JP6583063B2 - Actuator device - Google Patents

Description

  The present invention relates to an actuator device using a polymer fiber actuator.

  Conventionally, a polymer fiber actuator described in Patent Document 1 is known. This polymer fiber actuator has, for example, a shape extending linearly in one axial direction. This polymer fiber actuator can be displaced so as to expand and contract in a uniaxial direction by applying a temperature change, and can be displaced so as to rotate around a uniaxial direction.

US Patent Application Publication No. 2015/0152852

  By the way, when the polymer fiber actuator described in Patent Document 1 is used as the drive unit of the actuator device, the object to be displaced can be displaced only in the direction along the one-axis direction or the direction rotating around the one-axis direction. Can not. Therefore, a problem remains in terms of the degree of freedom of displacement of the actuator device.

  The present invention has been made in view of such circumstances, and an object thereof is to provide an actuator device that can improve the degree of freedom of displacement of a displacement target.

In order to solve the above problem, the actuator device (10) includes a plurality of polymer fiber actuators (30, 40, 101, 102, 103, 104) and a temperature adjusting unit (80). The polymer fiber actuator is connected to the object to be displaced (20) from a plurality of axial directions intersecting each other. The temperature adjusting unit individually adjusts the temperatures of the plurality of polymer fiber actuators. The actuator device includes, as a plurality of polymer fiber actuators, a polymer fiber actuator (30) extending in the first axis direction from the object to be displaced, and a polymer fiber actuator (40) extending in the second axis direction intersecting the first axis direction from the object to be displaced. And having. The polymer fiber actuator extending from the displacement target in the first axial direction includes a first actuator member (31) and a second actuator member (32) extending from the displacement target in directions opposite to each other in a direction parallel to the first axial direction. The polymer fiber actuator extending from the displacement target in the second axial direction includes a third actuator member (41) and a fourth actuator member (42) extending from the displacement target in directions opposite to each other in a direction parallel to the second axial direction. The actuator device includes an arc-shaped first coupling member (50) coupled to the first actuator member and the second actuator member, and an arc-shaped second coupling coupled to the third actuator member and the fourth actuator member. A member (60) and a support member (70) for supporting the first connecting member and the second connecting member are further provided. The support member regulates rotational displacement about the axial direction while allowing displacement in the axial direction, which is the direction of the circular arc-shaped axis passing through the center of each of the first connecting member and the second connecting member.

  According to this structure, the temperature according to the displacement of each polymer fiber actuator acts on the object to be displaced from a plurality of directions by adjusting the temperature of each polymer fiber actuator by the temperature adjusting unit. Since the force according to each direction acts on the displacement object, the displacement object can be displaced in an arbitrary direction, so that the degree of freedom of displacement of the displacement object can be improved.

  In addition, the code | symbol in the bracket | parenthesis as described in the said means and a claim is an example which shows a corresponding relationship with the specific means as described in embodiment mentioned later.

  According to the present invention, the degree of freedom of displacement of a displacement object can be improved.

It is a perspective view which shows the perspective structure of the actuator apparatus of 1st Embodiment. It is a perspective view which shows the perspective structure of the support member of the actuator apparatus of 1st Embodiment. It is sectional drawing which shows the cross-section along the III-III line | wire of FIG. FIG. 4 is a cross-sectional view showing a cross-sectional structure taken along line IV-IV in FIG. 3. It is a perspective view which shows schematic structure of the modification of the actuator apparatus of 1st Embodiment. It is a top view which shows the planar structure of the actuator apparatus of 2nd Embodiment. It is a side view which shows the side structure of the actuator apparatus of 2nd Embodiment.

<First Embodiment>
Hereinafter, a first embodiment of the actuator device will be described.
As shown in FIG. 1, the actuator device 10 of the present embodiment is a device that displaces a sensor substrate 20 as a displacement target. The sensor substrate 20 has a structure in which a sensor element is mounted on, for example, a rectangular thin plate-like substrate. Hereinafter, the longitudinal direction of the sensor substrate 20 is referred to as an x-axis direction, the short direction of the sensor substrate 20 is referred to as a y-axis direction, and the thickness direction of the sensor substrate 20 is referred to as a z-axis direction. In the present embodiment, the x-axis direction corresponds to the first axis direction, and the y-axis direction corresponds to the second axis direction.

