JP3830027B2 - Wire actuator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a wire actuator.
[0002]
[Prior art]
A wire actuator that moves a wire in its longitudinal direction is known, and is used in, for example, a robot hand.
[0003]
This wire actuator includes a wire, a reel around which the wire is wound, a motor (rotary actuator), and a speed reducer that decelerates and transmits the rotational driving force of the motor to the reel, and drives the motor to rotate the reel. By doing so, the wire is moved in the longitudinal direction.
[0004]
However, the conventional wire actuator requires a reel and a speed reducer and has a problem that it is difficult to reduce the size and weight, and particularly to reduce the thickness, because the motor is large. Therefore, for example, a large space is required to mount a plurality of wire actuators for moving a joint, five fingers, etc., and the weight increases, making it more difficult to reduce the size.
[0005]
Furthermore, the motor needs to have special magnetic characteristics for the rotor and the slider, and it is difficult to reduce the long stroke translation mechanism, which is disadvantageous for reduction in size and weight.
[0006]
Moreover, since rotational motion is converted into linear motion, the energy loss accompanying this conversion is large.
[0007]
There is also a problem that the electromagnetic noise of the motor may affect other devices.
[0008]
[Problems to be solved by the invention]
An object of the present invention is to provide a wire actuator that has a simple structure and is advantageous for miniaturization, particularly thinning.
[0009]
[Means for Solving the Problems]
Such an object is achieved by the present inventions (1) to (24) below.
[0010]
(1) having a wire and a vibrating body provided in contact with the wire and provided with a piezoelectric element;
The vibrating body abuts on the wire and bends the wire, and the vibrating body is configured to be pressed by the restoring force of the wire.
The vibrator is configured to vibrate by applying an AC voltage to the piezoelectric element, and the vibration is configured to repeatedly apply a force to the wire to move the wire in the longitudinal direction of the wire. Wire actuator.
[0011]
(2) A wire actuator provided with a plurality of actuator units each having a wire and a vibrating body provided with a piezoelectric element provided in contact with the wire,
The vibrating body abuts on the wire and bends the wire, and the vibrating body is configured to be pressed by the restoring force of the wire.
The vibrator is configured to vibrate by applying an AC voltage to the piezoelectric element, and the vibration is configured to repeatedly apply a force to the wire to move the wire in the longitudinal direction of the wire. Wire actuator.
[0012]
(3) The wire actuator according to (2), wherein the arrangement directions of the wires of the actuator units substantially coincide with each other.
[0013]
(4) Each said actuator unit comprises plate shape, The wire actuator as described in said (2) or (3) arrange | positioned so that it may overlap in the thickness direction.
[0014]
(5) Each said actuator unit is a wire actuator as described in said (2) or (3) arrange | positioned radially.
[0015]
(6) The wire actuator according to (2) or (3), wherein the actuator units are arranged radially so that the wires of the actuator units gather at the center.
[0016]
(7) The wire actuator according to any one of (1) to (6), wherein the vibrating body has a plate shape.
[0017]
(8) The wire actuator according to (7), wherein the vibrating body has a substantially rectangular shape.
[0018]
(9) The wire actuator according to (8), wherein the vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel.
[0019]
(10) The wire actuator according to (8), wherein the vibrating body is installed such that a long side of the vibrating body and the wire are substantially parallel.
[0020]
(11) The wire actuator according to any one of (1) to (10), wherein the wire actuator includes an arm portion protruding from the vibrating body, and the vibrating body is supported by the arm portion.
[0021]
(12) The portion of the vibrating body that contacts the wire is provided at two or more locations, and the wire according to any one of the above (1) to (11) that applies force to the wire at the plurality of portions. Actuator.
[0022]
(13) The wire actuator according to any one of (1) to (12), wherein a concave portion is provided in a portion of the vibrating body that contacts the wire.
[0024]
(14) The wire actuator according to any one of (1) to (13), including guide means for guiding the wire.
[0025]
(15) The wire actuator according to any one of (1) to (14), further including a separation preventing unit that prevents separation of the wire.
[0026]
(16) The wire actuator according to any one of (1) to (13), comprising a plurality of guide rollers for guiding the wire.
[0027]
(17) The wire actuator according to any one of (1) to (13), wherein a groove is formed on an outer peripheral surface, and the guide actuator includes a plurality of guide rollers that guide the wire.
[0028]
(18) The wire actuator according to (16) or (17), further including a movement amount detection unit that detects a movement amount of the wire by detecting a rotation amount of the guide roller.
[0029]
(19) The wire actuator according to any one of (1) to (17), further including a movement amount detection unit that detects a movement amount of the wire.
[0030]
(20) The wire actuator according to any one of (1) to (19), wherein the wire has a ring shape and is configured so that the wire circulates.
[0031]
(21) The wire actuator according to (20), wherein the wire is hung at a position spaced apart from the vibrating body by a predetermined distance and has a driven roller that rotates by movement of the wire.
[0032]
(22) The wire actuator according to (21), wherein the vibrating body is located on one end side, and the driven roller is located on the other end side.
[0033]
(23) The wire actuator according to any one of (20) to (22), wherein the vibrating body is positioned inside the wire.
[0034]
(24) The structure according to any one of (1) to (23), wherein the wire can be moved in either a forward direction or a reverse direction by changing a vibration pattern of the vibrating body. Wire actuator.
[0035]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the wire actuator of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
[0036]
1 is a plan view showing a first embodiment of the wire actuator of the present invention, FIG. 2 is a side view of the wire actuator shown in FIG. 1, and FIG. 3 is a perspective view of a vibrating body in the wire actuator shown in FIG. FIG. 4 is a side view of the vibrating body in the wire actuator shown in FIG. 1 (viewed from the direction of arrow A in FIG. 3), and FIG. 5 shows how the vibrating body in the wire actuator shown in FIG. FIG. 6 is a plan view showing a state in which the convex portion of the vibrating body in the wire actuator shown in FIG. In the following description, the upper side in FIG. 1 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.
[0037]
The wire actuator 1 shown in these drawings is an actuator that directly drives (moves) the wire 2, and is a plate-like structure composed of the wire 2 and an actuator body 3 attached so that the wire 2 can move in the longitudinal direction. The actuator unit 10 is provided.
[0038]
Here, the wire is an elongated linear or belt-like body having flexibility, and its cross-sectional shape is not particularly limited, and other than a circle, for example, a semicircle, an ellipse, a semi-ellipse, a square, It may be a polygon such as a rectangle. Moreover, it is preferable that a wire is an elastic body.
