JP7199090B2

JP7199090B2 - actuator

Info

Publication number: JP7199090B2
Application number: JP2018232224A
Authority: JP
Inventors: 靖明金子; 裕己金子
Original assignee: TGK Co Ltd
Current assignee: TGK Co Ltd
Priority date: 2018-12-12
Filing date: 2018-12-12
Publication date: 2023-01-05
Anticipated expiration: 2038-12-12
Also published as: JP2020094525A

Description

本発明は、形状記憶合金（ＳＭＡ：Shape Memory Alloy）を用いたアクチュエータに関する。 The present invention relates to an actuator using a shape memory alloy (SMA).

従来、小型化を図れるアクチュエータとして、形状記憶合金を用いたＳＭＡアクチュエータが知られる。ＳＭＡアクチュエータは、形状記憶合金製の伸縮部材を備え、伸縮部材の温度変化による伸縮を利用して駆動対象を駆動できる。 Conventionally, an SMA actuator using a shape memory alloy is known as an actuator that can be miniaturized. The SMA actuator includes an elastic member made of a shape memory alloy, and can drive an object by utilizing the expansion and contraction of the elastic member due to temperature change.

特許文献１のＳＭＡアクチュエータは、固定子と、固定子に対して移動可能な可動子と、固定子と可動子の間に張り渡される伸縮部材と、可動子を移動可能に固定子に取り付けるネジとを備える。 The SMA actuator of Patent Document 1 includes a stator, a mover movable with respect to the stator, an expandable member stretched between the stator and the mover, and a screw for movably attaching the mover to the stator. and

特開２０１４－８８８１１号公報JP 2014-88811 A

本発明者は、特許文献１のアクチュエータを検討したところ、次の課題があるとの認識を得た。特許文献１のアクチュエータは、ネジにより固定子に可動子を取り付けるまで、固定子と可動子が容易にばらけてしまう。よって、アクチュエータの組み立て時の作業性の面で改良の余地があった。 The inventor of the present invention has studied the actuator of Patent Document 1 and has recognized that there is the following problem. In the actuator of Patent Document 1, the stator and the mover are easily separated until the mover is attached to the stator with screws. Therefore, there is room for improvement in terms of workability when assembling the actuator.

本発明のある態様は、このような課題に鑑みてなされ、その目的の１つは、形状記憶合金を用いたアクチュエータの組み立て時に良好な作業性を得られる技術を提供する。 An aspect of the present invention has been made in view of such a problem, and one of the objects thereof is to provide a technique that can obtain good workability when assembling an actuator using a shape memory alloy.

前述の課題を解決するための本発明の第１態様はアクチュエータである。第１態様のアクチュエータは、固定子と、前記固定子に対して第１方向に移動可能な可動子と、温度変化により伸縮可能な形状記憶合金を素材として構成され、縮み変形により前記可動子を前記第１方向の一方側に駆動可能な伸縮部材と、前記第１方向での前記固定子と前記可動子の分離を規制可能な分離規制部材と、前記分離規制部材とは別に設けられ、前記第１方向と直交する二方向での前記固定子に対する前記可動子の位置を保持可能な位置保持構造とを備えるアクチュエータ。 A first aspect of the present invention for solving the aforementioned problems is an actuator. The actuator of the first mode is composed of a stator, a mover movable in a first direction with respect to the stator, and a shape memory alloy that can be expanded and contracted by temperature change, and the mover is moved by contraction deformation. An expandable member that can be driven in one direction in the first direction, a separation regulation member that can regulate separation of the stator and the mover in the first direction, and a separation regulation member provided separately from the separation regulation member, and a position holding structure capable of holding the position of the mover with respect to the stator in two directions perpendicular to the first direction.

この態様によれば、アクチュエータの組み立て時に良好な作業性を得られる。 According to this aspect, good workability can be obtained when assembling the actuator.

第１実施形態の駆動装置の構成図である。It is a lineblock diagram of the drive of a 1st embodiment. 第１実施形態のアクチュエータの使用状態を示す側面断面図である。It is a side cross-sectional view showing a usage state of the actuator of the first embodiment. 第１実施形態のアクチュエータの斜視図である。It is a perspective view of an actuator of a 1st embodiment. 第１実施形態のアクチュエータの側面図である。It is a side view of the actuator of 1st Embodiment. 第１実施形態のアクチュエータの平面図である。It is a top view of the actuator of 1st Embodiment. 第１実施形態のアクチュエータの他の使用状態を示す側面断面図である。FIG. 4 is a side cross-sectional view showing another usage state of the actuator of the first embodiment; 図７（Ａ）は、アクチュエータの組み立て時の途中状態を示す側面断面図であり、図７（Ｂ）は、他の途中状態を示す側面断面図である。FIG. 7A is a side cross-sectional view showing an intermediate state during assembly of the actuator, and FIG. 7B is a side cross-sectional view showing another intermediate state. 図２の範囲Ｓａの拡大図である。3 is an enlarged view of a range Sa of FIG. 2; FIG. 第２実施形態のアクチュエータの側面断面図である。It is a side cross-sectional view of the actuator of the second embodiment. 第３実施形態のアクチュエータの模式的な側面断面図である。FIG. 11 is a schematic side cross-sectional view of an actuator according to a third embodiment; 第４実施形態のアクチュエータの模式的な側面断面図である。FIG. 11 is a schematic side cross-sectional view of an actuator according to a fourth embodiment; 第５実施形態のアクチュエータの模式的な側面断面図である。FIG. 11 is a schematic side cross-sectional view of an actuator according to a fifth embodiment; 第５実施形態のアクチュエータの模式的な平面図である。FIG. 11 is a schematic plan view of an actuator according to a fifth embodiment;

以下、本発明の実施形態の一例を説明する。同一の構成要素には同一の符号を付し、重複する説明を省略する。各図面では、説明の便宜のため、構成要素の一部を適宜省略したり、その寸法を適宜拡大、縮小する。図面は符号の向きに合わせて見るものとする。本明細書での「接触」、「固定」とは、特に明示がない限り、言及している条件を二者が直接的に満たす場合の他に、他の部材を介して満たす場合も含む。 An example of an embodiment of the present invention will be described below. The same reference numerals are given to the same components, and overlapping descriptions are omitted. In each drawing, for convenience of explanation, some of the components are omitted or the dimensions thereof are enlarged or reduced as appropriate. The drawings should be viewed according to the orientation of the symbols. Unless otherwise specified, the terms "contact" and "fixation" in this specification include cases in which the two parties directly satisfy the mentioned conditions as well as cases in which the conditions are satisfied via another member.

（第１の実施の形態）
図１、図２を参照する。アクチュエータ１０が用いられる駆動装置１２を説明する。本実施形態の駆動装置１２は、アクチュエータ１０の駆動対象１４を往復動させることで、駆動対象１４に触れているユーザＵに触感を付与可能な触感付与装置である。本実施形態の駆動対象１４は、タッチパネル装置のタッチパネルである。 (First embodiment)
Please refer to FIGS. A driving device 12 in which the actuator 10 is used will be described. The drive device 12 of the present embodiment is a tactile sensation imparting device capable of imparting a tactile sensation to the user U touching the driven object 14 by reciprocating the driven object 14 of the actuator 10 . The drive target 14 of this embodiment is a touch panel of a touch panel device.

駆動装置１２は、駆動対象１４を押圧するアクチュエータ１０と、アクチュエータ１０の押圧方向Ｐａとは反対側の反押圧方向Ｐｂに駆動対象１４を付勢する付勢部１６と、を備える。付勢部１６は、たとえば、コイルスプリング等の弾性体である。 The driving device 12 includes an actuator 10 that presses a target to be driven 14 and a biasing portion 16 that biases the target to be driven 14 in a counter-pressing direction Pb opposite to the pressing direction Pa of the actuator 10 . The biasing portion 16 is, for example, an elastic body such as a coil spring.

駆動装置１２は、駆動対象１４に対するタッチ操作を検出可能なタッチ検出部１８と、タッチ検出部１８の検出結果に基づき、アクチュエータ１０の伸縮部材２６（後述する）に対する通電を制御可能な制御部２０と、を備える。タッチ検出部１８は、たとえば、タッチパネルに組み込まれる静電容量式タッチセンサ等である。制御部２０は、コンピュータのＣＰＵ、ＲＯＭ、ＲＡＭ等の組み合わせにより構成される。 The drive device 12 includes a touch detection unit 18 capable of detecting a touch operation on the drive target 14, and a control unit 20 capable of controlling energization of an expandable member 26 (described later) of the actuator 10 based on the detection result of the touch detection unit 18. And prepare. The touch detection unit 18 is, for example, a capacitive touch sensor or the like incorporated in the touch panel. The control unit 20 is configured by a combination of CPU, ROM, RAM, etc. of a computer.

図２～図５を参照する。アクチュエータ１０は、主に、固定子２２と、可動子２４と、伸縮部材２６と、分離規制部材２８と、付勢部材３０と、を備える。 Please refer to FIGS. The actuator 10 mainly includes a stator 22 , a mover 24 , an expansion/contraction member 26 , a separation regulation member 28 and an urging member 30 .