  The actuator device 10 includes polymer fiber actuators 30 and 40, connecting members 50 and 60, a support member 70, and a temperature adjustment unit 80.

  The polymer fiber actuator 30 is composed of a rod-shaped member arranged so as to extend from the sensor substrate 20 in the x-axis direction. Specifically, the polymer fiber actuator 30 includes an actuator member 31 and an actuator member 32. The actuator member 31 extends from the sensor substrate 20 in parallel with the x-axis direction from one side surface 21 of the sensor substrate 20 in the x-axis direction. The actuator member 32 extends from the sensor substrate 20 in a direction parallel to the x-axis direction from the other side surface 22 of the sensor substrate 20 in the x-axis direction and in a direction opposite to the actuator member 31. That is, the actuator members 31 and 32 extend in opposite directions from the sensor substrate 20 in a direction parallel to the x-axis direction. The actuator members 31 and 32 are fixed to the side surfaces 21 and 22 of the sensor substrate 20 by adhesion or the like, respectively. In the present embodiment, the actuator member 31 corresponds to a first actuator member, and the actuator member 32 corresponds to a second actuator member.

  The actuator members 31 and 32 are made of, for example, 6,6-nylon. The actuator members 31 and 32 are configured to have a characteristic that when the temperature rises due to heating, the actuator members 31 and 32 are mainly displaced in a direction indicated by an arrow r1 in the drawing, that is, displaced in a rotational direction centering on the x-axis direction. Yes. As a method for realizing this displacement, for example, there is a method of orienting the crystal structures of the actuator members 31 and 32 so as to be inclined with respect to the axial direction.

  The polymer fiber actuator 40 is composed of a rod-shaped member arranged so as to extend from the sensor substrate 20 in the y-axis direction. Specifically, the polymer fiber actuator 40 includes an actuator member 41 and an actuator member 42. The actuator member 41 extends from the sensor substrate 20 in parallel to the y-axis direction from one side surface 23 of the sensor substrate 20 in the y-axis direction. The actuator member 42 extends from the sensor substrate 20 in a direction parallel to the y-axis direction from the other side surface 24 of the sensor substrate 20 in the y-axis direction and in a direction opposite to the actuator member 41. That is, the actuator members 41 and 42 extend in opposite directions from the sensor substrate 20 in a direction parallel to the x-axis direction. The actuator members 41 and 42 are respectively fixed to the side surfaces 23 and 24 of the sensor substrate 20 by adhesion or the like. In the present embodiment, the actuator member 41 corresponds to a third actuator member, and the actuator member 42 corresponds to a fourth actuator member.

  The actuator members 41 and 42 are made of, for example, 6,6-nylon. The actuator members 41 and 42 are configured to have a characteristic of being displaced mainly in the direction indicated by an arrow r2 in the drawing, that is, in a rotational direction centering on the y-axis direction when the temperature rises due to heating. Yes. As a method for realizing this characteristic, for example, there is a method of orienting the crystal structures of the actuator members 41 and 42 so as to be inclined with respect to the axial direction.

  The connecting member 50 is an arc-shaped bar-like member connected to the distal end portion of the actuator member 31 and the distal end portion of the actuator member 32. The connecting member 50 is fixed to the actuator members 31 and 32 by adhesion or caulking. The connecting member 60 is an arc-shaped rod-like member connected to the tip end portion of the actuator member 41 and the tip end portion of the actuator member 42. The connecting member 60 is fixed to the actuator members 41 and 42 by adhesion or caulking. The connecting members 50 and 60 are made of metal, for example. In the present embodiment, the connecting member 50 corresponds to the first connecting member. Further, the connecting member 60 corresponds to a second connecting member.

  The support member 70 is disposed below the sensor substrate 20 in the z-axis direction and supports the connecting members 50 and 60. The support member 70 is made of metal, resin, or the like. The support member 70 includes a support piece 71 and a support piece 72.