[0039]
Moreover, the longitudinal direction of the wire is not limited to the axial direction when the wire is linear, but includes a direction along the wire pattern when the wire is curved or bent, for example.
[0040]
As shown in FIGS. 1 and 2, the actuator body 3 includes a plate-like base 4, a vibrating body 6 that moves the wire 2, two large-diameter guide rollers (guide means) 51 and 52, And small-diameter guide rollers (guide means) 53, 54, 55 and 56. The guide roller 53 and the guide roller 54 make a pair, and the guide roller 55 and the guide roller 56 make a pair.
[0041]
The vibrating body 6 is installed on one surface of the base 4 (upper side in FIG. 2) in a posture parallel to the base 4, and includes two guide rollers 51 and 52, two pairs of guide rollers 53, 54, and 55 and 56 are respectively installed on one surface (upper side in FIG. 2) of the base 4 so as to be rotatable in a posture parallel to the base 4. The vibrating body 6 will be described in detail later.
[0042]
On the peripheral surfaces (outer peripheral surfaces) of the guide rollers 51 and 52, grooves (detachment preventing means) 511 and 521 having a concave cross section, for example, an arc shape are formed along the outer periphery.
[0043]
Further, grooves (detachment preventing means) 531, 541, 551, and 561 having a V-shaped cross section, for example, are formed along the outer periphery on the peripheral surfaces (outer peripheral surfaces) of the guide rollers 53, 54, 55, and 56. Has been.
[0044]
The guide roller 51 and the guide roller 52 are arranged in a horizontal direction (the guide roller 51 is on the left side and the guide roller 52 is on the right side) with a predetermined distance therebetween, and the grooves 511 of the guide roller 51 and the guide roller 52 The wires 2 are disposed in the grooves 521, respectively.
[0045]
As shown in FIG. 1, the pair of guide rollers 53 and 54 are arranged in parallel in the vertical direction (the guide roller 53 is on the lower side and the guide roller 54 is on the upper side), that is, the groove 531 of the guide roller 53. The wire 2 is disposed between the groove 541 of the guide roller 54.
[0046]
Similarly, the pair of guide rollers 55 and 56 are arranged side by side in the vertical direction (the guide roller 55 is on the lower side and the guide roller 56 is on the upper side), that is, between the groove 551 of the guide roller 55 and the groove of the guide roller 56. Between the wires 561, the wire 2 is disposed.
[0047]
These two pairs of guide rollers 53, 54 and 55, 56 are disposed outside the guide rollers 51 and 52, respectively. That is, one pair of guide rollers 53 and 54 is disposed on the left side of the guide roller 51, and the other pair of guide rollers 55 and 56 is disposed on the right side of the guide roller 52.
[0048]
The vibrating body 6 is disposed above the guide rollers 51 and 52 so that the convex portion 66 is located between the guide roller 51 and the guide roller 52. The vibrating body 6 is installed in a posture inclined at a predetermined angle as shown in FIG. 1 so that the convex portion 66 contacts the wire 2.
[0049]
As shown in FIG. 2, the vibrating body 6 and the guide rollers 51, 52, 53, 54, 55 and 56 are all located on substantially the same straight line when viewed from the lower side in FIG. As shown in FIG. 1, the upper ends of the guide rollers 51, 52, 53 and 55 are all arranged on substantially the same straight line.
[0050]
As shown in FIG. 1, the convex portion 66 of the vibrating body 6 abuts on the wire 2, and the wire 2 is pressed against the guide rollers 51 and 52 by the convex portion 66 and bent. And the convex part 66 of the vibrating body 6 receives the restoring force (elastic force) of the wire 2, ie, the reaction force, and is pressed upward.
[0051]
When the vibrating body 6 vibrates, the wire 2 repeatedly receives frictional force (pressing force) from the vibrating body 6 and moves to the right side.
The vibrating body 6 is smaller (thin) than a normal motor or the like.
[0052]
In the present invention, by moving the wire 2 using the vibrating body 6, the wire actuator 1 as a whole can be reduced in size, particularly reduced in thickness (in the vertical direction in FIG. 2). Hereinafter, the vibrating body 6 will be described.
[0053]
As shown in FIGS. 3 and 4, the vibrating body 6 has a substantially rectangular plate shape. The vibrating body 6 includes a plate-like electrode 61, a plate-like piezoelectric element 62, a reinforcing plate 63, a plate-like piezoelectric element 64, and a plate-like electrode 65 laminated in this order from the upper side in FIG. Configured. 3 and 4, the thickness direction is exaggerated.
[0054]
Each of the piezoelectric elements 62 and 64 has a rectangular shape, and expands and contracts in the longitudinal direction (long side direction) when a voltage is applied. The constituent materials of the piezoelectric elements 62 and 64 are not particularly limited, and lead zirconate titanate (PZT), crystal, lithium niobate, barium titanate, lead titanate, lead metaniobate, polyvinylidene fluoride, zinc niobate Various materials such as lead and lead scandium niobate can be used.
[0055]
These piezoelectric elements 62 and 64 are fixed to both surfaces of the reinforcing plate 63, respectively. The reinforcing plate 63 has a function of reinforcing the entire vibrating body 6 and prevents the vibrating body 6 from being damaged by over-amplitude, external force, or the like. The constituent material of the reinforcing plate 63 is not particularly limited, but for example, various metal materials such as stainless steel, aluminum or aluminum alloy, titanium or titanium alloy, copper or copper alloy are preferable.
[0056]
The reinforcing plate 63 is preferably thinner (smaller) than the piezoelectric elements 62 and 64. Thereby, the vibrating body 6 can be vibrated with high efficiency.
[0057]
The reinforcing plate 63 also has a function as a common electrode for the piezoelectric elements 62 and 64. That is, an alternating voltage is applied to the piezoelectric element 62 by the electrode 61 and the reinforcing plate 63, and an alternating voltage is applied to the piezoelectric element 64 by the electrode 65 and the reinforcing plate 63.
[0058]
The piezoelectric elements 62 and 64 repeatedly expand and contract in the longitudinal direction when an AC voltage is applied, and accordingly, the reinforcing plate 63 also repeatedly expands and contracts in the longitudinal direction. That is, when an AC voltage is applied to the piezoelectric elements 62 and 64, the vibrating body 6 vibrates with a small amplitude (longitudinal vibration) in the longitudinal direction (long side direction) as shown by the arrows in FIGS. And the convex part 66 vibrates longitudinally (reciprocating motion).
A convex portion 66 is integrally formed at the right end of the reinforcing plate 63 in FIG.
