JP7061250B2 - Linear actuator - Google Patents

Description

The present invention relates to a linear actuator.

Japanese Unexamined Patent Publication No. 2011-187050 presents a conventional example of a linear actuator that can be used in a three-dimensional motion display device capable of expressing soft movements and biological movements. This linear actuator has a flexible long body whose one end is fixed to the surface of a base made of a circuit board and whose other end is a free end, and the posture of the long body is arbitrary in response to a posture change command. It has a posture change mechanism that changes the direction of. The posture changing mechanism is arranged inside the long main body, and is configured to change the posture of the long main body by using a plurality of shape memory alloy linear bodies whose shape is deformed by energization.

Japanese Unexamined Patent Publication No. 2011-187050

In the conventional structure, as the number of linear actuators increases, the connection work and circuit between a plurality of shape memory alloy linear bodies made of shape memory alloy having poor solderability and electrodes in a wiring pattern on a circuit board. The work of fixing one end of the long main body to the base made of a substrate is very troublesome and takes time. Moreover, even if a connection failure occurs once, it is difficult to peel off one end of the long body from the circuit board without damaging the wiring pattern on the circuit board, and the shape memory alloy wire and the wiring on the circuit board. There was a problem that the poor connection with the pattern could not be easily repaired.

An object of the present invention is that it is easy to connect a plurality of shape memory alloy linear bodies to a wiring pattern on a circuit board, and one end of a long main body is fixed to the surface of the circuit board using an adhesive. The purpose is to provide a linear actuator that does not need to be used.

The linear actuator of the present invention has a flexible long main body having a fixed end at one end and a free end at the other end, and the posture of the long main body is changed to an arbitrary posture in response to a posture change command. It is a linear actuator having a posture changing mechanism. The posture change mechanism is located inside the long body, extends in the longitudinal direction of the long body, and is arranged at intervals in the circumferential direction of the long body, and is self-tension contracted or relaxed and stretched by energization. It comprises a circuit board provided with a plurality of shape memory alloy linear bodies having elasticity and a current supply circuit having a wiring pattern in which a current is individually passed through the plurality of shape memory alloy linear bodies.

In the present invention, one end of a plurality of shape memory alloy linear bodies is connected to a plurality of eyelet terminals soldered to a wiring pattern of a circuit board by caulking. Further, the elongated main body is formed with a plurality of through holes extending from one end to the other end in the longitudinal direction and through which a plurality of shape memory alloy striatum penetrates. Then, when the posture changing mechanism is in the non-driving state, the other ends of the plurality of shape memory alloy linear bodies are connected to each other so that one end of the elongated main body is pressed against the surface of the circuit board. As a result, according to the present invention, it becomes possible to easily connect a plurality of shape memory alloy linear bodies made of shape memory alloys having poor solderability to a wiring pattern using eyelet terminals. Moreover, by simply connecting the other ends of a plurality of shape memory alloy striatum to each other, the elongated main body is arranged on the circuit board in a predetermined posture without using fixing means such as an adhesive. be able to. As a result, the installation work of the linear actuator on the circuit board becomes much easier than before, and the linear actuator can be easily repaired or replaced.

If the eyelet terminal is also used for interconnecting the other ends of the plurality of shape memory alloy striatum, the connection becomes easy.

The elongated body is made of an elastic material, and when the posture changing mechanism is in the non-driving state, the elongated body returns to a predetermined posture due to its elasticity. As the material having elasticity, a rubber-based material is preferable. In particular, the long main body is preferably integrally molded with a silicone rubber material.

Specifically, it is preferable that the wiring pattern formed on the surface of the circuit board is formed with a plurality of soldering electrodes to which a plurality of eyelet terminals are solder-connected. The eyelet terminal preferably has a shape having a flange portion at one end of the tubular portion. In this case, the flange of the eyelet terminal is soldered and connected to the soldering electrode, and the cylinder is crimped with one end of the shape memory alloy linear body inserted into the cylinder. preferable. With such a structure, a plurality of shape memory alloy striatum can be easily and surely connected mechanically and electrically to the circuit pattern. It is preferable that the tubular portions of the plurality of eyelet terminals are fitted to one end of the plurality of through holes formed in the long main body on the circuit board side. By this combination, the positioning of one end of the long main body with respect to the circuit pattern can be ensured.

