JPH09285148A - Rotation type actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the whole of the rotation drive mechanism smaller by giving an impact to a coupling member with a sudden torsional displacement of a torsional deformation element and relatively rotating at the rotation element side against a fixed element by withstanding against a frictional coupling force between a coupling member and a frictional linking body and relatively rotating the rotation element side and rotating and driving a body to be moved. SOLUTION: One end portion of a torsional deformation element 2 is fixed to a fixing portion 5, and a columnar coupling member 6 with a small diameter is coupled to other end portion. This coupling member 6 is inserted to a ring of a rotating member 7 which is a ring-shaped frictional linking body, and a voltage is applied to the torsional deformation element 2. At this point, a sudden torsional displacement occurs at the torsional deformation element 2, this displacement gives an impact force to a coupling member 6 of the torsional deformation element 2, the side of rotation member 7 is relatively rotated relative to the fixed portion 5 by withstanding the frictional linking force between the coupling member 6 and the rotating member 7, and the body 8 to be moved is rotated and driven. By doing this, the whole of the rotation drive mechanism can be made smaller.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a small rotary actuator incorporated in, for example, an endoscope and drivingly rotating a rotary member in the endoscope.

[0002]

2. Description of the Related Art Generally, as a small actuator for driving a movable member such as a drive mechanism of an optical system for an endoscope incorporated in an endoscope, for example, a conventional actuator has been disclosed in Japanese Unexamined Patent Publication No.
The rapid deformation actuator disclosed in Japanese Patent No. 3125282 has been developed. It has a piezoelectric element that expands and contracts when a voltage is applied, fixes this piezoelectric element to a moving body that is slidably frictionally engaged with a fixed portion, and expands and contracts the piezoelectric element to impact the moving body. The movable member in the endoscope attached to the movable body is driven by sliding the movable body with respect to the fixed portion.

[0003]

SUMMARY OF THE INVENTION The rapid deformation actuator of the above-mentioned conventional structure is configured so that it can perform only a linear motion of moving a moving body in a linear direction with respect to a fixed portion. Therefore, in order to drive the movable member that rotates with respect to the fixed portion by the rapid deformation actuator having the above-described conventional configuration, the operation direction of the movable body of the rapid deformation actuator is changed between the movable body of the rapid deformation actuator and the movable member. Since it is necessary to interpose other mechanical elements such as a power transmission mechanism, the entire structure of the rotary drive mechanism of the movable member that rotates with respect to the fixed portion becomes complicated, and the number of components increases. . As a result, there is a problem in reducing the size of the entire rotary drive mechanism that drives the movable member incorporated in the endoscope.

The present invention has been made in view of the above circumstances, and an object thereof is to simplify the structure of the entire rotary drive mechanism for rotationally driving a movable body that rotates with respect to a fixed portion and to reduce the number of constituent parts. It is an object of the present invention to provide a rotary actuator that can be reduced in size to downsize the entire rotary drive mechanism.

[0005]

According to a first aspect of the present invention, there is provided a torsional deformation element which generates a rapid torsional displacement when a voltage is applied,
A rotary actuator body including a connecting member connected to the torsionally deformable element and a frictional engagement body frictionally engaged with the connecting member so as to be rotatable relative to the connecting member is provided. One of the friction engagement bodies is fixed to the fixed portion side, and the movable body is connected to the rotary element side of the rotary actuator main body other than the fixed element fixed to the fixed portion side, and the torsion deformation element is further connected. A voltage is applied to the connection member to apply a shock force to the connecting member due to the abrupt twist displacement of the torsional deformation element that occurs when the voltage is applied, and overcomes the frictional engagement force between the connection member and the frictional engagement body. The rotary actuator is characterized in that drive means is provided for rotating the movable body by rotating the rotary element side relative to the fixed element.

In the invention according to claim 1, the driving means controls the voltage application to the torsional deformation element, so that an abrupt twist displacement of the torsional deformation element occurring when the voltage is applied gives an impact force to the connecting member, In this structure, the frictional engagement force between the connecting member and the frictional engagement body is overcome, the rotary element side is relatively rotated with respect to the fixed element, and the movable body is rotationally driven.