[0059]
As shown in FIGS. 2, 3, and 4, in the present embodiment, a groove (concave) 661 is formed at the tip of the convex portion 66 of the vibrating body 6 along the longitudinal direction of the wire 2. The wire 2 is in contact with the inner surface (concave surface) 662 of the groove 661. Thereby, it can prevent that the convex part 66 of the vibrating body 6 remove | deviates from the wire 2. FIG.
[0060]
As shown in FIGS. 3 and 4, the cross-sectional shape of the groove 661 (inner surface 662) has an arc shape. Thereby, the wire 2 is located in the center part of the convex part 66, For this reason, the wire 2 can be driven more smoothly and efficiently.
[0061]
The convex portion 66 is displaced from the center in the width direction of the reinforcing plate 63 (center line 69 shown in FIG. 5) (in the illustrated configuration, the lower left corner in FIG. 1, that is, the lower side in FIG. It is provided at the left end of the end side 601).
[0062]
The groove 661 of the convex portion 66 can be formed by, for example, etching (overetching) or the like. By using the etching method, the groove 661 can be formed easily and accurately even with a small size.
[0063]
Further, the arm portion 68 is provided so as to protrude from the substantially longitudinal center of the reinforcing plate 63 in a direction substantially perpendicular to the longitudinal direction. A hole 681 into which the bolt 13 is inserted is formed at the tip of the arm portion 68.
[0064]
As shown in FIGS. 1 and 2, such a vibrating body 6 is installed such that the inner surface 662 of the convex portion 66 contacts the wire 2 from above.
[0065]
The vibrating body 6 is installed in a posture substantially parallel to the base 4. This is particularly advantageous for reducing the overall thickness of the wire actuator 1.
[0066]
The vibrating body 6 is fixed to a screw hole (not shown) provided in the base 4 by a bolt 13 in the vicinity of the hole 681 of the arm portion 68. That is, the vibrating body 6 is supported by the arm portion 68. Thereby, the vibrating body 6 can vibrate freely and vibrates with a relatively large amplitude. The vibrating body 6 is installed in a state where the inner surface 662 of the convex portion 66 is pressed against the wire 2 by the elasticity of the arm portion 68 and the restoring force of the wire 2.
[0067]
When the vibrating body 6 is vibrated by applying an AC voltage to the piezoelectric elements 62 and 64 in a state where the convex portion 66 is in contact with the wire 2, the wire 2 rubs from the convex portion 66 when the vibrating body 6 extends. It receives force (pressing force) and moves to the right side by this repeated frictional force (pressing force).
[0068]
At this time, the movement direction of the wire 2 is regulated (guided) by the guide rollers 51, 52, 53, 54, 55, and 56, and separation from the guide rollers is prevented by the grooves.
[0069]
The guide rollers 51 and 52 rotate without slipping with respect to the wire 2 when the wire 2 moves.
[0070]
Further, since the wire 2 is directly driven (moved) by the vibrating body 6, it is particularly advantageous for weight reduction and size reduction (thinning). In addition, the structure can be greatly simplified, and the manufacturing cost can be reduced.
[0071]
Moreover, in this embodiment, since the in-plane vibration of the vibrating body 6 is directly converted into the linear motion (movement) of the wire 2, the energy loss accompanying this conversion is small, and the wire 2 can be driven with high efficiency. it can.
[0072]
In addition, unlike the case where the vibrating body 6 is driven by a magnetic force like a normal motor, the driving force is high because the wire 2 is driven by the frictional force (pressing force) as described above. For this reason, unlike the present embodiment, the wire 2 can be driven with sufficient force without using a speed change mechanism (deceleration mechanism).
[0073]
The frequency of the AC voltage applied to the piezoelectric elements 62 and 64 is not particularly limited, but is preferably approximately the same as the resonance frequency of vibration (longitudinal vibration) of the vibrating body 6. Thereby, the amplitude of the vibrating body 6 becomes large and the wire 2 can be driven with high efficiency.
[0074]
As described above, the vibrating body 6 mainly vibrates longitudinally in the longitudinal direction, but it is more preferable to excite longitudinal vibration and bending vibration at the same time to cause the convex portion 66 to elliptically vibrate (elliptical motion). Thereby, the wire 2 can be driven with higher efficiency. Hereinafter, this point will be described.
[0075]
As shown in FIG. 5, when the vibrating body 6 drives the wire 2, the convex portion 66 receives a reaction force as indicated by an arrow in FIG. 5 from the wire 2. In this embodiment, since the convex portion 66 is provided at a position shifted from the center line 69 of the vibrating body 6, the vibrating body 6 bends in the in-plane direction as shown in FIG. It will deform and vibrate. In FIG. 5, the deformation of the vibrating body 6 is exaggerated.
[0076]
By appropriately selecting the frequency of the applied voltage, the shape and size of the vibrating body 6, the position of the convex portion 66, and the like, the resonance frequency of this bending vibration can be made substantially equal to the frequency of the longitudinal vibration. In this way, the longitudinal vibration and the bending vibration of the vibrating body 6 occur simultaneously, the amplitude becomes larger, and the convex portion 66 is displaced substantially along an ellipse as shown by a one-dot chain line in FIG. Vibrate.
[0077]
Thereby, in one vibration of the vibrating body 6, when the convex portion 66 sends the wire 2 in the longitudinal direction, the convex portion 66 is pressed against the wire 2 with a strong force, and when the convex portion 66 returns, Therefore, the vibration of the vibrating body 6 can be converted with high efficiency by the movement of the wire 2 (linear motion).
[0078]
In addition to the advantage that the wire actuator 1 can be reduced in size (thinner), since a normal motor is not used to move the wire 2, there is no electromagnetic noise as in a normal motor. Since there are few, there is also an advantage that peripheral devices are not affected.
[0079]
Further, when the wire 2 is not driven (stopped), the frictional force between the convex portion 66 and the wire 2 prevents the wire 2 from moving, that is, the wire 2 can be held at a predetermined position. it can.
[0080]
Also, as shown in FIG. 2, when assembling, there is no part to be assembled to the base 4 from the lower side in FIG. 2, and it is possible to assemble by assembling the parts from one direction (the upper side in FIG. 2). There is also an advantage that can be done quickly.
[0081]
Further, the arrangement pattern of the wires 2 can be freely set by a guide means such as the guide roller.
[0082]
Next, a second embodiment of the wire actuator of the present invention will be described.