  As shown in FIG. 2, the support piece 71 is made of a rectangular member having a longitudinal direction in the x-axis direction. The support piece 71 is formed to be bent with the same curvature as that of the connecting member 50. The support piece 71 is formed with a through hole 712 penetrating from one side 710 in the x-axis direction to the other side 711. A groove portion 713 is formed on the inner wall of the through hole 712 over the entire length thereof. As shown in FIGS. 3 and 4, the connecting member 50 is formed with a convex portion 51 that fits into the groove portion 713. The fitting structure of the groove portion 713 of the through hole 712 and the convex portion 51 of the connecting member 50 allows the displacement in the axial direction m1 of the connecting member 50 shown in FIG. 4 while allowing the axial direction shown in FIG. The displacement in the rotation direction n1 is regulated. In addition, the inner surface of the through hole 712 is processed to reduce a friction coefficient such as Teflon coating so that the connecting member 50 can slide in the axial direction m1 with respect to the support piece 71.

  As shown in FIG. 2, the support piece 72 is fixed to the upper surface 714 of the support piece 71 by adhesion or the like. The support piece 72 is made of a rectangular member having a longitudinal direction in the y-axis direction. The support piece 72 is formed to be bent with the same curvature as that of the connecting member 60. The support piece 72 is formed with a through hole 722 that penetrates from one side surface 720 to the other side surface 721 in the y-axis direction. A groove portion 723 is formed on the inner wall of the through hole 722 over the entire length thereof. As shown in FIGS. 3 and 4, the connecting member 60 is formed with a convex portion 61 that fits into the groove portion. The fitting structure of the groove portion 723 of the through hole 722 and the convex portion 61 of the connecting member 60 allows displacement in the axial direction m2 of the connecting member 60 shown in FIG. 3, while centering on the axial direction shown in FIG. The displacement in the rotation direction n2 is regulated. In addition, the inner surface of the through hole 722 is subjected to processing for reducing a friction coefficient such as Teflon coating so that the connecting member 60 can slide in the axial direction m2 with respect to the support piece 72.

  As shown in FIG. 1, the temperature adjustment unit 80 includes a heating unit 81 and a control unit 82. The heating part 81 raises those temperatures by heating the actuator members 31, 32, 41, and 42 individually. The control unit 82 changes the temperature of the actuator members 31, 32, 41, 42 by the heating unit 81, thereby displacing the sensor substrate 20 in the rotation directions r 1, r 2.

Next, an operation example of the actuator device 10 of the present embodiment will be described.
The control unit 82 heats, for example, the actuator members 31 and 32 by the heating unit 81. As a result, the actuator members 31 and 32 are displaced in the rotation direction r1, so that a force in the rotation direction r1 acts on the sensor substrate 20. The force in the rotational direction r1 also acts on the actuator members 41 and 42 and the connecting member 60 connected to the sensor substrate 20. At this time, when the connecting member 60 slides with respect to the support piece 72, the actuator members 41 and 42 and the connecting member 60 are displaced in the rotation direction r1. As a result, the posture of the sensor substrate 20 changes from the reference posture shown in FIG. 1 to an inclined posture rotated in the rotation direction r1.

  Moreover, when the control part 82 stops the heating of the actuator members 31 and 32 by the heating part 81, the temperature of the actuator members 31 and 32 will fall by natural cooling. As a result, the actuator members 31 and 32 are displaced in the direction opposite to the rotation direction r1, so that the posture of the sensor substrate 20 returns to the reference posture shown in FIG.

  Similarly, when the control unit 82 heats the actuator members 41 and 42 by the heating unit 81, the sensor substrate 20 can be inclined in the rotation direction r2. When the control unit 82 stops heating the actuator members 41 and 42 by the heating unit 81, the posture of the sensor substrate 20 returns to the reference posture shown in FIG.

  According to the actuator device 10 of the present embodiment described above, the operations and effects shown in the following (1) to (6) can be obtained.