According to the second aspect of the present invention, a torsional deformation element that causes a rapid torsional displacement when a voltage is applied, a connection member connected to the torsional deformation element, and a rotatable member relative to the connection member. A rotary actuator body having a frictionally engaged frictional engagement body is provided, and either one of the torsional deformation element or the frictional engagement body is fixed to a fixed portion side in the endoscope, and the fixed portion The rotating member in the endoscope is connected to the rotating element side of the rotary actuator body other than the fixing element fixed to the side, and the torsion applied when the voltage is applied by controlling the voltage application to the torsion deformation element. An abrupt torsional displacement of the deformation element applies an impact force to the connecting member to overcome the frictional engaging force between the connecting member and the frictional engaging member, and to rotate the fixing element with respect to the rotating member. The element side are relatively rotated, a rotary actuator, characterized in that a driving means for rotationally driving said rotary member.

In the invention according to the second aspect, the driving means controls the voltage application to the torsional deformation element, and the abrupt twist displacement of the torsional deformation element occurring when the voltage is applied gives an impact force to the coupling member, thereby the coupling member. And the frictional engagement force between the frictional engagement body and the frictional engagement body is overcome, so that the rotary element side is relatively rotated with respect to the fixed element, and the rotary member is rotationally driven.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 to 4A and 4B. FIG. 1 shows a configuration of a main part of a rotary oscillator fixed rotary actuator according to the present embodiment. A main body 1 of this rotary actuator is provided with a columnar torsional deformation element 2 that generates a rapid torsional displacement when a voltage is applied. As shown in FIG.
Electrodes 3a and 3b are provided as shown in FIG.

The torsionally deformable element 2 has electrodes 3a and 3b.
It is formed by a bimorph type piezoelectric or electrostrictive vibrator having a thickness sliding vibration mode in which a sliding displacement is made in a direction orthogonal to the thickness direction of the electrodes 3a, 3b when a voltage is applied between them.

That is, as shown in FIGS. 2 (A) and 2 (B), for example, the torsionally deformable element 2 includes two substantially kamaboko-shaped piezoelectric vibrators (or electrostrictive vibrators) each having a semicircular cross section.
It is formed by sticking together the planes of 4a and 4b. In this case, the two piezoelectric vibrators 4 of the torsional deformation element 3 are
When a voltage is applied between the electrodes 3a and 3b, a and 4b of FIG.
As shown by the arrow in (B), the electrodes 3a and 3b are set to slide and displace in opposite directions along the direction orthogonal to the thickness direction, and the torsional deformation element 3 as a whole is set to vibrate torsionally.

Further, one end of this torsionally deformable element 2 is fixed to a fixed portion 5. Further, a cylindrical connecting member 6 having a small diameter is connected to the other end of the torsionally deformable element 2. The connecting member 6 is inserted into the ring of a ring-shaped rotating member (friction engagement body) 7. The rotary member 7 is rotatably frictionally engaged with the connecting member 6.

Further, the rotating member 7 is connected to an object to be driven by the rotary actuator, for example, a movable body 8 such as a driving mechanism of an endoscope optical system incorporated in the endoscope.

Further, the electrodes 3a and 3b of the rotary actuator body 1 are connected to an actuator driving circuit (driving means) 10 via lead wires 9a and 9b. The actuator drive circuit 10 is connected to a controller 11 of a rotary actuator.

The actuator drive circuit 10 includes, for example, a drive waveform for forward rotation having a full wave frequency as shown in FIG. 3A and a reverse rotation drive waveform having a full wave frequency as shown in FIG. 3B. There is provided voltage applying means for applying a voltage having the driving waveform of 1 to the torsional deformation element 2. Here, the drive waveform for forward rotation has a potential of 0 potential within 1 pulse.
There are provided a region in which the applied voltage is rapidly increased from a time point to a predetermined set voltage b, and a region in which the applied voltage is gradually decreased from the set voltage b to a time point c of 0 potential. Further, in the drive waveform for reverse rotation, the region where the applied voltage is gradually increased from the time point d of 0 potential to the predetermined set voltage e and the applied voltage from the set voltage e to the time point f of 0 potential are included in one pulse. A region for sudden drop is provided.