7 is a plan view showing a second embodiment of the wire actuator of the present invention, FIG. 8 is a side view of the wire actuator shown in FIG. 7, and FIG. 9 is a perspective view of a vibrating body in the wire actuator shown in FIG. 10 and 11 are plan views showing how the vibrating body in the wire actuator shown in FIG. 7 vibrates, and FIG. 12 is a block diagram showing the circuit configuration of the wire actuator shown in FIG. In the following description, the upper side in FIG. 7 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.
[0083]
Hereinafter, the wire actuator 1 according to the second embodiment will be described with a focus on the differences from the first embodiment described above, and description of similar matters will be omitted.
[0084]
As shown in FIGS. 7, 8, and 12, the wire actuator 1 of the second embodiment includes a movement amount detection means 7 that detects the movement amount of the wire 2, an oscillation circuit 81, an amplification circuit 82, and a movement amount control circuit. A drive circuit 8 having 83 and a switch 9 are provided.
[0085]
As shown in FIGS. 7 and 8, the movement amount detection means 7 includes a slit plate 71 in which a plurality of slits are formed at regular intervals on the outer periphery, and a sensor 72 having a light emitting part and a light receiving part. .
[0086]
In the present embodiment, as the sensor 72, a light emitting element that irradiates light toward the outer peripheral portion of the slit plate 71 (a portion where the slit is formed), and light emitted from the light emitting element and reflected by the slit plate 71 ( A photo reflector having a light receiving element that receives (photoelectric conversion) light is used. However, the present invention is not limited to this. For example, a light emitting element that emits light toward the outer peripheral portion of the slit plate 71 and the light emitting element A photo interrupter having a light receiving element that receives (photoelectrically converts) light (transmitted light) that is emitted from the light and passes (transmitted) through the slit of the slit plate 71 may be used.
[0087]
The slit plate 71 is fixed to the side surface of the guide roller 51 and rotates integrally with the guide roller 51.
[0088]
On the other hand, as described in the first embodiment, when the wire 2 moves, the guide roller 51 rotates without slipping with respect to the wire 2, so that the movement amount of the wire 2 is the rotation amount of the guide roller 51, that is, Corresponding to the rotation amount of the slit plate 71, the moving speed of the wire 2 corresponds to the rotation speed (rotation speed) of the guide roller 51, that is, the rotation speed (rotation speed) of the slit plate 71.
[0089]
Further, the sensor 72 is installed on the upper surface of the base 4 in FIG. 8 and in the vicinity of the slit plate 71.
[0090]
When the wire 2 moves and the slit plate 71 rotates, a pulse (pulse signal) is output from the sensor 72 accordingly. This pulse is supplied (input) to the movement amount control circuit 83 of the drive circuit 8, and the movement amount control circuit 83 counts the pulses and obtains the movement amount of the wire 2 based on the count value (number of pulses). . The moving speed of the wire 2 can also be obtained based on the pulse period or the number of pulses within a predetermined time. Information on the moving amount and moving speed of the wire 2 is used for predetermined control and processing.
[0091]
Note that the movement amount detection means 7 is not limited to optical detection, and may be magnetic detection, for example.
[0092]
Moreover, in this wire actuator 1, the electrodes of the vibrating body 6 are divided, a voltage is selectively applied to them, and the piezoelectric element is partially driven to generate longitudinal and bending vibrations in the plane. It can be arbitrarily selected. That is, by changing the energization state (vibration pattern of the vibrating body 6) to the vibrating body 6, the direction of the vibration (vibration displacement) of the convex portion 66 of the vibrating body 6 is changed, whereby the wire 2 is moved to the right side and the left side. It can be moved in any direction (forward direction and reverse direction) (the moving direction of the wire 2 can be switched). This will be specifically described below.
[0093]
As shown in FIG. 9, the vibrating body 6 has a structure in which a piezoelectric element 62 is stacked on the upper side of the reinforcing plate 63 in FIG. 9 and a piezoelectric element 64 is stacked on the lower side, like the vibrating body 6 in the first embodiment. The four plate-like electrodes 61a, 61b, 61c, and 61d are installed on the upper side of the piezoelectric element 62 in FIG. 9, and the four plate-like electrodes 65a, 65b, 65c on the lower side of the piezoelectric element 64 in FIG. And 65d (electrodes 65a, 65b, 65c and 65d are not shown, and only the reference numerals are shown in parentheses) are different from the first embodiment. That is, the piezoelectric element 62 is divided (divided) substantially equally into four rectangular areas, and rectangular electrodes 61a, 61b, 61c and 61d are respectively installed in the divided areas. 64 is divided (divided) into four regions, and rectangular electrodes 65a, 65b, 65c, and 65d are provided in each of the divided regions. In addition, electrodes 65a, 65b, 65c, and 65d are disposed on the back sides of the electrodes 61a, 61b, 61c, and 61d, respectively.
[0094]
The electrodes 61a and 61c on one diagonal line and the electrodes 65a and 65c located on the back side thereof are all electrically connected. Similarly, the electrodes 61b and 61d on the other diagonal line are located on the back side thereof. The electrodes 65b and 65d to be connected are all electrically connected (hereinafter simply referred to as “connection”).
[0095]
The switch 9 has two switch parts 91 and 92 that are interlocked. The electrode 61 d of the vibrating body 6 is connected to the terminal 97 of the switch part 91, and the electrode 61 a is connected to the terminal 98 of the switch part 92. ing.
[0096]
The terminal 93 of the switch unit 91 and the terminal 96 of the switch unit 92 are respectively connected to the output side of the amplifier circuit 82 of the drive circuit 8, and an AC voltage is applied from the amplifier circuit 82 to each of the terminals 93 and 96. It is to be applied.
[0097]
Further, the reinforcing plate 63 of the vibrating body 6 is grounded.
Further, the terminal 94 of the switch unit 91 and the terminal 95 of the switch unit 92 are respectively connected to the input side of the oscillation circuit 81 of the drive circuit 8.
[0098]
As shown in FIGS. 7 and 8, the vibrating body 6 has the short side 601 of the vibrating body 6 and the wire 2 substantially parallel, that is, the long side 602 of the vibrating body 6 and the wire 2 are substantially vertical. Is installed.
[0099]
The reinforcing plate 63 is provided with two arm portions 68 symmetrically, and the vibrating body 6 is provided on the base 4 by a bolt 13 in the vicinity of the hole 681 of each arm portion 68. It is fixed to a screw hole (not shown).
[0100]
Further, the convex portion 66 is provided on the lower short side 601 side and in the center of the reinforcing plate 63 in the width direction.