  (1) When the temperature of the polymer fiber actuators 30 and 40 is adjusted by the temperature adjustment unit 80, a force corresponding to the displacement of each polymer fiber actuator 30 and 40 acts on the sensor substrate 20 in the rotation directions r1 and r2. To do. When a force corresponding to the rotation directions r1 and r2 acts on the sensor substrate 20, the sensor substrate 20 can be displaced not only in the rotation directions r1 and r2, but also in a direction in which the rotation directions r1 and r2 are combined. it can. Therefore, since the sensor substrate 20 can be displaced in an arbitrary direction, the degree of freedom of displacement of the sensor substrate 20 can be improved.

  (2) The polymer fiber actuators 30 and 40 have a characteristic of being rotationally displaced mainly around the x-axis direction and the y-axis direction with respect to temperature changes. Thereby, since the sensor board | substrate 20 can be rotationally displaced, the attitude | position of the sensor board | substrate 20 can be changed.

  (3) The polymer fiber actuator 30 is arranged so as to extend from the sensor substrate 20 in the x-axis direction. The polymer fiber actuator 40 is disposed so as to extend from the sensor substrate 20 in the y-axis direction. Thereby, the structure which displaces the sensor board | substrate 20 to the rotation direction r1 centering on an x-axis direction and the rotation direction r2 centering on a y-axis direction is easily realizable.

  (4) The x-axis direction that is the axial direction of the polymer fiber actuator 30 and the y-axis direction that is the axial direction of the polymer fiber actuator 40 are set in directions orthogonal to each other. Thereby, the freedom degree of the rotational displacement of the sensor board | substrate 20 can be raised more.

  (5) The polymer fiber actuator 30 includes actuator members 31 and 32 extending from the sensor substrate 20 in opposite directions in the x-axis direction. The polymer fiber actuator 40 includes actuator members 41 and 42 extending from the sensor substrate 20 in directions opposite to each other in the y-axis direction. The actuator device 10 includes a connecting member 50 that connects the actuator members 31 and 32, a connecting member 60 that connects the actuator members 41 and 42, and a support member 70 that supports the connecting members 50 and 60. Thereby, the structure which displaces the sensor board | substrate 20 is realizable, supporting the sensor board | substrate 20 and the polymer fiber actuators 30 and 40. FIG.

  (6) The support member 70 restricts the rotational displacement in the rotational directions n1 and n2 around the axial directions m1 and m2 while allowing the displacement of the connecting members 50 and 60 in the axial directions m1 and m2. Thereby, since it can avoid that one rotational displacement of the polymer fiber actuators 30 and 40 obstructs the other rotational displacement, the freedom degree of displacement of the sensor board | substrate 20 can be ensured more correctly.

(Modification)
Next, a modified example of the actuator device 10 of the first embodiment will be described.
As shown in FIG. 5, the actuator member 32 of this modification is configured to be displaced in a rotation direction r3 opposite to the rotation direction r1 of the actuator member 31 when the temperature rises due to heating. The actuator member 42 is configured to be displaced in a rotation direction r4 opposite to the rotation direction r2 of the actuator member 41 when the temperature rises due to heating. According to such a configuration, when the actuator member 32 is heated by the heating unit 81, a force in the rotation direction r3 opposite to the rotation direction r1 can be applied to the sensor substrate 20. In addition, when the actuator member 42 is heated by the heating unit 81, a force in the rotation direction r4 opposite to the rotation direction r2 can be applied to the sensor substrate 20. Therefore, since the direction of the force applied to the sensor substrate 20 can be increased, the degree of freedom of displacement of the sensor substrate 20 can be further improved.

Second Embodiment
Next, a second embodiment of the actuator device will be described. Hereinafter, the difference from the first embodiment will be mainly described.

  As shown in FIG. 6, the actuator device 10 of the present embodiment is a device that displaces the sensor substrate 20 disposed above the support surface 170 in the z-axis direction. The sensor substrate 20 is supported by a pivot bearing 150 so as to be swingable with respect to the support surface 170. In the present embodiment, the pivot bearing 150 corresponds to a support member.

  The pivot bearing 150 has a shaft portion 151 and a support portion 152. The shaft portion 151 is made of a rod-shaped member that extends from the center portion of the bottom surface 25 of the sensor substrate 20 toward the support surface 170 downward in the z-axis direction. A hemispherical concave portion 151a is formed at the end of the shaft portion 151 on the support surface 170 side. The support part 152 is fixed to the support surface 170. The support portion 152 is formed with a hemispherical convex portion 152a with which the concave portion 151a of the shaft portion 151 is slidably contacted. The sensor substrate 20 can swing with respect to the support surface 170 by sliding the concave portion 151 a of the shaft portion 151 with respect to the convex portion 152 a of the support portion 152.