可動子２４は、固定子２２に対して第１方向（以下、単にＺ方向という）に移動可能である。詳しくは、可動子２４は、固定子２２とＺ方向に対向しており、そのＺ方向の両側に移動可能である。Ｚ方向の一方側（図２中の上側）は、可動子２４が駆動対象１４を押圧する押圧方向Ｐａとなり、Ｚ方向の他方側（図２中の下側）は反押圧方向Ｐｂとなる。以下、押圧方向Ｐａを上側又は上方向といい、反押圧方向Ｐｂを下側又は下方向ともいう。 The mover 24 is movable relative to the stator 22 in a first direction (hereinafter simply referred to as Z direction). Specifically, the mover 24 faces the stator 22 in the Z direction and can move to both sides in the Z direction. One side in the Z direction (upper side in FIG. 2) is the pressing direction Pa in which the mover 24 presses the driven target 14, and the other side in the Z direction (lower side in FIG. 2) is the counter-pressing direction Pb. Hereinafter, the pressing direction Pa is also referred to as the upper side or upward direction, and the counter-pressing direction Pb is also referred to as the lower side or downward direction.

本実施形態の固定子２２と可動子２４は、全体として、Ｚ方向と交差する第２方向Ｘ（以下、単にＸ方向ともいう）に延びる長尺体である。固定子２２と可動子２４は直線状に延びる長尺体である。Ｘ方向は固定子２２や可動子２４の長手方向であり、本実施形態ではＺ方向と直交する。以下、Ｚ方向及びＸ方向に直交する第３方向ＹをＹ方向という。 The stator 22 and the mover 24 of the present embodiment are, as a whole, elongated bodies extending in a second direction X (hereinafter also simply referred to as the X direction) that intersects the Z direction. The stator 22 and the mover 24 are elongate bodies extending linearly. The X direction is the longitudinal direction of the stator 22 and mover 24, and is perpendicular to the Z direction in this embodiment. Hereinafter, the third direction Y orthogonal to the Z direction and the X direction will be referred to as the Y direction.

固定子２２は、可動子２４とＺ方向に対向する箇所よりＸ方向に突き出る突出部２２ａを備える。本実施形態の突出部２２ａは、可動子２４とＺ方向に対向する箇所に対してＸ方向両側に設けられる。突出部２２ａには、駆動対象１４が組み込まれる外部機器に取り付けられる被取付部２２ｂが設けられる。固定子２２の被取付部２２ｂは、ねじ部材等の取付部材３２を用いて、外部機器のアクチュエータ取付部３４に取り付けられる。 The stator 22 has a projecting portion 22a projecting in the X direction from a portion facing the mover 24 in the Z direction. The protruding portions 22a of the present embodiment are provided on both sides in the X direction with respect to a portion facing the mover 24 in the Z direction. The projecting portion 22a is provided with an attached portion 22b attached to an external device in which the drive target 14 is incorporated. The attached portion 22b of the stator 22 is attached to an actuator attachment portion 34 of an external device using an attachment member 32 such as a screw member.

本実施形態の可動子２４は、固定子２２を間に挟んで駆動対象１４とはＺ方向の反対側に配置される。本実施形態の固定子２２は上側に配置され、可動子２４は下側に配置される。本実施形態の押圧方向Ｐａは可動子２４が固定子２２に近づく方向となり、反押圧方向Ｐｂは可動子２４が固定子２２から遠ざかる方向となる。可動子２４は、駆動対象１４を押圧するための押圧部２４ａを備える。詳細は後述する。 The mover 24 of this embodiment is arranged on the side opposite to the drive target 14 in the Z direction with the stator 22 interposed therebetween. The stator 22 of this embodiment is arranged on the upper side, and the mover 24 is arranged on the lower side. The pressing direction Pa in this embodiment is the direction in which the mover 24 approaches the stator 22 , and the counter-pressing direction Pb is the direction in which the mover 24 moves away from the stator 22 . The mover 24 has a pressing portion 24a for pressing the driven object 14 . Details will be described later.

伸縮部材２６は、線状のワイヤーを例示するが、帯状のベルト等でもよい。伸縮部材２６の両端側部分は、固定部材３６を用いて固定子２２に固定される。本実施形態では固定子２２の突出部２２ａに固定される。本実施形態の固定部材３６はねじ部材であり、固定子２２に設けられる雌ねじ部２２ｃにねじ込まれる。固定部材３６は、固定子２２との間に伸縮部材２６の一部を挟み込むことで、伸縮部材２６を固定子２２に固定する。伸縮部材２６の両端側部分は、不図示の電気配線を介して制御部２０に電気的に接続される。 A linear wire is exemplified as the elastic member 26, but a belt-like belt or the like may also be used. Both ends of the elastic member 26 are fixed to the stator 22 using fixing members 36 . In this embodiment, it is fixed to the protrusion 22 a of the stator 22 . The fixing member 36 of this embodiment is a screw member and is screwed into the female threaded portion 22c provided in the stator 22. As shown in FIG. The fixing member 36 fixes the expandable member 26 to the stator 22 by sandwiching a part of the expandable member 26 between itself and the stator 22 . Both ends of the expandable member 26 are electrically connected to the controller 20 via electrical wiring (not shown).

伸縮部材２６は、温度変化により伸縮可能な形状記憶合金を素材として構成される。この形状記憶合金は、たとえば、Ｎｉ－Ｔｉ合金等である。形状記憶合金製の伸縮部材２６は、加熱による逆変態（オーステナイト変態）により縮み変形可能であるとともに、冷却によるマルテンサイト変態により伸び変形可能である。 The elastic member 26 is made of a shape memory alloy that can expand and contract according to changes in temperature. This shape memory alloy is, for example, a Ni--Ti alloy. The expandable member 26 made of a shape memory alloy can be contracted by reverse transformation (austenite transformation) by heating, and can be elongated by martensite transformation by cooling.

本実施形態の伸縮部材２６は、固定子２２と可動子２４に巻き付けられている。伸縮部材２６の巻き付け箇所の内側には固定子２２と可動子２４の両方が配置される。伸縮部材２６は、固定子２２と可動子２４のＺ方向に対向している箇所に巻き付けられる。 The expandable member 26 of this embodiment is wound around the stator 22 and the mover 24 . Both the stator 22 and the mover 24 are arranged inside the winding portion of the elastic member 26 . The expandable member 26 is wound around the portions of the stator 22 and the mover 24 facing each other in the Z direction.

伸縮部材２６は、固定子２２のＺ方向の外面部２２ｄと可動子２４のＺ方向の外面部２４ｄとに交互に接触するように巻き付けられる。ここでの固定子２２の外面部２２ｄとは、可動子２４とはＺ方向の反対側に設けられる固定子２２の一部をいう。また、可動子２４の外面部２４ｄとは、固定子２２とはＺ方向の反対側に設けられる可動子２４の一部をいう。これにより、伸縮部材２６は、Ｚ方向での固定子２２及び可動子２４の離脱を規制するように張り渡される。また、伸縮部材２６は、Ｙ方向での固定子２２及び可動子２４の相対的な動きを規制するように張り渡される。 The expandable member 26 is wound so as to alternately contact the Z-direction outer surface portion 22d of the stator 22 and the Z-direction outer surface portion 24d of the mover 24 . The outer surface portion 22d of the stator 22 here refers to a portion of the stator 22 provided on the side opposite to the mover 24 in the Z direction. Further, the outer surface portion 24d of the mover 24 refers to a portion of the mover 24 provided on the side opposite to the stator 22 in the Z direction. Thereby, the expandable member 26 is stretched so as to restrict separation of the stator 22 and the mover 24 in the Z direction. In addition, the expandable member 26 is stretched so as to restrict the relative movement of the stator 22 and mover 24 in the Y direction.

本実施形態の伸縮部材２６は、伸縮部材２６の巻き方向Ｐｃに向かうにつれて、Ｘ方向に延びるように固定子２２と可動子２４に巻き付けられている。ここでの巻き方向Ｐｃとは、伸縮部材２６が巻き付けられている箇所で伸縮部材２６の長手方向に沿う方向をいう。この一例として、本実施形態の伸縮部材２６は、固定子２２と可動子２４に螺旋状に巻き付けられている。 The expandable member 26 of the present embodiment is wound around the stator 22 and the mover 24 so as to extend in the X direction toward the winding direction Pc of the expandable member 26 . The winding direction Pc here refers to a direction along the longitudinal direction of the elastic member 26 at the point where the elastic member 26 is wound. As an example of this, the expandable member 26 of this embodiment is spirally wound around the stator 22 and the mover 24 .

伸縮部材２６には、付勢部材３０の付勢力が可動子２４を介して付与されており、その付勢力により張力が付与される。本実施形態では、固定子２２から可動子２４がＺ方向で遠ざかる方向に付勢力が付与される。これにより、可動子２４は、固定子２２から間隔を空けた位置に配置される。伸縮部材２６は、このような張力を付与された状態で固定子２２及び可動子２４に交互に接触するように張り渡されることになる。本実施形態の伸縮部材２６は、縮み変形によって、Ｚ方向において可動子２４を固定子２２に近づける方向（押圧方向Ｐａ）に駆動可能である。 A biasing force of a biasing member 30 is applied to the elastic member 26 via the mover 24, and tension is applied by the biasing force. In this embodiment, a biasing force is applied in a direction in which the mover 24 moves away from the stator 22 in the Z direction. Thereby, the mover 24 is arranged at a position spaced apart from the stator 22 . The extensible member 26 is stretched so as to alternately contact the stator 22 and the mover 24 under such tension. The expansion/contraction member 26 of the present embodiment can be driven in the direction (pressing direction Pa) in which the mover 24 approaches the stator 22 in the Z direction by contraction deformation.