When the rotary actuator is driven, the controller 11 drives the actuator drive circuit 1
The operation of 0 is controlled, and the voltage application to the torsionally deformable element 2 is controlled. At this time, an abrupt twist displacement of the torsion deformation element 2 that occurs when a voltage is applied gives an impact force to the coupling member 6 of the torsion deformation element 2 to overcome the frictional engagement force between the coupling member 6 and the rotating member 7, The rotating member 7 side is relatively rotated with respect to the fixed portion 5, and the movable body 8 is rotationally driven.

Next, the operation of the above configuration will be described.
First, the operation of the rotary actuator body 1 driven by the drive waveform for forward rotation of FIG. 3A will be described with reference to FIG. When the actuator body 1 is stopped, the rotary member 7 is pressed against the connecting member 6 and held in a frictionally engaged state with an appropriate frictional force.

When a voltage having a drive waveform for normal rotation is applied to the torsion deformation element 2 of the actuator body 1, the torsion deformation element 2 is connected in the region between a and b of the drive waveform for normal rotation. The member 6 side rapidly undergoes torsional deformation from the initial shape shown in (a) of FIG. 4 (A) to the torsionally deformed shape shown in (b), and in the region between bc, (b) of FIG. 4 (A).
The cycle of gentle (low speed) deformation from the twisted deformed shape shown in to the original initial shape shown in (c) is repeated.

That is, when the torsional deformation element 2 undergoes rapid torsional deformation in the region between a and b of the drive waveform for normal rotation, the abrupt torsional displacement of the torsional deformation element 2 at this time causes the torsional deformation element 2 to move. Apply an impact force to the connecting member 6,
Only the connecting member 6 rotates by overcoming the frictional engagement force between the connecting member 6 and the rotating member 7, and the rotating member 7 is shown in FIG.
As shown in FIG. 4B, the original position (position in FIG. 4A, position (a)) is held still.

Further, when the torsional deformation element 2 is gently (low-speed) deformed to the original initial shape in the region between bc of the drive waveform for forward rotation, the contact surface between the connecting member 6 and the rotating member 7. The rotating member 7 is held in a state of being frictionally engaged with the connecting member 6 by the frictional engagement force therebetween. Therefore, in this case, the rotating member 7 rotates together with the connecting member 6 along with the gradual deformation operation of the torsional deformation element 2. Therefore, the rotating operation of the rotating member 7 at this time causes ((A) in FIG. As shown in c), the movable body 8 is rotationally driven in the forward rotation direction.

When the actuator body 1 is driven by the reverse rotation drive waveform shown in FIG. 3B, the actuator body 1 operates as shown in FIG. 4B.
Here, when a voltage having a drive waveform for reverse rotation is applied to the torsional deformation element 2 of the actuator body 1, the torsional deformation element 2 is applied in a region between d and e of the drive waveform for reverse rotation.
Shows that the connecting member 6 side is gently (low-speed) twisted and deformed from the initial shape shown in (d) of FIG. 4B to the twisted deformed shape shown in (e). The cycle of rapid deformation from the torsionally deformed shape shown in (e) to the original initial shape shown in (f) is repeated.

That is, when the torsional deformation element 2 is slowly torsionally deformed in the region between d and e of the driving waveform for reverse rotation, the torsional deformation element 2 causes friction between the contact surfaces of the connecting member 6 and the rotating member 7. The rotating member 7 is connected by the engaging force to the connecting member
Is held in a frictionally engaged state with. Therefore, in this case, the rotating member 7 rotates together with the connecting member 6 along with the gentle deformation operation of the torsional deformation element 2. Therefore, the rotation operation of the rotating member 7 at this time causes ((B) in FIG. As shown in e), the movable body 8 is rotationally driven in the reverse rotation direction.