  As shown in FIGS. 6 and 7, the actuator device 10 includes polymer fiber actuators 101 to 104 that extend in the axial directions d1 to d4 from the four corners of the sensor substrate 20 toward the support surface 170. . The axial directions d1 to d4 are directions that intersect each other. One end of each of the polymer fiber actuators 101 to 104 is fixed to the sensor substrate 20 by adhesion or the like. The other end portions of the polymer fiber actuators 101 to 104 are fixed to the support surface 170 by adhesion or the like.

  The polymer fiber actuators 101 to 104 are made of, for example, 6,6-nylon. The polymer fiber actuators 101 to 104 have a characteristic of being displaced so as to extend mainly in the directions indicated by arrows d1 to d4 in FIGS. 6 and 7 when the temperature is increased by heating, that is, to be extended so as to extend in the axial direction. It is configured as follows. As a method for realizing this characteristic, for example, there is a method in which the crystal structure of the polymer fiber actuators 101 to 104 is oriented so as to be inclined with respect to the axial direction and a helical torsional deformation is given.

  As FIG. 7 shows, the heating part 81 raises those temperature by heating the polymer fiber actuators 101-104 separately. The controller 82 causes the corners of the sensor substrate 20 to be displaced in the axial directions d1 to d4 by changing the temperature of the polymer fiber actuators 101 to 104 by the heating unit 81.

Next, an operation example of the actuator device 10 of the present embodiment will be described.
The control unit 82 heats, for example, the polymer fiber actuator 101 by the heating unit 81. Thereby, since the polymer fiber actuator 101 is displaced so as to extend in the axial direction d1, a force in the axial direction d1 acts on one corner of the sensor substrate 20. As a result, the sensor substrate 20 swings around the support portion 152 of the pivot bearing 150. As a result, the posture of the sensor substrate 20 changes from the reference posture shown in FIG. 6 to an inclined posture in which one corner is lifted in the axial direction d1.

  Moreover, when the control part 82 stops the heating of the polymer fiber actuator 101 by the heating part 81, the temperature of the polymer fiber actuator 101 will fall by natural cooling. As a result, the polymer fiber actuator 101 is displaced so as to expand and contract in the direction opposite to the axial direction d1, so that the posture of the sensor substrate 20 returns to the reference posture shown in FIG.

  Similarly, when the control unit 82 heats the polymer fiber actuators 102 to 104 by the heating unit 81, each corner of the sensor substrate 20 is displaced in the axial directions d2 to d4, so that the sensor substrate 20 can be tilted. Further, when the control unit 82 stops heating the polymer fiber actuators 102 to 104 by the heating unit 81, the posture of the sensor substrate 20 returns to the reference posture shown in FIG.

  According to actuator device 10 of this embodiment explained above, the operation and effect shown by the following (7)-(10) can be acquired.

  (7) When the temperature of the polymer fiber actuators 101 to 104 is adjusted by the temperature adjusting unit 80, the force corresponding to the displacement of each polymer fiber actuator 101 to 104 acts on the sensor substrate 20 in the axial directions d1 to d4. To do. When forces according to the axial directions d1 to d4 act on the sensor substrate 20, the posture of the sensor substrate 20 can be changed not only in the four-axis direction but also in a direction in which the four-axis directions are combined. Therefore, since the sensor substrate 20 can be displaced in an arbitrary direction, the degree of freedom of displacement of the sensor substrate 20 can be improved.

  (8) The polymer fiber actuators 101 to 104 have a characteristic of being displaced linearly mainly in the axial directions d1 to d4 with respect to temperature changes. Thereby, the attitude | position of the sensor board | substrate 20 can be changed.