[0101]
When the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 are energized and an AC voltage is applied between the electrodes 61a, 61c, 65a and 65c and the reinforcing plate 63, as shown in FIG. The portions of the vibrating body 6 corresponding to the electrodes 61a, 61c, 65a and 65c repeatedly expand and contract in the direction of the arrow a, whereby the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the oblique direction indicated by the arrow b. Motion) or elliptical vibration (elliptical motion) as indicated by an arrow c. The wire 2 receives a frictional force (pressing force) from the convex portion 66 when portions corresponding to the electrodes 61a, 61c, 65a, and 65c of the vibrating body 6 extend, and the repeated frictional force (pressing force) Move to the left in 10
[0102]
Contrary to the above, when the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are energized and an AC voltage is applied between the electrodes 61b, 61d, 65b and 65d and the reinforcing plate 63, 11, the portions corresponding to the electrodes 61b, 61d, 65b, and 65d of the vibrating body 6 repeatedly expand and contract in the direction of the arrow a, whereby the convex portion 66 of the vibrating body 6 is inclined as shown by the arrow b. Vibrates in the direction (reciprocating motion) or elliptically vibrates (elliptical motion) as indicated by an arrow c. The wire 2 receives a frictional force (pressing force) from the convex portion 66 when the portions corresponding to the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 extend, and the repeated frictional force (pressing force) 11 Move to the right.
[0103]
10 and 11, the deformation of the vibrating body 6 is exaggerated and the arm portion 68 is not shown.
[0104]
Here, by appropriately selecting the shape and size of the vibrating body 6 and the position of the convex portion 66 and setting the resonance frequency of the bending vibration to the same level as the frequency of the longitudinal vibration, the longitudinal vibration and bending of the vibrating body 6 are achieved. Vibration occurs simultaneously, and the convex portion 66 can be displaced (elliptical vibration) substantially along an ellipse, as shown by a one-dot chain line in FIG. Further, as known in the art, longitudinal vibration and bending vibration are driven with their phases shifted separately, whereby the ratio of the major axis to the minor axis (major axis / minor axis) of elliptical oscillation can be changed.
[0105]
Next, the effect | action of the wire actuator 1 is demonstrated based on FIG.
In the state where the power switch is turned on, if there is an instruction for the moving direction and moving amount of the wire 2, the moving amount control circuit 83 of the switch 9 and the drive circuit 8 operates based on the instruction.
[0106]
In the case of an instruction to move the wire 2 to the upper side in FIG. 12, as shown in FIG. 12, the terminal 9 and the terminal 97 of the switch 9 are connected, and the switch 9 is connected so that the terminal 95 and the terminal 98 are connected. Switch. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are conducted, and the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 and the drive circuit 8 The input side of the oscillation circuit 81 is conducted.
[0107]
The oscillation circuit 81 and the amplification circuit 82 of the drive circuit 8 are controlled by a movement amount control circuit 83, respectively.
[0108]
The AC voltage output from the oscillation circuit 81 is amplified by the amplification circuit 82 and applied between the electrodes 61 b, 61 d, 65 b and 65 d and the reinforcing plate 63. Thereby, as described above, the portions corresponding to the electrodes 61b, 61d, 65b, and 65d of the vibrating body 6 are repeatedly expanded and contracted, and the convex portion 66 of the vibrating body 6 extends in an oblique direction indicated by an arrow b in FIG. Vibration (reciprocating motion) or elliptical vibration (elliptical motion) as shown by an arrow c, and the wire 2 is convex when the portions corresponding to the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are extended. The frictional force (pressing force) is received from 66, and it moves upward in FIG. 12 by this repeated frictional force (pressing force).
[0109]
At this time, the electrodes 61a, 61c, 65a, and 65c that are not driven become detection electrodes, respectively, and a voltage (induced voltage) induced between the electrodes 61a, 61c, 65a, and 65c and the reinforcing plate 63 is detected. Used for detection.
[0110]
The detected induced voltage (detection voltage) is input to the oscillation circuit 81, and the oscillation circuit 81 has a frequency at which the amplitude of the vibrating body 6 is maximum, that is, the detection voltage is maximum based on the detection voltage. Outputs AC voltage at (resonance frequency). Thereby, the wire 2 can be moved efficiently.
[0111]
Further, a pulse (pulse signal) is input from the sensor 72 of the movement amount detection means 7 to the movement amount control circuit 83. The movement amount control circuit 83 counts the pulses, obtains the movement amount (actual value) of the wire 2 based on the count value (number of pulses), and determines the value and the movement amount (target) of the instructed wire 2. The oscillation circuit 81 and the amplification circuit 82 are operated until the actual movement amount of the wire 2 reaches the designated movement amount, the vibrating body 6 is driven, and the wire 2 is moved.
[0112]
On the contrary, in the case of an instruction to move the wire 2 downward in FIG. 12, the switch 94 is switched so that the terminal 94 and the terminal 97 of the switch 9 are connected and the terminal 96 and the terminal 98 are connected. . As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 are electrically connected, and the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 and the drive circuit 8 The input side of the oscillation circuit 81 is conducted. The subsequent operation is the same as that in the case of an instruction to move the wire 2 to the upper side in FIG.
[0113]
According to the wire actuator 1 of this 2nd Embodiment, the effect similar to 1st Embodiment mentioned above is acquired.
[0114]
And in this wire actuator 1, the movement amount and movement speed of the wire 2 can be detected, and various control can be performed using the information.
[0115]
Moreover, since the wire 2 can be moved in both forward and reverse directions (both left and right directions), versatility is wide.
[0116]
In addition, since the wire 2 can be moved in both directions with the single vibrating body 6, the number of parts can be reduced compared with the case where a dedicated vibrating body is provided for each moving direction, and the manufacturing is easy. Further, it is advantageous for reducing the size of the entire wire actuator 1.
[0117]
Next, a third embodiment of the wire actuator of the present invention will be described.
FIG. 13 is a plan view showing a third embodiment of the wire actuator of the present invention. In the following description, the upper side in FIG. 13 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.
[0118]
Hereinafter, the wire actuator 1 according to the third embodiment will be described focusing on the differences from the second embodiment described above, and description of similar matters will be omitted.
[0119]
As shown in the figure, in the wire actuator 1 according to the third embodiment, the vibrating body 6 has the long side 602 of the vibrating body 6 and the wire 2 substantially parallel, that is, the short side 601 of the vibrating body 6 and the wire 2. Is installed so as to be substantially vertical.
[0120]
Thereby, the wire actuator 1 can be further reduced in size (smaller in the vertical direction).
[0121]
One arm portion 68 is provided on the upper side of the reinforcing plate 63, and the vibrating body 6 has a screw hole (not shown) provided in the base 4 by the bolt 13 in the vicinity of the hole 681 of the arm portion 68. It is fixed to.