Further, when the torsional deformation element 2 is rapidly deformed in a region between e and f of the driving waveform for reverse rotation, the torsional deformation element 2 is impacted by the rapid deformation operation on the connecting member 6 of the torsional deformation element 2. A force is applied to overcome the frictional engagement force between the connecting member 6 and the rotating member 7, and only the connecting member 6 rotates, so that the rotating member 7 is rotated as shown in (f) of FIG. Is held at the position (position (e) in FIG. 4B) in a stationary state.

Therefore, when the drive waveform of the forward rotation is applied to the torsion deformation element 2 during the operation of the actuator body 1, the rotating member 7 is rotationally driven in the forward rotation direction, and the torsion deformation element 2 is driven for the reverse rotation. When the waveform is applied, the rotary member 7 is rotationally driven in the reverse rotation direction, and the movable body 8 is also rotationally driven in the same direction in conjunction with the operation of the rotary member 7.

Therefore, in the structure described above, the actuator drive circuit 10 controls the voltage application to the torsional deformation element 2 so that the connecting member 6 is subjected to the abrupt torsional displacement of the torsional deformation element 2 that occurs when the voltage is applied. Since the impact force is applied to overcome the frictional engagement force between the connecting member 6 and the rotating member 7, the rotating member 7 side is rotated with respect to the fixed portion 5, and the movable body 8 is rotationally driven. It is not necessary to provide another mechanical element such as a power transmission mechanism between the moving body of the actuator and the movable member as in the conventional case.
Therefore, the configuration of the entire rotary drive mechanism that rotationally drives the movable body 8 that rotates with respect to the fixed portion 5 can be simplified as compared with the related art, and the number of components can be reduced to reduce the size of the entire rotary drive mechanism. it can.

FIG. 5 shows a speed changing circuit 21 for changing the driving speed of the rotary member 7 of the rotary actuator body 1 according to the first embodiment. The actuator drive circuit 21 is provided with an astable multivibrator 22 to which a variable duty ratio resistor is connected. The astable multivibrator 22 has two (first and second) one-shot vibrators 23, 24. Are connected.

Here, the first one-shot vibrator 23 is connected to the first contact of the second analog switch 27 via the first analog switch 25. The common contact of the second analog switch 27 is connected to the amplifier circuit 29 via the output switch 28. The amplifier circuit 29 is connected to the torsionally deformable element 2 via a lead wire.

Also, the second one-shot vibrator 2
4 is connected to the second contact of the second analog switch 27 via the third analog switch 26. The second analog switch 27 is connected to the waveform switching switch 30, and the second analog switch 27 is switched in conjunction with the switching operation of the waveform switching switch 30.

Next, the operation of the above configuration will be described.
A triangular pulse (V ₁ ) or a trapezoidal pulse (V
₂ ) is a one-shot vibrator 2 as shown in FIG.
The square wave pulse generated by 3, 24 switches the analog switches 25, 26 to switch the output between 0V and 5V. At that time, it is created by integrating with an RC circuit attached.

In this case, the multivibrator 22 outputs a pulse having an arbitrary frequency. Square pulses are output from the one-shot vibrators 23 and 24 at the rising edge of the pulse, and are shaped by the analog switches 25 and 26 and the RC circuit around them to form triangular waves or trapezoidal waves. Further, a triangular wave or a trapezoidal wave is selected by the second analog switch 27 and output to the amplifier circuit 29, and power is supplied from the amplifier circuit 29 to the torsion deformation element 2.

Also, the one-shot vibrators 23, 2
4 is a square wave pulse of the astable multivibrator 22 (M
V) triggers. When the oscillation frequency of the astable multivibrator 22 is changed, the generation rate of the triangular pulse or the trapezoidal pulse per unit time is also changed, so the rotation speed of the rotating member 7 of the actuator body 1 is also changed.

Even if the frequency of the multivibrator 22 is changed, the rising speed and the falling speed of the waveform output from the analog switches 25 and 26 and the RC circuit do not change, but the number of pulses per unit time changes. The moving speed of the rotating member 7 of the actuator body 1 changes. The trapezoidal pulse and the triangular pulse are switched by switching the voltage applied to the analog switch 27 with the switch 30.