The circuit board has a hole that penetrates the circuit board in the thickness direction at a position surrounded by a plurality of soldering electrodes, and the elongated main body has one end at a position surrounded by the plurality of through holes. A central through hole that is aligned with the hole and extends in the longitudinal direction may be formed. Further, it may be provided with a conductive wire that passes through the hole portion and the central through hole, one end of which is connected to a common electrode formed on the back surface of the circuit board, and the other end of which extends from the other end of the central through hole. In this case, the other end of the plurality of shape memory alloy linear bodies is connected to the other end of the conductive wire, and when the posture changing mechanism is in the non-driving state, one end of the elongated main body is the surface of the circuit board. It is preferable that the other end of the plurality of shape memory alloy linear bodies and the other end of the conductive wire are connected so as to be pressed against. By doing so, it is possible to energize a plurality of shape memory alloy striatum by using one conductive wire having a small number of wires.

It is preferable that the other end of the plurality of shape memory alloy striatum and the other end of the conductive wire are inserted into the cylinder portion of the eyelet terminal for common connection, and the cylinder portion is caulked. By using such eyelet terminals for common connection, it is possible to easily and surely make common connection of a plurality of shape memory alloy linear bodies and copper electric wires.

It is a schematic perspective view which shows the structure of the display part of the 3D display apparatus using the linear actuator of this embodiment. It is an exploded perspective view of the linear actuator of embodiment of this invention. (A) to (F) are diagrams used for explaining the assembly of the linear actuator of FIG. (A) is a perspective view of a linear actuator previously proposed by the inventor, (B) is an exploded perspective view of a main part of the linear actuator, and (C) is an enlarged perspective view of FIG. 4 (B). (A) and (B) are diagrams showing the structure and movement of the linear actuator previously proposed by the inventor.

An example of an embodiment of the linear actuator of the present invention will be described in detail with reference to the following drawings. FIG. 1 is a schematic perspective view showing a configuration of a display unit 1 of a three-dimensional display device using the linear actuator 3 of the present embodiment. Hereinafter, the outline of the three-dimensional display device using the linear actuator 3 of the present embodiment will be described, and then the specific configuration of the present embodiment will be described. The display unit 1 of the three-dimensional display device individually assigns drive commands to a plurality of linear actuators 3 driven by a plurality of drive circuits that are in a drive state in response to a drive command and to a plurality of drive circuits of the plurality of linear actuators 3. It is equipped with a drive command generator (not shown). The linear actuator 3 includes a circuit board 5 and a long main body 7 provided on the circuit board 5. The plurality of linear actuators 3 are spread on the installation surface so that, for example, the long main body 7 is planted at a density of 4 or more per 1 cm ² .

The display unit 1 shown in FIG. 1 is configured by arranging a plurality of linear actuators 3 at equal intervals along an installation surface. A connection structure board made of a flexible circuit board that constitutes a connection structure in which a plurality of circuit boards 5 of a plurality of linear actuators 3 can be bent and electrically connected in a state of being arranged along an installation surface. It is connected to another adjacent linear actuator 3 via 8. When another adjacent linear actuator 3 is connected via a connection structure board 8 that can be bent and can be electrically connected, the size of the circuit board 5 can be made appropriately large to make it three-dimensional. By arranging a plurality of circuit boards 5 along the surface of a shaped object and driving one or more long main bodies 7 mounted on the circuit board 5, it is possible to imitate the surface of a three-dimensional shaped object. It becomes easy to express an arbitrary three-dimensional display by using a board group consisting of a plurality of easy circuit boards 5. The surface of the three-dimensional structure may be the surface of a head covering such as a hat worn on the human head, or the surface of clothing. The contour of the circuit board 5 shown in FIG. 1 has a triangular shape, but of course, it may have another polygonal shape. Further, it is of course possible to adopt a configuration in which a plurality of long main bodies 7 are installed on one flexible board without using the flexible connection structure board 8 for the plurality of circuit boards 5.