[0122]
Further, the convex portion 66 is provided at the right end of the long side 602 below the reinforcing plate 63.
[0123]
According to the wire actuator 1 of the third embodiment, the same effects as those of the second embodiment described above can be obtained.
[0124]
Although illustration and description are omitted, it is preferable that the third embodiment also includes the movement amount detection means 7 in the second embodiment described above.
[0125]
Next, a fourth embodiment of the wire actuator of the present invention will be described.
FIG. 14 is a plan view showing a fourth embodiment of the wire actuator of the present invention. In the following description, the upper side in FIG. 14 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.
[0126]
Hereinafter, the wire actuator 1 of the fourth embodiment will be described focusing on the differences from the third embodiment described above, and the description of the same matters will be omitted.
[0127]
As shown in the figure, in the wire actuator 1 of the fourth embodiment, the convex portions 66 of the vibrating body 6 are provided at a plurality of locations (two locations in the illustrated configuration) of the reinforcing plate 63. One convex portion 66 is provided at the right end of the long side 602 below the reinforcing plate 63, and the other convex portion 66 is the left end of the long side 602 below the reinforcing plate 63. Is provided.
[0128]
The vibrating body 6 is disposed such that the right convex portion 66 is positioned between the guide roller 51 and the guide rollers 55 and 56, and the left convex portion 66 is positioned between the guide roller 51 and the guide rollers 53 and 54. Has been.
[0129]
Further, the guide roller 51 is located at the center of the vibrating body 6 in the longitudinal direction, and the guide rollers 53 and 54 and the guide rollers 55 and 56 are disposed at a substantially equal distance from the guide roller 51.
[0130]
Each protrusion 66 of the vibrating body 6 abuts on the wire 2, and the wire 2 is pressed against the guide rollers 51, 53 and 55 by each protrusion 66 and bent. And each convex part 66 of the vibrating body 6 receives the restoring force (elastic force), ie, reaction force, of the wire 2, and is pressed upward.
[0131]
When the vibrating body 6 vibrates, the wire 2 alternately receives a frictional force (pressing force) from each convex portion 66 of the vibrating body 6 and moves to the right side or the left side.
[0132]
According to the wire actuator 1 of this 4th Embodiment, the effect similar to 3rd Embodiment mentioned above is acquired.
[0133]
In this wire actuator 1, the frictional force (pressing force) is alternately applied to the wire 2 by the two protruding portions 66 separated from the vibrating body 6 to move the wire 2. As compared with the case of moving the wire 2, the wire 2 can be moved with a strong force.
[0134]
Although illustration and description are omitted, it is preferable that the fourth embodiment also includes the movement amount detection means 7 in the second embodiment described above.
[0135]
Next, a fifth embodiment of the wire actuator of the present invention will be described.
FIG. 15 is a plan view showing a fifth embodiment of the wire actuator of the present invention, in which one base is removed, FIG. 16 is a side view of the wire actuator shown in FIG. 15, and FIG. FIG. 16 is a sectional view taken along line BB in FIG. In the following description, the upper side in FIG. 15 is referred to as “upper”, the lower side as “lower”, the right side as “right”, and the left side as “left”.
[0136]
Hereinafter, the wire actuator 1 of the fifth embodiment will be described focusing on the differences from the second embodiment described above, and the description of the same matters will be omitted.
[0137]
As shown in these drawings, the wire actuator 1 of the fifth embodiment has a plurality of plate-like actuator units (three actuator units 10a, 10b, and 10c in the illustrated configuration).
[0138]
In this case, the wire actuator 1 has a pair of plate-like bases 41 and 42 arranged to be parallel to each other, and the bases 41 and 42 are shared by the actuator units 10a, 10b, and 10c. ing. The base 41 is disposed at the left end in FIG. 17, and the base 42 is disposed at the right end in FIG.
[0139]
As shown in FIGS. 16 and 17, the actuator units 10a, 10b, and 10c have substantially the same arrangement direction of the wires 2, and are in the thickness direction of the vibrating body 6 (actuator units 10a, 10b, and 10c). They are arranged so as to overlap. The actuator units 10a, 10b and 10c are arranged in the order of the actuator units 10a, 10b and 10c from the left side to the right side in FIG. Moreover, as shown in FIG. 17, each wire 2 is located in a line in the horizontal direction in FIG.
[0140]
In this way, by overlapping the actuator units 10a, 10b, and 10c, the wires 2 can be concentrated (integrated).
[0141]
As shown in FIG. 17, the vibration body 6 is located at a position corresponding to the hole 681 of the arm portion 68 on the right side in FIG. 15, between the base 41 and the vibration body 6 of the actuator unit 10a, and the vibration body 6 of the actuator unit 10a. Spacers 145 are provided between the vibration member 6 of the actuator unit 10b, between the vibration member 6 of the actuator unit 10b and the vibration member 6 of the actuator unit 10c, and between the actuator unit 10c and the base 42, respectively. 141, 142, 143 and 144 are installed. Similarly, four spacers (not shown) provided with holes are also provided at positions corresponding to the holes 681 of the left arm portion 68 in FIG.
[0142]
Two bolts 15 (one bolt is not shown) are inserted into the holes 411 provided in the base 41, the holes 145 of the spacers 141 to 144, and the holes 681 of the arm portions 68, respectively. The vibrating bodies 6 are fixed by the two bolts 15 which are screwed into the screw holes 421 provided in the screw holes 421.
[0143]
Note that the structure and operation of each actuator unit 10a to 10c are substantially the same as those of the second embodiment described above, and therefore the description thereof is omitted.
[0144]
According to the wire actuator 1 of the fifth embodiment, the same effects as those of the second embodiment described above can be obtained.
[0145]
And in this wire actuator 1, since each actuator unit 10a-10c has overlapped in the thickness direction of the vibrating body 6, the wire actuator 1 can be reduced more in size.
[0146]
Moreover, in this wire actuator 1, since each actuator unit 10a-10c has comprised plate shape (planar shape), they can be piled up easily (lamination), and an assembly can be performed easily.
[0147]
Although illustration and description are omitted, also in the fifth embodiment, each actuator unit 10a, 10b, and 10c preferably has the movement amount detection means 7 in the second embodiment described above.
[0148]
Next, a sixth embodiment of the wire actuator of the present invention will be described.
FIG. 18 is a sectional view (corresponding to FIG. 17 of the fifth embodiment) showing a sixth embodiment of the wire actuator of the present invention.