分離規制部材２８は、Ｚ方向での固定子２２と可動子２４の分離を規制可能である。分離規制部材２８は、伸縮部材２６と同様、ねじ部材等の固定部材を用いて、固定子２２に固定される。本実施形態の分離規制部材２８は伸縮部材２６が兼ねている。 Separation restricting member 28 can restrict separation of stator 22 and mover 24 in the Z direction. The separation restricting member 28 is fixed to the stator 22 using a fixing member such as a screw member, similar to the elastic member 26 . The elastic member 26 also serves as the separation restricting member 28 of this embodiment.

付勢部材３０は、可動子２４を反押圧方向Ｐｂに付勢可能である。本実施形態の付勢部材３０は、コイルスプリング、つまり、弾性体である。本実施形態の付勢部材３０は固定子２２と可動子２４の間に配置される。 The biasing member 30 can bias the mover 24 in the counter-pressing direction Pb. The biasing member 30 of this embodiment is a coil spring, that is, an elastic body. The biasing member 30 of this embodiment is arranged between the stator 22 and the mover 24 .

固定子２２には、Ｘ方向及びＹ方向での固定子２２に対する相対移動を規制可能に付勢部材３０を支持する固定子側支持部２２ｅが設けられる。本実施形態の固定子側支持部２２ｅは、付勢部材３０のＺ方向の一端部を収納する有底凹部であるが、付勢部材３０の一端部の内部に嵌め込まれる凸部等でもよい。可動子２４には、Ｘ方向及びＹ方向での可動子２４に対する相対移動を規制可能に付勢部材３０を支持する可動子側支持部２４ｅが設けられる。本実施形態の可動子側支持部２４ｅは、付勢部材３０のＺ方向の他端部を収納する有底凹部であるが、付勢部材３０の他端部の内部に嵌め込まれる凸部等でもよい。 The stator 22 is provided with a stator-side support portion 22e that supports the biasing member 30 so as to restrict relative movement with respect to the stator 22 in the X direction and the Y direction. The stator-side support portion 22e of the present embodiment is a bottomed concave portion that accommodates one end portion of the biasing member 30 in the Z direction, but it may be a convex portion or the like that is fitted inside the one end portion of the biasing member 30 . The mover 24 is provided with a mover-side support portion 24e that supports the biasing member 30 so as to restrict relative movement with respect to the mover 24 in the X and Y directions. The mover-side support portion 24e of the present embodiment is a bottomed concave portion that accommodates the other end portion of the biasing member 30 in the Z direction. good.

ここで、アクチュエータ１０は、Ｙ方向及びＺ方向の二方向での固定子２２に対する可動子２４の位置を保持する位置保持構造８０を備える。本実施形態の位置保持構造８０には第１位置保持構造８０が含まれる。第１位置保持構造８０は、固定子２２に設けられる受け部４０と、可動子２４に設けられる位置決め部４２とを備える。第１位置保持構造８０は、受け部４０と位置決め部４２の接触によって、前述のように固定子２２に対する可動子２４の位置を保持する。 Here, the actuator 10 includes a position holding structure 80 that holds the position of the mover 24 with respect to the stator 22 in two directions of the Y direction and the Z direction. The position holding structure 80 of this embodiment includes a first position holding structure 80 . The first position holding structure 80 includes a receiving portion 40 provided on the stator 22 and a positioning portion 42 provided on the mover 24 . The first position holding structure 80 holds the position of the mover 24 with respect to the stator 22 as described above by the contact between the receiving portion 40 and the positioning portion 42 .

本実施形態において、位置決め部４２は、可動子２４からＺ方向に突き出る凸部４４である。この凸部４４は、固定子２２に対して可動子２４のＺ方向に対向する箇所から突き出ている。また、本実施形態において、受け部４０は凸部４４が差し込まれる凹部４６である。本実施形態において、凸部４４は柱状をなしており、凹部４６は固定子２２をＺ方向に貫通する貫通孔である。本実施形態において、位置決め部４２を構成する凸部４４は押圧部２４ａを兼ねている。 In this embodiment, the positioning portion 42 is a convex portion 44 protruding from the mover 24 in the Z direction. The convex portion 44 protrudes from a portion of the mover 24 facing the stator 22 in the Z direction. Further, in this embodiment, the receiving portion 40 is a concave portion 46 into which the convex portion 44 is inserted. In this embodiment, the protrusions 44 are columnar, and the recesses 46 are through holes penetrating the stator 22 in the Z direction. In this embodiment, the convex portion 44 forming the positioning portion 42 also serves as the pressing portion 24a.

本実施形態の受け部４０は、固定子２２の他の部位を構成する単数の部材により構成される。本実施形態の位置決め部４２は、可動子２４の他の部位を構成する単数の部材により構成される。ここでの他の部位とは、たとえば、固定子２２や可動子２４での伸縮部材２６の接触箇所をいう。本実施形態において、受け部４０と位置決め部４２の組は、Ｘ方向に間を空けた複数箇所に設けられる。 The receiving portion 40 of this embodiment is composed of a single member that constitutes another part of the stator 22 . The positioning part 42 of the present embodiment is composed of a single member that constitutes another part of the mover 24 . Here, the other portion means, for example, the contact portion of the expandable member 26 at the stator 22 or the mover 24 . In this embodiment, the sets of the receiving portion 40 and the positioning portion 42 are provided at a plurality of locations spaced apart in the X direction.

本実施形態の固定子２２の受け部４０は、可動子２４の位置決め部４２を摺動させることで、可動子２４のＸ方向やＹ方向での移動を規制するようにガイドする機能を持つ。受け部４０は、このようなガイド機能を持つものの、Ｚ方向での固定子２２と可動子２４の分離を規制する機能は持たない。本実施形態の受け部４０は、可動子２４の位置決め部４２が接触することで、可動子２４のＸ方向両側の移動や、そのＹ方向両側の移動を規制可能である。 The receiving portion 40 of the stator 22 of this embodiment has a function of guiding the mover 24 so as to restrict its movement in the X direction and the Y direction by causing the positioning portion 42 of the mover 24 to slide. Although the receiving portion 40 has such a guiding function, it does not have a function of restricting separation of the stator 22 and the mover 24 in the Z direction. The receiving portion 40 of the present embodiment can restrict the movement of the mover 24 on both sides in the X direction and the movement on both sides in the Y direction by contacting the positioning portion 42 of the mover 24 .

なお、本実施形態の凸部４４は、固定子２２から駆動対象１４側に突き出るように設けられる。伸縮部材２６は、その凸部４４を避けるように固定子２２に巻き付けられる。また、凸部４４の外周側には付勢部材３０が配置される。 In addition, the convex portion 44 of the present embodiment is provided so as to protrude from the stator 22 toward the driven target 14 . The expandable member 26 is wound around the stator 22 so as to avoid the projections 44 thereof. Further, the biasing member 30 is arranged on the outer peripheral side of the convex portion 44 .

アクチュエータ１０とともに駆動装置１２の動作を説明する。図２、図６を参照する。図２は、伸縮部材２６が通電により縮み変形する前の状態を示し、図６は、伸縮部材２６が通電により縮み変形した後の状態を示す。 The operation of the drive device 12 together with the actuator 10 will be described. Please refer to FIGS. FIG. 2 shows a state before the elastic member 26 is contracted and deformed by energization, and FIG. 6 shows a state after the elastic member 26 is contracted and deformed by energization.

駆動装置１２の制御部２０は、予め定められた駆動開始条件を満たすと、予め定められた通電条件のもとで伸縮部材２６に通電する。本実施形態の駆動開始条件は駆動対象１４に対するタッチ操作がタッチ検出部１８により検出されることである。通電条件は、伸縮部材２６が逆変態開始温度以上の温度域まで伸縮部材２６を加熱することで、伸縮部材２６を縮み変形させることが可能な条件に設定される。 When a predetermined driving start condition is satisfied, the control unit 20 of the driving device 12 energizes the extensible member 26 under a predetermined energization condition. The drive start condition of the present embodiment is that the touch detection unit 18 detects a touch operation on the drive target 14 . The energization condition is set to a condition that allows the expansion/contraction member 26 to contract and deform by heating the expansion/contraction member 26 to a temperature range equal to or higher than the reverse transformation start temperature.

制御部２０による通電に伴い伸縮部材２６が縮み変形すると、伸縮部材２６により可動子２４が押圧方向Ｐａに駆動される（図６参照）。制御部２０による伸縮部材２６に対する通電が停止すると、伸縮部材２６が放熱冷却により元の形状に復元するように伸び変形する。これに伴い、付勢部材３０の付勢力により可動子２４が反押圧方向Ｐｂに押し戻される（図２参照）。 When the expansion/contraction member 26 contracts and deforms due to the energization by the control unit 20, the expansion/contraction member 26 drives the mover 24 in the pressing direction Pa (see FIG. 6). When the control unit 20 stops energizing the expandable member 26, the expandable member 26 stretches and deforms so as to restore its original shape due to heat dissipation cooling. Accordingly, the movable element 24 is pushed back in the counter-pressing direction Pb by the biasing force of the biasing member 30 (see FIG. 2).