2 and 3 (A) to 3 (F) are a perspective view used for explaining the configuration of the linear actuator of the present embodiment and a diagram used for explaining the details. Before explaining with reference to these figures, in order to facilitate understanding of the features of the present embodiment, the conventional linear actuator 3'proposed earlier by the inventor (Japanese Patent Application No. 2017-164917) The configuration will be described with reference to FIGS. 4 and 5. The lower end of the elongated main body 7'is fixed to the circuit board 5'with an adhesive and is projected onto the upper surface of the circuit board 5. Eight enamel wires 14'extend from the end face of the lower end of the elongated main body 7', and six are connected to a current supply circuit (not shown) and two are connected to a light emitting drive circuit (not shown) to drive the main body. The current for light emission and the current for light emission are passed. A diffused light cap 15'with translucency is attached to the upper end of the elongated main body 7'so as to cover the end surface of the upper end of the elongated main body 7'. At the upper end of the long main body 7'located inside the diffused light cap 15', a light emitting means 12'using an LED (light emitting diode) 12A' as a light emitting source is provided. The long main body 7'is self-supporting by arranging a linear spring member 10' made of a superelastic shape memory alloy as a self-supporting long core material inside an exterior portion made of a non-self-supporting silicon tube. I try to assist. The central through hole 16'provided in the elongated main body 7'is formed in the center of the elongated main body 7'. A linear spring member 10'in which the lower end is fixed to the circuit board 5 is inserted into the central through hole 16', and the elongated main body 7'is made self-supporting. Further, a light emitting means 12'with the LED 12A' mounted on the substrate is arranged on the central through hole 16', and the enamel wire 14 "for passing a light emitting current to the LED 12'A is the central through hole 16'. Is passing through.

A pair of peripheral through holes 17', 18'and 19', spaced in the circumferential direction at positions radially offset from the center of the elongated body 7'so as to surround the central through hole 16'. Is provided. Eyelets 20'are attached to the peripheral edges of the openings on the upper end surfaces of the elongated main bodies 7'of the peripheral through holes 17', 18'and 19'to prevent damage to the silicon tube. Shape memory alloy linear bodies 21A', 21B' and 21C' are inserted into the peripheral through holes 17', 18'and 19'of each set, respectively. The tip of the shape memory alloy striatum 21A'is passed through one of the pair of peripheral through holes 17'from the lower end side to the upper end side of the peripheral through hole 17', and the shape memory alloy striatum protrudes from the upper end side. By passing the tip of 21A from the upper end to the lower end side of the other peripheral through hole 17'and fixing the tip and the rear end near the lower end of the elongated main body 7', the shape memory alloy linear body 21'A is long. It is fixed to the upper and lower ends of the scale body 7'. An enamel wire 14 "is connected to the front end and the rear end of the shape memory alloy linear body 21'A.

In the linear actuator 3'proposed earlier by the inventor shown in FIGS. 4 and 5, since the elongated main body 7'does not have self-supporting property, it can be used as a long core material having self-supporting property (not shown). A linear spring member 10'made of a superelastic shape memory alloy is arranged, and the lower end (one end) of the long main body 7'is bonded onto the circuit board 5'. In this structure, not only the number of parts is increased, but also the connection work is troublesome, and there is a problem that repair is practically impossible.

On the other hand, in the case of the linear actuator of the present embodiment having the structures shown in FIGS. 2 and 3 (A) to 3 (F), such a problem does not occur. The linear actuator 3 of the present embodiment has a flexible long main body 7 having a fixed end at one end and a free end at the other end, and the posture of the long main body 7 is arbitrary in response to a posture change command. It has a posture changing mechanism (5, 6, 21A to 21C) for changing the posture. The elongated main body 7 has elasticity or flexibility, is self-supporting by itself, and is predetermined when the posture changing mechanism (5, 6, 21A to 21C) is in a non-driving state. It has a structure that makes it stand upright. In order to realize this, the material of the rubber material (silicone rubber material in the present embodiment) constituting the elongated main body 7 is appropriately selected. The posture changing mechanism is inside the elongated main body 7, extends in the longitudinal direction of the elongated main body 7 and is arranged at intervals in the circumferential direction of the elongated main body 7, and is tension-contracted and non-contracted by energization. It is provided with a current supply circuit having a plurality of shape memory alloy linear bodies 21A to 21C having self-stretchability that relaxes and expands when energized, and a wiring pattern 6 in which a current is individually passed through the plurality of shape memory alloy linear bodies. The circuit board 5 is provided. Further, the elongated main body 7 is formed with three peripheral through holes 17 to 19 extending from one end to the other end in the longitudinal direction and through which a plurality of shape memory alloy linear bodies 21A to 21C penetrate.