[0149]
Hereinafter, the wire actuator 1 according to the sixth embodiment will be described with a focus on differences from the second embodiment described above, and description of similar matters will be omitted.
[0150]
As shown in the figure, the wire actuator 1 of the sixth embodiment has a plurality of plate-like (four in the illustrated configuration) actuator units 10.
[0151]
Each actuator unit 10 is arranged so that the arrangement directions of the wires 2 are substantially coincident with each other and the wires 2 are gathered at the center, that is, radially around the convex portion 66 (wire 2) side of the vibrating body 6. (In the configuration shown, 90 ° intervals).
[0152]
Note that the structure and operation of each actuator unit 10 are substantially the same as those in the second embodiment described above, and a description thereof will be omitted.
[0153]
According to the wire actuator 1 of the sixth embodiment, the same effects as those of the second embodiment described above can be obtained.
[0154]
And in this wire actuator 1, each wire 2 can be concentrated by arrange | positioning each actuator unit 10 radially.
[0155]
Although illustration and description are omitted, also in the sixth embodiment, each actuator unit 10 preferably has the movement amount detection means 7 in the second embodiment described above.
[0156]
In the present embodiment, the angle (center angle) between the actuator units 10 is an equiangular angle. However, in the present invention, the angle may not be equal.
[0157]
Next, a seventh embodiment of the wire actuator of the present invention will be described.
FIG. 19 is a plan view showing a seventh embodiment of the wire actuator of the present invention.
[0158]
Hereinafter, the wire actuator 1 according to the seventh embodiment will be described with a focus on differences from the second embodiment described above, and description of similar matters will be omitted.
[0159]
As shown in the figure, the wire actuator 1 of the seventh embodiment is an actuator that directly drives (moves) the annular wire 2, and the annular wire 2 and the wire 2 can move in a direction along the pattern. The actuator unit 10 is composed of an actuator body 3 attached to the actuator unit 3.
[0160]
The actuator body 3 includes a plate-like base 4, a vibrating body 6 that moves the wire 2, guide rollers (guide means) 51, 52, 57, 58, 59, 111, and 112, and a driven roller 12. ing.
[0161]
The vibrating body 6 is installed on one surface of the base 4 in a posture parallel to the base 4, and the guide rollers 51, 52, 57, 58, 59, 111, and 112 are respectively connected to the one side of the base 4. It is installed on the surface in a rotatable manner in a posture parallel to the base 4.
[0162]
On the other hand, the driven roller 12 is rotatably installed in a position parallel to the base 4, the vibrating body 6, and each guide roller at a predetermined distance from the vibrating body 6 (base 4). That is, the vibrating body 6 (base 4) is located on one end side, and the driven roller 12 is located on the other end side.
[0163]
The wire 2 is hung on the driven roller 12, and is held by the driven roller 12 and the guide rollers 51, 52, 57, 58, 59, 111 and 112 in a pattern (shape) shown in FIG. The moving direction is restricted (guided). That is, the wire 2 circulates while holding the illustrated pattern by the vibration of the vibrating body 6.
[0164]
Further, grooves (detachment preventing means) 511, 521, 571, 581, 591 and 121 are provided along the outer periphery of the peripheral surfaces (outer peripheral surfaces) of the guide rollers 51, 52, 57, 58, 59 and the driven roller 12, respectively. The wire 2 is disposed in the grooves 511, 521, 571, 581, 591 and 121. Thereby, detachment of the wire 2 from the driven roller 12 and each guide roller is prevented.
[0165]
The vibrating body 6 is positioned inside the wire 2, and the convex portion 66 of the vibrating body 6 is in contact with the inside of the wire 2. Thereby, compared with the case where the vibrating body 6 is provided in the outer side of the wire 2, the wire actuator 1 can be reduced in size.
[0166]
When the wire 2 moves (circulates) in the direction of the arrow d due to the vibration of the vibrating body 6, the driven roller 12 rotates counterclockwise in FIG. 19 and is driven from the driven roller 12 (via the driven roller 12). Force (output) can be taken out.
[0167]
Conversely, when the wire 2 moves (circulates) in the direction of arrow e due to the vibration of the vibrating body 6, the driven roller 12 rotates clockwise in FIG. 19 and similarly from the driven roller 12 (driven roller 12 The driving force (output) can be taken out.
[0168]
According to the wire actuator 1 of the seventh embodiment, the same effects as those of the second embodiment described above can be obtained.
[0169]
Although illustration and description are omitted, it is preferable that the seventh embodiment also includes the movement amount detection means 7 in the second embodiment described above.
[0170]
Further, in the present embodiment, the vibrating body 6 is configured such that the short side 601 of the vibrating body 6 and the wire 2 (tangent line where the convex portion 66 of the wire 2 is in contact) are substantially parallel, that is, the length of the vibrating body 6 is long. The side 602 and the wire 2 (tangent line at the portion where the convex portion 66 of the wire 2 abuts) are installed so as to be substantially vertical. However, the present invention is not limited to this, and the vibrating body 6 is, for example, the vibrating body 6. The long side 602 and the wire 2 (tangent line where the convex portion 66 of the wire 2 abuts) are substantially parallel, that is, the short side 601 of the vibrating body 6 and the wire 2 (the convex portion 66 of the wire 2 abut). It may be installed so that the tangent line in the portion is substantially vertical.
[0171]
Further, as in the above-described fourth embodiment, the vibrating body 6 may be provided with two or more portions that are in contact with the wire 2, that is, convex portions 66.
[0172]
Further, as in the fifth embodiment and the sixth embodiment described above, a plurality of actuator units may be provided, and for example, they may be arranged so as to overlap in the thickness direction or radially.
[0173]
As mentioned above, although the wire actuator of the present invention has been described based on the illustrated embodiments, the present invention is not limited to these, and the configuration of each part is replaced with an arbitrary configuration having the same function. can do.
[0174]
The wire actuator of the present invention may be a combination of any two or more configurations (features) of the above embodiments.
[0175]
In the present invention, the shape and structure of the vibrating body are not limited to the illustrated configuration, and any shape can be used as long as the wire can be driven (moved). For example, the piezoelectric element may be a single element, may not have a reinforcing plate, or may have a shape in which the width gradually decreases toward a portion in contact with the wire.
[0176]
In the embodiment, one vibrating body 6 is installed in one actuator unit 10. However, in the present invention, a plurality of vibrating bodies 6 may be provided in one actuator unit 10.
[0177]
The use of the wire actuator of the present invention is not particularly limited. For example, in the case of a device including a plurality of actuator units, it is possible to pull a finger of a robot (drive).