可動子２４が押圧方向Ｐａに移動すると、駆動対象１４は、駆動装置１２の付勢部１６の付勢力に抗して、可動子２４の押圧部２４ａにより押圧方向Ｐａに押圧される（図６参照）。可動子２４が反押圧方向Ｐｂに移動すると、駆動対象１４は、付勢部１６の付勢力により反押圧方向Ｐｂに動かされる（図２参照）。 When the mover 24 moves in the pressing direction Pa, the drive target 14 is pressed in the pressing direction Pa by the pressing portion 24a of the mover 24 against the biasing force of the biasing portion 16 of the driving device 12 (FIG. 6). reference). When the mover 24 moves in the counter-pressing direction Pb, the drive target 14 is moved in the counter-pressing direction Pb by the biasing force of the biasing portion 16 (see FIG. 2).

このように可動子２４は、伸縮部材２６の伸縮（縮み変形）と付勢部材３０の付勢力によって往復動するように動かされる。駆動対象１４は、可動子２４と付勢部１６の付勢力によって、可動子２４のＺ方向での往復動に連動して、自らも往復動するように動かされる。これにより、駆動対象１４に触れているユーザＵに駆動対象１４の振動（往復動）を伝達させ、ユーザに触感を付与できる。 In this manner, the mover 24 is moved to reciprocate by the expansion and contraction (contraction deformation) of the expandable member 26 and the biasing force of the biasing member 30 . The driven object 14 is moved by the biasing force of the mover 24 and the biasing portion 16 so as to reciprocate itself in conjunction with the reciprocating motion of the mover 24 in the Z direction. As a result, the vibration (reciprocating motion) of the driven object 14 can be transmitted to the user U who is touching the driven object 14, and the user can be given a tactile sensation.

本実施形態では、図６に示すように、伸縮部材２６が縮み変形した状態にあるとき、可動子２４は、固定子２２とＺ方向に対向する箇所２４ｆで固定子２２に接触する。この固定子２２と可動子２４のＺ方向に対向する箇所２２ｆ、２４ｆは平坦面である。 In this embodiment, as shown in FIG. 6, when the expandable member 26 is contracted and deformed, the mover 24 contacts the stator 22 at a location 24f facing the stator 22 in the Z direction. Locations 22f and 24f of the stator 22 and the mover 24 facing each other in the Z direction are flat surfaces.

アクチュエータ１０の組み立て手順の一例を説明する。図７（Ａ）に示すように、固定子２２の受け部４０に可動子２４の位置決め部４２がＸ方向及びＹ方向で接触可能な位置に配置する。本実施形態では、固定子２２及び可動子２４の一方の凸部４４をそれらの他方の凹部４６内に差し込むことで、これを実現する。これにより、分離規制部材２８を固定子２２に固定しなくとも、固定子２２及び可動子２４をＸ方向やＹ方向に位置決めできる。このとき、固定子２２と可動子２４の間に付勢部材３０を予め配置しておく。 An example of the procedure for assembling the actuator 10 will be described. As shown in FIG. 7A, the positioning portion 42 of the mover 24 is arranged at a position where it can contact the receiving portion 40 of the stator 22 in the X direction and the Y direction. In this embodiment, this is achieved by inserting the protrusions 44 of one of the stator 22 and the mover 24 into the recesses 46 of the other. Thereby, the stator 22 and the mover 24 can be positioned in the X direction and the Y direction without fixing the separation restricting member 28 to the stator 22 . At this time, the biasing member 30 is arranged in advance between the stator 22 and the mover 24 .

次に、図７（Ｂ）に示すように、固定子２２や可動子２４に接触するように伸縮部材２６を張り渡し、伸縮部材２６を固定子２２に固定する。本実施形態では、固定子２２や可動子２４に伸縮部材２６を巻き付けたうえで、伸縮部材２６の両端部を固定部材３６を用いて固定子２２に固定する。 Next, as shown in FIG. 7B, the expandable member 26 is stretched so as to contact the stator 22 and the mover 24, and the expandable member 26 is fixed to the stator 22. Then, as shown in FIG. In this embodiment, the elastic member 26 is wound around the stator 22 and the mover 24 , and both ends of the elastic member 26 are fixed to the stator 22 using the fixing members 36 .

このように伸縮部材２６を巻き付けるうえで、固定子２２を固定治具７０に固定し、可動子２４を可動治具７２に固定する。可動子２４は、固定子２２との間に所定のＺ方向の寸法Ｌａを持つ隙間６８を空けた位置に配置する。この隙間６８の寸法Ｌａは、可動治具７２により可動子２４をＺ方向に移動させることで調整する。この隙間６８の寸法Ｌａは、付勢部材３０が弾性変形する大きさに設定される。この隙間６８の寸法Ｌａが維持されるように、可動治具７２によって、付勢部材３０の付勢力に抗する所定の押し付け荷重Ｆａを付与した状態を維持する。 In winding the expandable member 26 in this manner, the stator 22 is fixed to the fixing jig 70 and the mover 24 is fixed to the movable jig 72 . The movable element 24 is arranged at a position with a gap 68 having a predetermined Z-direction dimension La between itself and the stator 22 . The dimension La of the gap 68 is adjusted by moving the mover 24 in the Z direction using the movable jig 72 . A dimension La of the gap 68 is set to a size that allows the biasing member 30 to elastically deform. In order to maintain the dimension La of the gap 68, the movable jig 72 maintains a state in which a predetermined pressing load Fa that resists the biasing force of the biasing member 30 is applied.

隙間６８の寸法Ｌａを調整した条件のもと、伸縮部材２６の一端部を固定部材３６に固定する。この後、伸縮部材２６の他端部に所定の引張荷重を付与しつつ、固定子２２や可動子２４に伸縮部材２６を巻き付けた後、伸縮部材２６の他端部を固定部材３６に固定する。この後、可動治具７２により付与される押し付け荷重Ｆａを解除すると、隙間６８の寸法Ｌａのときに生じる付勢部材３０の付勢力に応じた大きさの張力が伸縮部材２６に付与される。伸縮部材２６を固定子２２に固定してから伸縮部材２６に張力を付与できることになる。この伸縮部材２６の張力は、隙間６８の寸法Ｌａに応じた大きさとなり、その寸法Ｌａが小さくなるほど大きくなる。このように、本実施形態のアクチュエータ１０によれば、伸縮部材２６を巻き付けるときの固定子２２と可動子２４の隙間６８の寸法Ｌａを調整することで、伸縮部材２６に付与される張力を容易に調整できる。 One end of the elastic member 26 is fixed to the fixing member 36 under the condition that the dimension La of the gap 68 is adjusted. Thereafter, while applying a predetermined tensile load to the other end of the expandable member 26, the expandable member 26 is wound around the stator 22 and the mover 24, and then the other end of the expandable member 26 is fixed to the fixing member 36. . After that, when the pressing load Fa applied by the movable jig 72 is released, a tensile force corresponding to the biasing force of the biasing member 30 generated when the gap 68 has the dimension La is applied to the expandable member 26 . After securing the telescopic member 26 to the stator 22, the telescopic member 26 can be tensioned. The tension of the expandable member 26 has a magnitude corresponding to the dimension La of the gap 68, and increases as the dimension La decreases. As described above, according to the actuator 10 of the present embodiment, by adjusting the dimension La of the gap 68 between the stator 22 and the mover 24 when the expandable member 26 is wound, the tension applied to the expandable member 26 can be easily adjusted. can be adjusted to

以上のアクチュエータ１０の効果を説明する。 Effects of the actuator 10 described above will be described.

（Ａ）アクチュエータ１０は、分離規制部材２８とは別に設けられ、Ｘ方向及びＹ方向での固定子２２に対する可動子２４の位置を保持する位置保持構造８０を備える。よって、分離規制部材２８（伸縮部材２６）により固定子２２と可動子２４の分離を規制する前段階において、位置保持構造８０によって、固定子２２と可動子２４のＸ方向やＹ方向での位置ずれを防止できる（図７（Ａ）参照）。これに伴い、固定子２２と可動子２４が容易にばらける事態を避けられ、アクチュエータ１０の組み立て時に良好な作業性を得られる。 (A) The actuator 10 includes a position holding structure 80 that is provided separately from the separation restricting member 28 and holds the position of the mover 24 with respect to the stator 22 in the X and Y directions. Therefore, before the separation of the stator 22 and the mover 24 is restricted by the separation restricting member 28 (extendable member 26), the position holding structure 80 controls the positions of the stator 22 and the mover 24 in the X direction and the Y direction. Displacement can be prevented (see FIG. 7A). As a result, the stator 22 and the mover 24 can be prevented from being easily separated, and good workability can be obtained when the actuator 10 is assembled.

（Ｂ）可動子２４の位置決め部４２は可動子２４の押圧部２４ａを兼ねている。よって、可動子２４の位置決め部４２と押圧部２４ａを別に設けるより、可動子２４の構成を簡素化でき、部品コストの軽減を図れる。 (B) The positioning portion 42 of the mover 24 also serves as the pressing portion 24a of the mover 24 . Therefore, by separately providing the positioning portion 42 and the pressing portion 24a of the mover 24, the configuration of the mover 24 can be simplified, and the cost of parts can be reduced.

