direction that hinders the deformation of the first actuator member to the first actuator member via the first holding portion, and the second actuator member is deformed. At this time, a force in a direction that prevents the deformation of the second actuator member is applied to the second actuator member via the second holding portion.

According to the third aspect, the elastic member is the first elastic member, and the actuator device has one end connected to the first holding portion and the other end connected to the second holding portion, and the first actuator member. Is deformed, a force in a direction that hinders the deformation of the first actuator member is applied to the first actuator member via the first holding portion, and when the second actuator member is deformed, the force is applied via the second holding portion. A second elastic member that applies a force in a direction that hinders the deformation of the second actuator member is further provided, and the first actuator member, the second actuator member, and the actuated portion are the first elastic member and the second elastic member. It is arranged between the members.

According to the fourth aspect, one end of the elastic member is connected to the other end of the first actuator member, and the other end of the elastic member is connected to the other end of the second actuator member.

According to the fifth aspect, when the actuated portion is rotationally displaced, the control unit contracts the first actuator member and extends the second actuator member in the direction in which the first actuator member contracts. As a result, the durability of the first actuator member and the second actuator member is improved.

According to the sixth aspect, the control unit deforms the first actuator member and the second actuator member after applying energy to both the first actuator member and the second actuator member. As a result, the actuated portion is easily rotated, so that the responsiveness of the control of the actuated portion by the control unit can be improved.

According to the seventh aspect, the first actuator member and the second actuator member are polymer fibers, and the elastic member applies a force in a direction for applying tension to the first actuator member to the first actuator member. 2 A force in the direction of applying tension to the actuator member is applied to the first actuator member.

21 1st actuator member 22 2nd actuator member 51 1st elastic member 55 Elastic member 88 Control unit 90 Operated part

Claims (7)

The first actuator member (21), which deforms in response to changes in internal energy,
A second actuator member (22) that deforms in response to changes in internal energy,
An actuated portion (90) connected to one end (211) of the first actuator member and one end (221) of the second actuator member, and
With the control unit (88) that controls the displacement of the actuated portion by controlling the energy of the first actuator member and the second actuator member and deforming the first actuator member and the second actuator member. ,
When the first actuator member is deformed, a force in a direction that hinders the deformation of the first actuator member is applied to the first actuator member, and when the second actuator member is deformed, the deformation of the second actuator member is performed. Elastic members (51, 55) that apply a force in the hindering direction to the second actuator member, and
Actuator device with. The first holding portion (31) connected to the other end (212) of the first actuator member and
The second holding portion (32) connected to the other end (222) of the second actuator member and
With more
When the first actuator member is deformed, the elastic member applies a force in a direction that hinders the deformation of the first actuator member to the first actuator member via the first holding portion, and the second actuator member. The actuator device according to claim 1, wherein when the member is deformed, a force in a direction that hinders the deformation of the second actuator member is applied to the second actuator member via the second holding portion. The elastic member is the first elastic member (51).
In the actuator device, one end (521) is connected to the first holding portion and the other end (522) is connected to the second holding portion. When the first actuator member is deformed, the first holding portion A force is applied to the first actuator member in a direction that hinders the deformation of the first actuator member, and when the second actuator member is deformed, the second actuator member is subjected to the second holding portion. A second elastic member (52) that applies a force in a direction that hinders the deformation of the second actuator member is further provided.
The actuator device according to claim 2, wherein the first actuator member, the second actuator member, and the actuated portion are arranged between the first elastic member and the second elastic member. One end (551) of the elastic member (55) is connected to the other end (212) of the first actuator member.
The actuator device according to claim 1, wherein the other end (552) of the elastic member (55) is connected to the other end (222) of the second actuator member. Any one of claims 1 to 4, wherein the control unit contracts the first actuator member and expands the second actuator member in a direction in which the first actuator member contracts when the actuated portion is rotationally displaced. The actuator device according to one. The control unit applies energy to both the first actuator member and the second actuator member, and then deforms the first actuator member and the second actuator member according to any one of claims 1 to 5. The actuator device described. The first actuator member and the second actuator member are polymer fibers.
The elastic member applies a force in a direction for applying tension to the first actuator member to the first actuator member, and applies a force in a direction for applying tension to the second actuator member to the first actuator member. The actuator device according to any one of claims 1 to 6.

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