[0178]
【The invention's effect】
As described above, according to the present invention, the wire actuator can be moved using the vibrating body, and in particular, the wire actuator can be directly driven using the vibrating body, thereby reducing the overall size of the wire actuator, in particular, reducing the thickness. it can.
[0179]
Further, the structure can be simplified, and the manufacturing cost can be reduced.
Further, since a normal motor is not used, there is no electromagnetic noise at all, or even a small amount, so that it is possible to prevent peripheral devices from being affected.
[Brief description of the drawings]
FIG. 1 is a plan view showing a wire actuator according to a first embodiment of the present invention.
FIG. 2 is a side view of the wire actuator shown in FIG.
3 is a perspective view of a vibrating body in the wire actuator shown in FIG. 1. FIG.
4 is a side view of the vibrating body in the wire actuator shown in FIG. 1 (viewed from the direction of arrow A in FIG. 3).
5 is a plan view showing a state in which a vibrating body in the wire actuator shown in FIG. 1 bends and vibrates. FIG.
6 is a plan view showing a state in which the convex portion of the vibrating body in the wire actuator shown in FIG. 1 moves elliptically.
FIG. 7 is a plan view showing a second embodiment of the wire actuator of the present invention.
8 is a side view of the wire actuator shown in FIG.
9 is a perspective view of a vibrating body in the wire actuator shown in FIG.
10 is a plan view showing a state in which a vibrating body in the wire actuator shown in FIG. 7 vibrates.
11 is a plan view showing a state in which a vibrating body in the wire actuator shown in FIG. 7 vibrates.
12 is a block diagram showing a circuit configuration of the wire actuator shown in FIG. 7;
FIG. 13 is a plan view showing a third embodiment of the wire actuator of the present invention.
FIG. 14 is a plan view showing a fourth embodiment of the wire actuator of the present invention.
FIG. 15 is a plan view showing a fifth embodiment of the wire actuator of the present invention, and showing a state in which one base is removed.
16 is a side view of the wire actuator shown in FIG.
17 is a cross-sectional view taken along line BB in FIG.
18 is a cross-sectional view (corresponding to FIG. 17 of the fifth embodiment) showing a sixth embodiment of the wire actuator of the present invention.
FIG. 19 is a plan view showing a seventh embodiment of the wire actuator of the present invention.
[Explanation of symbols]
1 Wire actuator
10, 10a-10c Actuator unit
2 wires
3 Actuator body
4, 41 base
411 hole
42 base
421 screw holes
51-59 Guide roller
511 to 591 groove
6 Vibrating body
601 short side
602 long side
61, 65 electrodes
61a-61d electrode
65a-65d electrode
62, 64 Piezoelectric element
63 Reinforcing plate
66 Convex
661 groove
662 inner surface
68 arms
681 hole
69 Centerline
7 Movement amount detection means
71 Slit plate
72 sensors
8 Drive circuit
81 Oscillator circuit
82 Amplifier circuit
83 Movement amount control circuit
9 switch
91, 92 Switch part
93 to 98 terminals
111, 112 Guide roller
12 Followed roller
121 groove
13 volts
141-144 Spacer
145 holes
15 volts

Claims (24)

A wire and a vibrating body provided in contact with the wire and provided with a piezoelectric element;
The vibrating body abuts on the wire and bends the wire, and the vibrating body is configured to be pressed by the restoring force of the wire.
The vibrator is configured to vibrate by applying an AC voltage to the piezoelectric element, and the vibration is configured to repeatedly apply a force to the wire to move the wire in the longitudinal direction of the wire. Wire actuator. A wire actuator comprising a plurality of actuator units each having a wire and a vibrating body provided with a piezoelectric element provided in contact with the wire,
The vibrating body abuts on the wire and bends the wire, and the vibrating body is configured to be pressed by the restoring force of the wire.
The vibrator is configured to vibrate by applying an AC voltage to the piezoelectric element, and the vibration is configured to repeatedly apply a force to the wire to move the wire in the longitudinal direction of the wire. Wire actuator.   The wire actuator according to claim 2, wherein the arrangement directions of the wires of the actuator units substantially coincide with each other.   The wire actuator according to claim 2 or 3, wherein each actuator unit has a plate shape and is arranged so as to overlap in the thickness direction.   The wire actuator according to claim 2 or 3, wherein the actuator units are arranged radially.   The said each actuator unit is a wire actuator of Claim 2 or 3 arrange | positioned radially so that each wire of this each actuator unit may gather in a center part.   The wire actuator according to claim 1, wherein the vibrating body has a plate shape.   The wire actuator according to claim 7, wherein the vibrating body has a substantially rectangular shape.   The wire actuator according to claim 8, wherein the vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel.   The wire actuator according to claim 8, wherein the vibrating body is installed such that a long side of the vibrating body and the wire are substantially parallel to each other.   11. The wire actuator according to claim 1, further comprising an arm portion protruding from the vibrating body, wherein the vibrating body is supported by the arm portion.   12. The wire actuator according to claim 1, wherein portions of the vibrating body that abut on the wire are provided at two or more locations, and a force is applied to the wire at the plurality of portions.   The wire actuator according to any one of claims 1 to 12, wherein a concave portion is provided in a portion of the vibrating body that contacts the wire.   The wire actuator according to claim 1, further comprising guide means for guiding the wire.   The wire actuator according to any one of claims 1 to 14, further comprising a separation preventing unit that prevents separation of the wire.   The wire actuator according to claim 1, further comprising a plurality of guide rollers that guide the wire.   The wire actuator according to any one of claims 1 to 13, wherein a groove is formed on an outer peripheral surface, and a plurality of guide rollers for guiding the wire are provided.   The wire actuator according to claim 16 or 17, further comprising a movement amount detection unit that detects a movement amount of the wire by detecting a rotation amount of the guide roller.   The wire actuator according to claim 1, further comprising a movement amount detection unit that detects a movement amount of the wire.   The wire actuator according to any one of claims 1 to 19, wherein the wire has an annular shape and is configured so that the wire circulates.   21. The wire actuator according to claim 20, further comprising a driven roller that is hung at a position spaced apart from the vibrating body by a predetermined distance and that is rotated by movement of the wire.   The wire actuator according to claim 21, wherein the vibrating body is located on one end side and the driven roller is located on the other end side.   The wire actuator according to claim 20, wherein the vibrating body is positioned inside the wire.   The wire actuator according to any one of claims 1 to 23, wherein the wire actuator can be moved in either a forward direction or a reverse direction by changing a vibration pattern of the vibrating body.

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