（Ｃ）伸縮部材２６は、固定子２２及び可動子２４のＺ方向での離脱を規制するように張り渡される。よって、伸縮部材２６が分離規制部材２８を兼ねることができ、これらを別々に設けるより部品点数の削減を図れる。また、伸縮部材２６により固定子２２及び可動子２４のＺ方向での相対移動を規制できる他に、Ｙ方向での相対移動を規制できる。よって、固定子２２及び可動子２４のＹ方向での位置ずれを抑えられるうえ、そのＹ方向での分離を防止できる。この効果は、前述の受け部４０と位置決め部４２の組み合わせがなくとも得られる。 (C) The expandable member 26 is stretched so as to restrict the detachment of the stator 22 and mover 24 in the Z direction. Therefore, the extensible member 26 can also serve as the separation restricting member 28, and the number of parts can be reduced by providing them separately. In addition to restricting the relative movement of the stator 22 and mover 24 in the Z direction, the elastic member 26 can restrict the relative movement in the Y direction. Therefore, the positional deviation of the stator 22 and the mover 24 in the Y direction can be suppressed, and the separation in the Y direction can be prevented. This effect can be obtained without the combination of the receiving portion 40 and the positioning portion 42 described above.

伸縮部材２６は、伸縮部材２６の内側に固定子２２と可動子２４の両方が配置されるように、固定子２２と可動子２４に巻き付けられている。よって、伸縮部材２６を後述する貫通孔６０内に通さずとも、固定子２２及び可動子２４の離脱を規制するように伸縮部材２６を張り渡せる。このため、伸縮部材２６の張り渡し時に良好な作業性を得られる。 The telescopic member 26 is wound around the stator 22 and the mover 24 such that both the stator 22 and the mover 24 are arranged inside the telescopic member 26 . Therefore, the expandable member 26 can be stretched so as to restrict the separation of the stator 22 and the mover 24 without passing the expandable member 26 through a through hole 60 which will be described later. Therefore, good workability can be obtained when stretching the elastic member 26 .

伸縮部材２６は、巻き方向Ｐｃに向かうにつれてＸ方向に延びるように固定子２２や可動子２４に巻き付けられる。よって、二次元的に巻き付ける場合と比べて、固定子２２や可動子２４に対する伸縮部材２６の接触範囲をＸ方向に広くできる。これに伴い、通電加熱された伸縮部材２６を放熱冷却するとき、固定子２２や可動子２４に対する伸縮部材２６からの伝熱量を増大できる。これにより、固定子２２や可動子２４からの放熱量を増大でき、良好な放熱効果を得られる。 The expandable member 26 is wound around the stator 22 and the mover 24 so as to extend in the X direction toward the winding direction Pc. Therefore, the contact range of the expandable member 26 with respect to the stator 22 and the mover 24 can be widened in the X direction compared to the case of two-dimensional winding. As a result, the amount of heat transferred from the expandable member 26 to the stator 22 and the mover 24 can be increased when the expandable member 26 that has been electrically heated is radiated and cooled. As a result, the amount of heat radiation from the stator 22 and the mover 24 can be increased, and a good heat radiation effect can be obtained.

なお、伸縮部材２６は、固定子２２や可動子２４の間を通らずに、固定子２２や可動子２４の外面部２２ｄ、２４ｄに接触するように張り渡される。かりに、固定子２２と可動子２４の間を通るように伸縮部材２６が配置された場合、伸縮部材２６から放出された熱が固定子２２と可動子２４の間にこもり易くなる。これに対して、本実施形態によれば、このように伸縮部材２６から放出された熱がこもる事態を避けられるため、良好な放熱効果を得やすくなる。 The expansion/contraction member 26 is stretched so as to contact the outer surface portions 22 d and 24 d of the stator 22 and the mover 24 without passing between the stator 22 and the mover 24 . If the expandable member 26 is arranged to pass between the stator 22 and the mover 24 , the heat released from the expandable member 26 tends to stay between the stator 22 and the mover 24 . In contrast, according to the present embodiment, it is possible to avoid such a situation in which the heat emitted from the expandable member 26 is accumulated, so that a good heat dissipation effect can be easily obtained.

また、固定子２２や可動子２４は、放熱性を高めるため、熱伝導率に優れた素材を用いて構成される。この一例として、固定子２２や可動子２４は、アルミニウム、つまり、金属系素材を用いて構成される。また、固定子２２や可動子２４の外面には、伸縮部材２６から絶縁するため、絶縁層（不図示）が被覆されている。絶縁層は、たとえば、アルマイト処理により得られるアルマイトである。 In addition, the stator 22 and the mover 24 are made of a material with excellent thermal conductivity in order to improve heat dissipation. As an example of this, the stator 22 and the mover 24 are constructed using aluminum, that is, a metallic material. Further, the outer surfaces of the stator 22 and the mover 24 are covered with an insulating layer (not shown) in order to insulate them from the expandable member 26 . The insulating layer is, for example, alumite obtained by alumite treatment.

次に、アクチュエータ１０の他の工夫点を説明する。図４を参照する。固定子２２及び可動子２４の少なくとも一方には、伸縮部材２６が内側に配置される溝部５０、５２が設けられる。本実施形態では固定子２２及び可動子２４の両方の外面部２２ｄ、２４ｄに設けられる。固定子２２の外面部２２ｄには複数の第１溝部５０が設けられ、可動子２４の外面部２４ｄには複数の第２溝部５２が設けられる。溝部５０、５２は、固定子２２や可動子２４に対する伸縮部材２６の巻き付け箇所に設けられる。 Next, another devised point of the actuator 10 will be described. Please refer to FIG. At least one of the stator 22 and the mover 24 is provided with grooves 50 and 52 in which the expandable member 26 is arranged. In this embodiment, they are provided on the outer surface portions 22 d and 24 d of both the stator 22 and the mover 24 . A plurality of first groove portions 50 are provided in the outer surface portion 22d of the stator 22, and a plurality of second groove portions 52 are provided in the outer surface portion 24d of the mover 24. As shown in FIG. The grooves 50 and 52 are provided at the positions where the expansion/contraction member 26 is wound around the stator 22 and the mover 24 .

固定子２２と可動子２４がＺ方向に対向する箇所において、固定子２２の軸心Ｃａ周りを回る方向を固定子２２の周方向といい、可動子２４の軸心Ｃｂ周りを回る方向を可動子２４の周方向という。 The direction in which the stator 22 rotates around the axis Ca of the stator 22 is called the circumferential direction of the stator 22, and the direction in which the mover 24 rotates around the axis Cb is movable. It is called the circumferential direction of the element 24 .

第１溝部５０は、固定子２２の外面部２２ｄにて固定子２２の周方向に延びるように設けられる。本実施形態の第１溝部５０は、伸縮部材２６の巻き方向Ｐｃに向かうにつれて、Ｘ方向に延びるように設けられる。第１溝部５０の両端部５０ａは、固定子２２の外面部２２ｄの周方向両側の端部に設けられる。 The first groove portion 50 is provided so as to extend in the circumferential direction of the stator 22 at the outer surface portion 22d of the stator 22 . The first groove portion 50 of the present embodiment is provided so as to extend in the X direction toward the winding direction Pc of the elastic member 26 . Both ends 50 a of the first groove portion 50 are provided at both ends in the circumferential direction of the outer surface portion 22 d of the stator 22 .

第２溝部５２は、可動子２４の外面部２４ｄにて可動子２４の周方向に延びるように設けられる。本実施形態の第２溝部５２は、伸縮部材２６の巻き方向Ｐｃに向かうにつれて、Ｘ方向に延びるように設けられる。第２溝部５２の両端部５２ａは、可動子２４の外面部２４ｄの周方向両側の端部に設けられる。 The second groove portion 52 is provided so as to extend in the circumferential direction of the mover 24 on the outer surface portion 24 d of the mover 24 . The second groove portion 52 of the present embodiment is provided so as to extend in the X direction toward the winding direction Pc of the elastic member 26 . Both end portions 52 a of the second groove portion 52 are provided at both ends in the circumferential direction of the outer surface portion 24 d of the mover 24 .

第１溝部５０の端部５０ａの開口部と、第２溝部５２の端部５２ａの開口部とは、Ｚ方向に対向する箇所に設けられる。伸縮部材２６は、Ｚ方向に対向する箇所にある第１溝部５０の開口部と第２溝部５２の開口部を通るように設けられる。 The opening of the end portion 50a of the first groove portion 50 and the opening portion of the end portion 52a of the second groove portion 52 are provided at locations facing each other in the Z direction. The expandable member 26 is provided so as to pass through the opening of the first groove portion 50 and the opening portion of the second groove portion 52 that are opposed to each other in the Z direction.

固定子２２や可動子２４に溝部５０、５２を設けることで、伸縮部材２６を溝部５０、５２内に配置しつつ、固定子２２や可動子２４に伸縮部材２６を巻き付けられる。よって固定子２２や可動子２４に対する伸縮部材２６の位置ずれが生じ難くなり、伸縮部材２６の巻き付け作業が容易となる。また、固定子２２や可動子２４の表面積を増大させ易くなるため、固定子２２や可動子２４からの放熱量の増大により、良好な放熱効果を得やすくなる。 By providing the grooves 50 and 52 in the stator 22 and the mover 24 , the expandable member 26 can be wound around the stator 22 and the mover 24 while the expandable member 26 is arranged in the grooves 50 and 52 . Therefore, the positional deviation of the expandable member 26 with respect to the stator 22 and the mover 24 is less likely to occur, and the work of winding the expandable member 26 is facilitated. Moreover, since the surface areas of the stator 22 and the mover 24 can be easily increased, the amount of heat radiated from the stator 22 and the mover 24 can be increased, making it easier to obtain a good heat radiation effect.