As shown in FIGS. 3A and 3B, one end of the shape memory alloy linear bodies 21A to 21C is soldered to the three soldering electrodes 61A to 61C of the wiring pattern 6 of the circuit board 5. Each of the eyelet terminals 20A to 20C is connected by caulking. As shown in FIG. 3B as a representative example of the eyelet terminal 20A, the eyelet terminal 20A has a shape having a flange portion 20a at one end of the tubular portion 20b. In this embodiment, as shown in FIGS. 3C to 3F, the flange portion 20a of the eyelet terminal 20A is soldered and connected to the soldering electrodes 61A to 61C of the circuit board 5 by the solder layer 25. In the present embodiment, as shown in FIGS. 3A and 3B, the cylinder portion 20b is caulked with one end of the shape memory alloy linear body 21A inserted into the cylinder portion 20b before soldering. There is. With such a structure, the shape memory alloy linear bodies 21A to 21C can be easily and reliably connected mechanically and electrically to the wiring pattern 6. In this embodiment, the tube portions 20b of the eyelet terminals 20A to 20C are fitted to one end of the three peripheral through holes 17 to 19 formed in the elongated main body 7 located on the circuit board 5 side. .. By this combination, the positioning of one end of the long main body 7 with respect to the wiring pattern 6 is assured.

Further, the circuit board 5 is formed with a hole portion 23 penetrating the circuit board 5 in the thickness direction at a position surrounded by the three soldering electrodes 61A to 61C. The elongated main body 7 is formed with a central through hole 16 having one end aligned with the hole portion 23 and extending in the longitudinal direction at a position surrounded by the three peripheral through holes 17 to 19. In the present embodiment, the hole portion 23 and the central through hole 16 are further passed, one end is connected to a common electrode (generally a ground electrode) (not shown) formed on the back surface of the circuit board 5, and the other end is the central through hole 16. It is provided with a conductive wire 24 extending from the other end of the above.

In the present embodiment, the other ends of the three shape memory alloy linear bodies 21A to 21C are connected to the other ends of the conductive wire 24 by using eyelet terminals 20D. Then, when the posture changing mechanism is in the non-driving state, the other ends of the three shape memory alloy linear bodies 21A to 21C and the conductive wires are pressed so that one end of the long main body 7 is pressed against the surface of the circuit board 5. The other end of 24 is connected. In this way, a current may be supplied between the one shape memory alloy linear body selected from the three shape memory alloy linear bodies 21A to 21C and the conductive wire 24.

Even if there is a conductive wire 24 or there is no conductive wire 24, one end of the elongated main body 7 is pressed against the surface of the circuit board 5 when the posture changing mechanism is in the non-driving state. By wrapping the conductive tape around the other ends of the three shape memory alloy linear bodies 21A to 21C, the three shape memory alloy linear bodies 21A to 21C may be directly connected to each other by a tightening force. Further, the three shape memory alloy linear bodies 21A to 21C may be connected to each other by using the eyelet terminal 20D. When the eyelet terminal 20D is used, the eyelet terminal 20D is pressed onto the other end (upper end) of the elongated main body 7 and one end (lower end) of the elongated main body 7 is pressed against the surface of the circuit board 5. The caulking work of the tubular portion 20b may be performed with the shape memory alloy linear bodies 21A to 21C of the book pulled upward.

According to the present embodiment, a plurality of shape memory alloy linear bodies 21A to 21C having poor solderability are easily connected to the electrodes 61A to 61C of the wiring pattern 6 by using the eyelet terminals 20A to 20C. Will be possible. In addition, the elongated main body 7 is predetermined on the circuit board 5 by simply connecting the other ends of the plurality of shape memory alloy linear bodies 21A to 21C to each other without using a fixing means such as an adhesive. It can be placed in a vertical position. As a result, the installation work of the linear actuator 3 on the circuit board 5 becomes much easier than before, and the linear actuator 3 can be easily repaired or replaced.

The elongated main body 7 can bend the elongated main body 7 in any direction by passing an electric current through the shape memory alloy linear bodies 21A, 21B or 21C. For example, when bending the elongated main body 7, when only the shape memory alloy linear body 21A is energized, the shape memory alloy linear body 21A is tension-contracted and the upper end surface of the elongated main body 7 is pulled toward the lower end. The elongated main body 7 is bent in the direction in which the shape memory alloy linear body 21A is located. In order to bend in the opposite direction, when the same current is passed through the shape memory alloy striatum 21B and 21C, the elongated main body 7 bends in the direction just in the middle between the shape memory alloy striatum 21B and 21C. Become. By appropriately setting the amount and timing of the current flowing through each shape memory alloy linear body 21A, 21B and 21C, the elongated main body 7 not only bends in one direction, but also turns, vibrates and a combination thereof. Can perform complex exercises such as.