  (9) The actuator device 10 includes a pivot bearing 150 that supports the sensor substrate 20 with respect to the support surface 170. The actuator device 10 includes four polymer fiber actuators 101 to 104 that connect the sensor substrate 20 and the support surface 170. Thereby, the posture of the sensor substrate 20 can be changed by the displacement of the polymer fiber actuators 101 to 104 while supporting the sensor substrate 20.

  (10) The pivot bearing 150 supports the sensor substrate 20 to be swingable with respect to the support surface 170. Thereby, since the pivot bearing 150 functioning as a support member does not hinder the swinging of the sensor substrate 20, the degree of freedom of displacement of the sensor substrate 20 can be ensured more accurately.

<Other embodiments>
In addition, each embodiment can also be implemented with the following forms.
The x-axis direction, which is the axial direction of the polymer fiber actuator 30 of the first embodiment, and the y-axis direction, which is the axial direction of the polymer fiber actuator 40, are not limited to directions orthogonal to each other as long as they intersect each other Good.

  The actuator device 10 according to the first embodiment may have a structure in which polymer fiber actuators are connected to the sensor substrate 20 from three or more axial directions.

  In the actuator device 10 of the second embodiment, any support member other than the pivot bearing 150 may be used as a support member that supports the sensor substrate 20 with respect to the support surface 170.

  -Actuator device 10 of a 2nd embodiment is not restricted to what has four polymer fiber actuators 101-104, and should just be provided with three or more polymer fiber actuators.

  The displacement target of the actuator device 10 is not limited to the sensor substrate 20 and can be arbitrarily changed.

  The means and / or function provided by the control unit 82 can be provided by software stored in a substantial storage device and a computer that executes the software, only software, only hardware, or a combination thereof. For example, when the control unit 82 is provided by an electronic circuit which is hardware, it can be provided by a digital circuit including a large number of logic circuits or an analog circuit.

  -This invention is not limited to said specific example. That is, the above-described specific examples that are appropriately modified by those skilled in the art are also included in the scope of the present invention as long as they have the characteristics of the present invention. For example, the elements included in each of the specific examples described above and their arrangement, materials, conditions, shapes, sizes, and the like are not limited to those illustrated, and can be changed as appropriate. Moreover, each element with which embodiment mentioned above is provided can be combined as long as it is technically possible, and the combination of these is also included in the scope of the present invention as long as it includes the features of the present invention.

10: Actuator device 20: Sensor substrate (displacement target)
30, 40, 101, 102, 103, 104: polymer fiber actuator 31, 32, 41, 42: actuator member 50, 60: connecting member 70: support member 80: temperature adjusting unit 150: pivot bearing (support member)
170: Support surface

Claims (3)

A plurality of polymer fiber actuators (30, 40, 101, 102, 103, 104) coupled from a plurality of axial directions intersecting each other with respect to the displacement object (20);
A temperature adjustment unit (80) for individually adjusting the temperature of the plurality of polymer fiber actuators ,
As the plurality of polymer fiber actuators, a polymer fiber actuator (30) extending from the displacement target in the first axial direction, and a polymer fiber actuator (40) extending from the displacement target in the second axial direction intersecting the first axial direction. And having
The polymer fiber actuator extending from the displacement target in the first axial direction includes a first actuator member (31) and a second actuator member (32) extending from the displacement target in directions opposite to each other in a direction parallel to the first axial direction. Consists of
The polymer fiber actuator extending in the second axis direction from the displacement target includes a third actuator member (41) and a fourth actuator member (42) extending from the displacement target in directions opposite to each other in a direction parallel to the second axis direction. Consists of
An arc-shaped first coupling member (50) coupled to the first actuator member and the second actuator member;
An arcuate second coupling member (60) coupled to the third actuator member and the fourth actuator member;
A support member (70) for supporting the first connection member and the second connection member;
The supporting member allows rotational displacement about the axial direction while allowing axial displacement, which is the direction of an arc-curved axis passing through the center of each of the first connecting member and the second connecting member. Actuating actuator device. 2. The actuator device according to claim 1, wherein the plurality of polymer fiber actuators (30, 40) have a characteristic of being rotationally displaced mainly around an axial direction with respect to temperature change. It said first axial and said second axial direction, the actuator device according to claim 1 or 2 which is a direction orthogonal to each other.

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