図８を参照する。第１溝部５０と第２溝部５２は、大半の構成が共通するため、その共通する構成に関しては図８を参照に説明する。溝部５０、５２の両側面５４は、その長手方向に直交する断面において、溝部５０、５２の底側に向かうにつれて幅狭となるように形成される。ここでの溝部５０、５２の側面５４とは、その断面において、溝部５０、５２の深さ方向Ｐｄと直交する溝幅方向Ｐｅの面をいう。この条件は、溝部５０、５２の深さ方向Ｐｄの少なくとも一部において満たされていればよい。本実施形態では、溝部５０、５２の深さ方向Ｐｄの全域において満たされ、その底部が円弧状をなしている。この条件を満たすうえで、溝部５０、５２の底部は、たとえば、鋭角又は鈍角に尖る尖状をなしていてもよいし、台形状をなしてもよい。 Please refer to FIG. Since the first groove portion 50 and the second groove portion 52 have most of the same configuration, the common configuration will be described with reference to FIG. Both side surfaces 54 of the grooves 50 and 52 are formed so as to narrow toward the bottom side of the grooves 50 and 52 in a cross section perpendicular to the longitudinal direction. Here, the side surfaces 54 of the grooves 50 and 52 refer to surfaces in the groove width direction Pe orthogonal to the depth direction Pd of the grooves 50 and 52 in the cross section. This condition should be satisfied at least in part in the depth direction Pd of the grooves 50 and 52 . In this embodiment, the grooves 50 and 52 are filled in the entire depth direction Pd, and their bottoms are arcuate. In order to satisfy this condition, the bottoms of the grooves 50 and 52 may have, for example, a pointed shape sharpened at an acute angle or an obtuse angle, or may have a trapezoidal shape.

伸縮部材２６は、このような条件を満たす溝部５０、５２の両側面５４に接触している。これにより、可動子２４や固定子２２に対する伸縮部材２６の接触面積が増大し、固定子２２や可動子２４に対する伸縮部材２６の伝熱量を増大できる。これにより、固定子２２や可動子２４からの放熱量を増大でき、良好な放熱効果を得られる。 The expandable member 26 is in contact with both side surfaces 54 of the grooves 50, 52 that meet these conditions. As a result, the contact area of the expandable member 26 with respect to the mover 24 and the stator 22 is increased, and the heat transfer amount of the expandable member 26 with respect to the stator 22 and the mover 24 can be increased. As a result, the amount of heat radiation from the stator 22 and the mover 24 can be increased, and a good heat radiation effect can be obtained.

伸縮部材２６は、溝部５０、５２の底部とは反対側の入口５６より奥側に収まるように配置される。伸縮部材２６は、この入口５６より外側にはみ出ないということである。これにより、周辺構造に対する伸縮部材２６の干渉を避けられる。 The expandable member 26 is arranged so as to be accommodated on the inner side of the inlet 56 on the side opposite to the bottom of the grooves 50 and 52 . The elastic member 26 does not protrude outside the inlet 56 . This avoids interference of the telescopic member 26 with surrounding structures.

（第２の実施の形態）
図９を参照にして、第２実施形態のアクチュエータ１０を説明する。本実施形態では、第１実施形態と比べ、位置保持構造が主に相違する。本実施形態の位置保持構造８０、８２は、前述の固定子２２の受け部４０と可動子２４の位置決め部４２を備える第１位置保持構造８０の他に、第２位置保持構造８２が含まれる。 (Second embodiment)
The actuator 10 of the second embodiment will be described with reference to FIG. The main difference between this embodiment and the first embodiment is the position holding structure. The position holding structures 80 and 82 of the present embodiment include a second position holding structure 82 in addition to the first position holding structure 80 including the receiving portion 40 for the stator 22 and the positioning portion 42 for the mover 24. .

第２位置保持構造８２は、前述の固定子側支持部２２ｅと、可動子側支持部２４ｅと、付勢部材３０とを備える。付勢部材３０は、固定子側支持部２２ｅを構成する有底凹部の内周面に対してＸ方向に摺動可能に嵌め込まれる。また、付勢部材３０は、可動子側支持部２４ｅを構成する有底凹部の内周面に対してＸ方向に摺動可能に嵌め込まれる。 The second position holding structure 82 includes the stator-side support portion 22e, the mover-side support portion 24e, and the biasing member 30 described above. The biasing member 30 is slidably fitted in the X direction to the inner peripheral surface of the bottomed recess that constitutes the stator-side support portion 22e. In addition, the biasing member 30 is slidably fitted in the X direction to the inner peripheral surface of the bottomed concave portion forming the movable element-side support portion 24e.

これらを用いて、固定子２２に対する可動子２４の位置を保持するため、本実施形態のアクチュエータ１０は、次の条件を満たすように構成される。この条件を満たすうえで、固定子２２の受け部４０と可動子２４の位置決め部４２の間には、固定子２２と可動子２４がＸ方向及びＹ方向に相対移動するときに、付勢部材３０の弾性変形を許容するための十分な大きさのクリアランス８４が設けられる。
（条件）固定子２２と可動子２４がＸ方向及びＹ方向に相対移動したとき、固定子２２の受け部４０と可動子２４の位置決め部４２が接触するより先に付勢部材３０が弾性変形すること Since these are used to hold the position of the mover 24 with respect to the stator 22, the actuator 10 of this embodiment is configured to satisfy the following conditions. In order to satisfy this condition, a biasing member is provided between the receiving portion 40 of the stator 22 and the positioning portion 42 of the mover 24 when the stator 22 and the mover 24 move relative to each other in the X and Y directions. A clearance 84 large enough to allow for elastic deformation of 30 is provided.
(Condition) When the stator 22 and the mover 24 move relative to each other in the X and Y directions, the biasing member 30 is elastically deformed before the receiving portion 40 of the stator 22 and the positioning portion 42 of the mover 24 contact each other. to do

固定子２２や可動子２４にＸ方向及びＹ方向に相対移動させる外力が付与された場合を考える。この場合、固定子２２や可動子２４の相対移動に追従して付勢部材３０が弾性変形することで、それらの大きな相対移動が制限され、付勢部材３０により固定子２２に対する可動子２４の位置が保持される。また、固定子２２や可動子２４に付与される外力を解除すると、付勢部材３０の弾性反発力によって、相対移動前の相対位置に押し戻され、これによっても、付勢部材３０により固定子２２に対する可動子２４の位置が保持される。なお、固定子２２と可動子２４の相対移動量が大きくなった場合、第１位置保持構造８０の受け部４０と位置決め部４２の接触によって、固定子２２に対する可動子２４の位置が保持される。 Consider a case where an external force is applied to move the stator 22 and the mover 24 relative to each other in the X and Y directions. In this case, the urging member 30 elastically deforms following the relative movement of the stator 22 and the mover 24, thereby restricting their large relative movement. Position is retained. When the external force applied to the stator 22 and the mover 24 is released, the elastic repulsive force of the biasing member 30 pushes the stator 22 back to the relative position before the relative movement. The position of the mover 24 with respect to is held. Note that when the amount of relative movement between the stator 22 and the mover 24 increases, the position of the mover 24 with respect to the stator 22 is held by the contact between the receiving portion 40 and the positioning portion 42 of the first position holding structure 80. .

このように付勢部材３０を備える第２位置保持構造８２を用いることで、付勢部材３０とは別に第２位置保持構造８２を設ける場合と比べ、アクチュエータ１０の構成を簡素化でき、製品コストの軽減を図れる。本実施形態では、第１位置保持構造８０と第２位置保持構造８２を設けているが、第１位置保持構造８０を省略した場合でも、付勢部材３０とは別に第２位置保持構造を設けずともよくなる利点がある。 By using the second position holding structure 82 including the biasing member 30 in this way, compared to the case where the second position holding structure 82 is provided separately from the biasing member 30, the configuration of the actuator 10 can be simplified and the product cost can be reduced. can be reduced. In this embodiment, the first position holding structure 80 and the second position holding structure 82 are provided. There is always the advantage of getting better.

また、付勢部材３０はコイルスプリングである。よって、固定子側支持部２２ｅや可動子側支持部２４ｅに柱状の凸部４４を接触させる場合と比べ、固定子側支持部２２ｅや可動子側支持部２４ｅとの接触面積を抑えられ、その摺動抵抗を軽減できる。この摺動抵抗の軽減により、駆動対象１４の駆動のために可動子２４をＸ方向に往復動する動作をスムーズに行える。 Also, the biasing member 30 is a coil spring. Therefore, the contact area with the stator-side support portion 22e and the mover-side support portion 24e can be reduced compared to the case where the columnar convex portion 44 is brought into contact with the stator-side support portion 22e and the mover-side support portion 24e. Sliding resistance can be reduced. By reducing the sliding resistance, the mover 24 can be smoothly reciprocated in the X direction to drive the driven object 14 .