In the present embodiment, the shape memory alloy linear body is caulked to the eyelet terminal before soldering to the eyelet terminal, but the shape memory alloy linear body to the eyelet terminal after soldering is performed. Of course, the caulking work may be performed.

In the above embodiment, a light emitting means 12 ′ made of an LED or the like may be mounted on the upper end of the elongated main body 7 as in the conventional linear actuator shown in FIG. Also in this case, for fixing the enamel wire 14 "that supplies the light emitting current to the light emitting means 12', a connection structure using eyelet terminals may be used as in the present embodiment.

According to the present invention, it is possible to easily connect a plurality of shape memory alloy linear bodies made of a shape memory alloy having poor solderability to a wiring pattern using eyelet terminals. Moreover, by simply connecting the other ends of a plurality of shape memory alloy striatum to each other, the elongated main body is arranged on the circuit board in a predetermined posture without using fixing means such as an adhesive. be able to. As a result, the installation work of the linear actuator on the circuit board becomes much easier than before, and the linear actuator can be easily repaired or replaced.

1 Display part 3 Linear actuator 5 Circuit board 6 Wiring pattern 7 Long body 8 Connection structure board 16 Central through hole 17, 18, 19 Peripheral through hole 20A to 20D Eyelet terminal 21A to 21C Shape memory alloy wire 23 hole part 24 Conductive wire 61A to 61C Soldering electrode

Claims (8)

It has a flexible long body with one end as a fixed end and the other end as a free end, and a posture change mechanism that changes the posture of the long body to an arbitrary posture in response to a posture change command. death,
The posture change mechanism
Inside the long body, it extends in the longitudinal direction of the long body and is arranged at intervals in the circumferential direction of the long body, and has self-stretchability that is tension-contracted or relaxed and stretched by energization. With multiple shape memory alloy linear bodies,
A linear actuator comprising a circuit board provided with a current supply circuit having a wiring pattern in which a current is individually passed through the plurality of shape memory alloy linear bodies.
One end of the plurality of shape memory alloy striatum is connected to a plurality of eyelet terminals soldered to the wiring pattern of the circuit board by caulking.
The elongated main body is formed with a plurality of through holes extending from one end to the other end in the longitudinal direction and through which the plurality of shape memory alloy striatum penetrate.
When the posture changing mechanism is in the non-driving state, the other ends of the plurality of shape memory alloy linear bodies are mutually pressed so that one end of the elongated main body is pressed against the surface of the circuit board. A linear actuator characterized by being connected. The elongated body is made of an elastic material and has an elastic body.
The linear actuator according to claim 1, wherein when the posture changing mechanism is in a non-driving state, the elongated main body returns to the posture predetermined by the elasticity. The linear actuator according to claim 2, wherein the elastic material is a rubber-based material. The linear actuator according to claim 3, wherein the long main body is integrally molded with a silicone rubber material. A plurality of soldering electrodes to which the plurality of eyelet terminals are solder-connected are formed in the wiring pattern formed on the surface of the circuit board.
The eyelet terminal has a shape having a flange portion at one end of the tubular portion.
The flange portion of the eyelet terminal is soldered and connected to the soldering electrode.
The linear actuator according to claim 1, wherein the tubular portion is crimped with one end of the shape memory alloy linear body inserted into the tubular portion. The linear actuator according to claim 5, wherein the tubular portions of the plurality of eyelet terminals are fitted to one end of the plurality of through holes located on the circuit board side. The circuit board is formed with a hole portion that penetrates the circuit board in the thickness direction at a position surrounded by the plurality of soldering electrodes.
In the elongated main body, a central through hole having one end aligned with the hole portion and extending in the longitudinal direction is formed at a position surrounded by the plurality of through holes.
It has a conductive wire that passes through the hole and the central through hole, one end of which is connected to a common electrode formed on the back surface of the circuit board, and the other end of which extends from the other end of the central through hole.
The other end of the plurality of shape memory alloy striatum is connected to the other end of the conductive wire.
The other end of the plurality of shape memory alloy linear bodies and the conductivity so that one end of the elongated body is pressed against the surface of the circuit board when the posture changing mechanism is in the non-driving state. The linear actuator according to claim 5, wherein the other end of the wire is connected. The other end of the plurality of shape memory alloy linear bodies and the other end of the conductive wire are inserted into the cylinder portion of the eyelet terminal for common connection, and the cylinder portion is in a crimped state. The linear actuator according to claim 7.

Images