なお、固定子側支持部２２ｅを構成する有底凹部のＸ方向寸法と、可動子側支持部２４ｅを構成する有底凹部のＸ方向寸法の合計値は、第１位置保持構造８０を構成する凹部４６（貫通孔）のＸ方向寸法より小さくなるように設定される。よって、第１位置保持構造８０の受け部４０と位置決め部４２の接触のみを用いる場合と比べ、固定子２２に対して可動子２４がＸ方向に移動するときの摺動範囲を小さくでき、その摺動抵抗を低減できる。ここでの摺動範囲とは、第１位置保持構造８０に関しては、凹部４６（貫通孔）の内周面に対して凸部４４が摺動する範囲をいう。また、ここでの摺動範囲とは、第２位置保持構造８２に関しては、固定子側支持部２２ｅや可動子側支持部２４ｅの内周面に対して付勢部材３０が摺動する範囲をいう。 The total value of the X-direction dimension of the bottomed recesses forming the stator-side support portion 22e and the X-direction dimension of the bottomed recesses forming the mover-side support portion 24e constitutes the first position holding structure 80. It is set to be smaller than the X-direction dimension of the recess 46 (through hole). Therefore, compared to the case where only the contact between the receiving portion 40 and the positioning portion 42 of the first position holding structure 80 is used, the sliding range when the mover 24 moves in the X direction with respect to the stator 22 can be reduced. Sliding resistance can be reduced. As for the first position holding structure 80, the sliding range here means the range in which the convex portion 44 slides on the inner peripheral surface of the concave portion 46 (through hole). As for the second position holding structure 82, the sliding range here means the range in which the biasing member 30 slides with respect to the inner peripheral surfaces of the stator-side support portion 22e and the mover-side support portion 24e. say.

（第３の実施の形態）
図１０を参照にして、第３実施形態のアクチュエータ１０を説明する。本実施形態では、第１実施形態と比べ、伸縮部材２６の張り渡し方が主に相違する。可動子２４や固定子２２にはＺ方向に貫通する貫通孔６０が形成される。貫通孔６０は、Ｘ方向に間隔を空けた箇所に複数形成される。 (Third Embodiment)
The actuator 10 of the third embodiment will be described with reference to FIG. In this embodiment, the main difference from the first embodiment is how the elastic member 26 is stretched. A through hole 60 is formed in the mover 24 and the stator 22 so as to penetrate in the Z direction. A plurality of through holes 60 are formed at intervals in the X direction.

伸縮部材２６は、複数の貫通孔６０内を通しつつ、可動子２４や固定子２２の外面部２２ｄ、２４ｄに交互に接触するように張り渡される。これによっても、伸縮部材２６は、Ｚ方向での固定子２２及び可動子２４の離脱を規制するように張り渡される。また、伸縮部材２６は、Ｙ方向での固定子２２及び可動子２４の離脱を規制するように張り渡される。よって、本実施形態でも、前述の（Ｃ）で説明した効果を得られる。 The expandable member 26 is stretched so as to alternately contact the outer surface portions 22 d and 24 d of the mover 24 and the stator 22 while passing through the plurality of through holes 60 . Also by this, the expansion/contraction member 26 is stretched so as to restrict separation of the stator 22 and the mover 24 in the Z direction. Further, the expansion member 26 is stretched so as to restrict separation of the stator 22 and the mover 24 in the Y direction. Therefore, in this embodiment as well, the effect described in (C) above can be obtained.

なお、本実施形態によっても、第１実施形態の（Ａ）、（Ｂ）で説明した効果を得られる。 The effects described in (A) and (B) of the first embodiment can also be obtained in this embodiment.

（第４の実施の形態）
図１１を参照に第４実施形態のアクチュエータ１０を説明する。本実施形態の可動子２４は押圧方向Ｐａ側に配置され、固定子２２は反押圧方向Ｐｂ側に配置される。本実施形態では伸縮部材２６が可動子２４と固定子２２の間に配置される。可動子２４と固定子２２のそれぞれは、Ｘ方向に互い違いに並ぶように配置される複数の凸部６２を備える。伸縮部材２６は、可動子２４と固定子２２の凸部６２に交互に接触するように張り渡される。これにより、本実施形態の伸縮部材２６は、縮み変形によって、Ｚ方向において可動子２４を固定子２２から遠ざかる方向に駆動可能である。本実施形態の押圧方向Ｐａは可動子２４が固定子２２から遠ざかる方向となり、反押圧方向Ｐｂは可動子２４が固定子２２に近づく方向となる。 (Fourth embodiment)
The actuator 10 of the fourth embodiment will be described with reference to FIG. 11 . The mover 24 of this embodiment is arranged on the pressing direction Pa side, and the stator 22 is arranged on the opposite pressing direction Pb side. In this embodiment, an elastic member 26 is arranged between the mover 24 and the stator 22 . Each of the mover 24 and the stator 22 has a plurality of protrusions 62 arranged alternately in the X direction. The expandable member 26 is stretched so as to alternately contact the protrusions 62 of the mover 24 and the stator 22 . Thereby, the expandable member 26 of the present embodiment can drive the mover 24 away from the stator 22 in the Z direction by contraction deformation. The pressing direction Pa in this embodiment is the direction in which the mover 24 moves away from the stator 22 , and the counter-pressing direction Pb is the direction in which the mover 24 approaches the stator 22 .

本実施形態の分離規制部材２８は、伸縮部材２６とは別に設けられる。本実施形態の分離規制部材２８は、ねじ込みにより固定子２２に固定されるねじ部材であり、可動子２４に形成される挿通孔６４にＺ方向に移動自在に挿通される。 The separation restricting member 28 of this embodiment is provided separately from the expandable member 26 . The separation restricting member 28 of this embodiment is a screw member fixed to the stator 22 by screwing, and is inserted through an insertion hole 64 formed in the mover 24 so as to be movable in the Z direction.

本実施形態の付勢部材３０は、分離規制部材２８の頭部と可動子２４の間に配置される。 The biasing member 30 of this embodiment is arranged between the head of the separation restricting member 28 and the mover 24 .

本実施形態の可動子２４の位置決め部４２は、可動子２４の押圧部２４ａと別に設けられる。 The positioning portion 42 of the mover 24 of this embodiment is provided separately from the pressing portion 24a of the mover 24 .

本実施形態によっても、第１実施形態の（Ａ）で説明した効果を得られる。 This embodiment can also provide the effect described in (A) of the first embodiment.

（第５の実施の形態）
図１２、図１３を参照に第５実施形態のアクチュエータ１０を説明する。本実施形態の固定子２２は押圧方向Ｐａ側に配置され、可動子２４は反押圧方向Ｐｂ側に配置される。本実施形態の固定子２２は、固定子２２のＹ方向の両側面部からＹ方向に突き出る複数の第１掛け部２２ｇを有する。本実施形態の可動子２４は、可動子２４のＹ方向の両側面部からＹ方向に突き出る複数の第２掛け部２４ｇを有する。 (Fifth embodiment)
The actuator 10 of the fifth embodiment will be described with reference to FIGS. 12 and 13. FIG. The stator 22 of this embodiment is arranged on the pressing direction Pa side, and the mover 24 is arranged on the opposite pressing direction Pb side. The stator 22 of the present embodiment has a plurality of first hooks 22g protruding in the Y direction from both sides of the stator 22 in the Y direction. The mover 24 of the present embodiment has a plurality of second hooks 24g protruding in the Y direction from both sides of the mover 24 in the Y direction.

伸縮部材２６は、固定子２２の第１掛け部２２ｇと可動子２４の第２掛け部２４ｇに交互に掛けるように張り渡される。伸縮部材２６は、可動子２４とはＺ方向で反対側を向く箇所で固定子２２の第１掛け部２２ｇに掛けられ、固定子２２とはＺ方向で反対側を向く箇所で可動子２４の第２掛け部２４ｇに掛けられる。これにより、伸縮部材２６は、Ｚ方向での固定子２２及び可動子２４の離脱を規制するように張り渡される。 The expandable member 26 is stretched so as to alternately hook the first hooking portion 22g of the stator 22 and the second hooking portion 24g of the mover 24 . The expandable member 26 is hooked on the first hook 22g of the stator 22 at a point facing away from the mover 24 in the Z direction, and is attached to the mover 24 at a point facing away from the stator 22 in the Z direction. It is hung on the second hanging portion 24g. Thereby, the expandable member 26 is stretched so as to restrict separation of the stator 22 and the mover 24 in the Z direction.

伸縮部材２６の両端部２６ａは、不図示の固定部材を用いて固定子２２に固定される。伸縮部材２６は、固定子２２と可動子２４の間を通るように配置される折り返し部２６ｂと、折り返し部２６ｂと両端部２６ａの間に設けられる一対の中間部２６ｃとを備える。一対の中間部２６ｃのそれぞれは、Ｚ方向から見て、固定子２２や可動子２４のＹ方向の両側に配置される。中間部２６ｃは、固定子２２や可動子２４のＹ方向の片側の側面部の第１掛け部２２ｇと第２掛け部２４ｇに交互に掛けるように張り渡される。 Both ends 26a of the expandable member 26 are fixed to the stator 22 using fixing members (not shown). The expandable member 26 includes a folded portion 26b arranged to pass between the stator 22 and the mover 24, and a pair of intermediate portions 26c provided between the folded portion 26b and both ends 26a. Each of the pair of intermediate portions 26c is arranged on both sides of the stator 22 and the mover 24 in the Y direction when viewed from the Z direction. The intermediate portion 26c is stretched so as to be alternately hooked on the first hooking portion 22g and the second hooking portion 24g on one side of the stator 22 or the mover 24 in the Y direction.

本実施形態によっても、第１実施形態の（Ａ）、（Ｂ）、（Ｃ）で説明した効果を得られる。 This embodiment also provides the effects described in (A), (B), and (C) of the first embodiment.

なお、本実施形態の固定子２２の第１掛け部２２ｇや可動子２４の第２掛け部２４ｇにも、前述した第１溝部５０や第２溝部５２が設けられてもよい。 The first groove portion 50 and the second groove portion 52 may also be provided in the first hook portion 22g of the stator 22 and the second hook portion 24g of the mover 24 of the present embodiment.

（その他の変形例）
アクチュエータ１０は触感付与装置に用いられる例を説明したが、その用途は特に限定されない。 (Other modifications)
Although an example in which the actuator 10 is used in a tactile sensation imparting device has been described, its application is not particularly limited.

アクチュエータ１０の駆動対象１４は、駆動装置１２によりタッチパネルの面外方向に往復動する例を説明したが、その面内方向に往復動してもよい。 Although an example in which the driving target 14 of the actuator 10 reciprocates in the out-of-plane direction of the touch panel by the driving device 12 has been described, it may reciprocate in the in-plane direction.

固定子２２や可動子２４の形状は、伸縮部材２６の縮み変形により可動子２４を駆動可能であれば、特に限定されない。固定子２２や可動子２４は、たとえば、直線状に延びる場合の他に曲線状に延びていてもよい。 The shapes of the stator 22 and the mover 24 are not particularly limited as long as the mover 24 can be driven by contraction deformation of the expandable member 26 . For example, the stator 22 and the mover 24 may extend linearly or curvedly.

伸縮部材２６を構成する形状記憶合金の組成は特に限定されない。たとえば、Ｎｉ－Ｔｉ－Ｃｕ系合金が用いられてもよい。 The composition of the shape memory alloy forming the elastic member 26 is not particularly limited. For example, a Ni--Ti--Cu alloy may be used.

固定子２２や可動子２４に対する伸縮部材２６の巻き付け方は特に限定されない。たとえば、伸縮部材２６は、固定子２２と可動子２４に二次元的に巻き付けられていてもよい。この場合、伸縮部材２６は、Ｘ方向に間を空けた複数の箇所で固定子２２と可動子２４に巻き付けられてもよい。 A method of winding the expandable member 26 around the stator 22 and the mover 24 is not particularly limited. For example, the expandable member 26 may be two-dimensionally wound around the stator 22 and the mover 24 . In this case, the elastic member 26 may be wound around the stator 22 and the mover 24 at a plurality of locations spaced apart in the X direction.

固定子２２や可動子２４の外面部２２ｄ、２４ｄには溝部５０、５２が設けられなくともよい。溝部５０、５２は、固定子２２や可動子２４の外面部２２ｄ、２４ｄとは異なる箇所に設けられてもよい。伸縮部材２６は、溝部５０、５２の内壁面に接触するうえで、その両側面５４に接触していなくともよい。 The grooves 50 and 52 may not be provided in the outer surface portions 22d and 24d of the stator 22 and the mover 24, respectively. The grooves 50 and 52 may be provided at locations different from the outer surface portions 22 d and 24 d of the stator 22 and the mover 24 . The elastic member 26 may contact the inner wall surfaces of the grooves 50 and 52 without contacting the side surfaces 54 thereof.

付勢部材３０は、コイルスプリングを例に説明したが、板ばね、線ばね、ゴム体等の弾性体でもよい。 Although the biasing member 30 has been described using a coil spring as an example, it may be an elastic body such as a leaf spring, a wire spring, or a rubber body.

位置決め部４２は凸部４４であり、受け部４０が凹部４６である例を説明したが、位置決め部４２は凹部４６であり、受け部４０が凸部４４であってもよい。また、受け部４０及び位置決め部４２の一方を凸部４４とし、それらの他方を凹部４６以外にしてもよい。 Although an example in which the positioning portion 42 is the convex portion 44 and the receiving portion 40 is the concave portion 46 has been described, the positioning portion 42 may be the concave portion 46 and the receiving portion 40 may be the convex portion 44 . Also, one of the receiving portion 40 and the positioning portion 42 may be the convex portion 44 and the other may be other than the concave portion 46 .

以上、本発明の実施形態や変形例について詳細に説明した。前述した実施形態や変形例は、いずれも本発明を実施するにあたっての具体例を示したものにすぎない。実施形態や変形例の内容は、本発明の技術的範囲を限定するものではなく、発明の思想を逸脱しない範囲において、構成要素の変更、追加、削除等の多くの設計変更が可能である。前述の実施形態では、このような設計変更が可能な内容に関して、「実施形態」との表記を付して強調しているが、そのような表記のない内容でも設計変更が許容される。以上の構成要素の任意の組み合わせも、本発明の態様として有効である。図面の断面に付したハッチングは、ハッチングを付した対象の材質を限定するものではない。 The embodiments and modifications of the present invention have been described in detail above. All of the above-described embodiments and modifications merely show specific examples for carrying out the present invention. The contents of the embodiments and modifications do not limit the technical scope of the present invention, and many design changes such as alterations, additions, and deletions of constituent elements are possible without departing from the spirit of the invention. In the above-described embodiment, the description of "embodiment" is added to emphasize the content that allows such design change, but the design change is permitted even for content that does not have such a description. Any combination of the above components is also effective as an aspect of the present invention. The hatching attached to the cross section of the drawing does not limit the material of the hatched object.

また、以上の実施形態、変形例により具体化される発明を一般化すると、以下の項目に記載の発明が含まれているともいえる。
（項目）
固定子と、
前記固定子に対して第１方向に移動可能な可動子と、
温度変化により伸縮可能な形状記憶合金を素材として構成され、縮み変形により前記可動子を前記第１方向の一方側に駆動可能な伸縮部材と、を備え、
前記伸縮部材は、前記第１方向での前記固定子及び前記可動子の離脱を規制するように張り渡されるアクチュエータ。 Further, when the inventions embodied by the above embodiments and modifications are generalized, it can be said that the inventions described in the following items are included.
(item)
a stator;
a mover movable in a first direction with respect to the stator;
an expandable member made of a shape memory alloy that can be expanded and contracted by temperature change, and capable of driving the mover to one side in the first direction by contraction deformation,
The expandable member is an actuator that is stretched so as to restrict separation of the stator and the mover in the first direction.

この項目に記載の発明に関する課題は下記の通りである。 The problems related to the invention described in this item are as follows.

本発明者は、特許文献１のアクチュエータを検討したところ、次の課題があるとの認識を得た。特許文献１のアクチュエータは、固定子及び可動子の離脱を規制するうえでネジを余分に要してしまう。本発明者は、アクチュエータの部品点数の削減を図るうえで、改良の余地があるとの認識を得た。 The inventor of the present invention has studied the actuator of Patent Document 1 and has recognized that there is the following problem. The actuator of Patent Literature 1 requires an extra screw for restricting the detachment of the stator and mover. The inventor has recognized that there is room for improvement in reducing the number of actuator parts.

この項目に記載の発明は、形状記憶合金を用いたアクチュエータの部品点数の削減を図れる技術を提供する。 The invention described in this item provides a technique capable of reducing the number of parts of an actuator using a shape memory alloy.

１０…アクチュエータ、１４…駆動対象、２２…固定子、２２ｄ…外面部、２４…可動子、２４ａ…押圧部、２４ｄ…外面部、２６…伸縮部材、２８…分離規制部材、４０…受け部、４２…位置決め部、５０…溝部、５４…側面、８０…第１位置保持構造、８２…第２位置保持構造。 DESCRIPTION OF SYMBOLS 10... Actuator 14... Driven object 22... Stator 22d... Outer surface part 24... Mover 24a... Pressing part 24d... Outer surface part 26... Expandable member 28... Separation restricting member 40... Receiving part, 42... Positioning part, 50... Groove part, 54... Side surface, 80... First position holding structure, 82... Second position holding structure.

Claims

a stator;
a mover movable in a first direction with respect to the stator;
an expansion/contraction member made of a shape memory alloy that can be expanded/contracted by temperature change, and capable of driving the mover to one side in the first direction by contraction deformation;
a separation restricting member capable of restricting separation of the stator and the mover in the first direction;
a position holding structure provided separately from the separation restricting member and capable of holding the position of the mover with respect to the stator in two directions orthogonal to the first direction ;
a pair of fixing members for fixing both end portions of the expandable member to the stator ,
The position holding structure includes a first position holding structure,
The first position holding structure is
a receiving portion provided on the stator;
a positioning portion provided on the mover,
The position of the mover with respect to the stator in the two directions is held by the contact between the receiving portion and the positioning portion,
The positioning portion also serves as a pressing portion that presses an object to be driven , and the actuator is provided between the pair of fixed members so as to avoid the expansion and contraction member .

a biasing member disposed between the stator and the mover and capable of biasing the mover in the other side of the first direction;
The position holding structure includes a second position holding structure,
The second position holding structure is
a stator-side support portion provided on the stator for supporting the biasing member so as to restrict relative movement with respect to the stator in the two directions;
a mover-side support portion provided on the mover for supporting the biasing member so as to restrict relative movement with respect to the mover in the two directions;
2. The actuator of claim 1 , comprising the biasing member.

3. The actuator according to claim 1, wherein the expandable member is stretched so as to restrict separation of the stator and the mover in the first direction.

4. The actuator according to claim 3 , wherein said telescopic member is wound around said stator and said mover.

The stator is an elongate body,
5. The actuator according to claim 4 , wherein the expandable member is wound around the stator and the mover so as to extend in the longitudinal direction of the stator toward the winding direction of the expandable member.

6. The actuator according to claim 4 , wherein at least one of said stator and said mover is provided with a groove portion in which said expandable member is arranged.

7. The actuator according to claim 6 , wherein said expandable member is in contact with both side surfaces of said groove.