Therefore, in the actuator drive circuit 21 having the above-mentioned configuration, the waveform is changed as in the case where the drive frequency of the triangular wave or the trapezoidal wave is simply changed, and an appropriate impact force cannot be applied, or the torsional deformation element 2 is provided. The actuator body 1 can be stably driven without the risk of stress concentration causing breakage of the torsionally deformable element 2.

Further, FIGS. 7A and 7B show a first modification of the rotary actuator of the first embodiment. This is provided with a torsional deformation element 31 having a configuration different from that of the first embodiment. That is, as shown in FIGS. 7 (A) and 7 (B), the torsional deformation element 31 of the present modification has four piezoelectric vibrators (or electrostrictive elements) each having a substantially fan-shaped cross section divided into four in the circumferential direction. Oscillator) 32a-3
It is formed by adhering the divided surfaces of 2d. In this case, the four piezoelectric vibrators 32 a to 32 d of the torsion deformation element 31 are connected to the electrodes 33 on both ends of the torsion deformation element 31.
When a voltage is applied between a and 33b, the electrodes 33a and 33b are slidably displaced in the thickness directions of the electrodes 33a and 33b and in the directions indicated by arrows in FIG. It is set.

8A to 8C show a second modification of the rotary actuator of the first embodiment. This is provided with a torsion deformation element 41 having a configuration different from those of the first embodiment and the first modification. That is, the torsionally deformable element 41 of the present modification is shown in FIG.
As shown in (A), two torsional deformation elements 42a and 42b having the same structure as the torsional deformation element 2 of the first embodiment are bonded together in the axial direction. In this case,
FIG. 8B shows the bonding surface of the two piezoelectric vibrators 43a and 43b of the one torsional deformation element 42a, and the two piezoelectric vibrators 4 of the other torsional deformation element 42b shown in FIG. 8C.
The bonding surfaces 4a and 44b are arranged so as to be substantially orthogonal to each other.

Further, in the torsional deformation element 41 of this modification, the positive electrodes 45a, 4 are provided on both ends of the torsional deformation element 41.
5b is arranged, and a negative electrode 45c is arranged between the two torsion deformation elements 42a and 42b of the torsion deformation element 41. Then, when a voltage is applied between the electrodes 45a and 45c, the two piezoelectric vibrators 43a and 43b of the one torsionally deformable element 42a are orthogonal to the thickness direction of the electrodes 45a and 45c as indicated by the arrow in FIG. 8B. Sliding displacement in the opposite direction along the direction, and similarly the electrodes 45b, 45c
When a voltage is applied between the two piezoelectric vibrators 44 of the other torsionally deformable element 42b as indicated by an arrow in FIG. 8C.
It is set that the a and 44b are slidably displaced in the opposite directions along the directions orthogonal to the thickness directions of the electrodes 45b and 45c, respectively, so that the torsional deformation element 41 as a whole undergoes torsional vibration.

Further, FIGS. 9A to 9E show a third modification of the rotary actuator of the first embodiment. This modification is the same as the first embodiment and the first and second embodiments.
The torsional deformation element 51 having a structure different from that of the modification example is provided. That is, the torsional deformation element 51 of this modification example
Is a torsional oscillator 5 which is an ultrasonic motor shown in FIG.
2 is provided.

The torsional oscillator 52 includes a torsional connector 5
3, aluminum disk 54, three electrodes 55a, 55b,
55c, a piezoelectric vibrator 56a arranged between the electrodes 55a and 55b, a piezoelectric vibrator 56b arranged between the electrodes 55c and 55b, a bolt washer 57, and the torsion vibrator 5
A fixing bolt 58 for integrally tightening and fixing the two component parts is provided.

Further, the torsion connector 53 is shown in FIG.
As shown in (E), a groove 60 is formed on the bottom of the disk 59, two crescent-shaped legs 61 are formed on both sides of the groove 60, and a bolt insertion hole 62 is formed at the center of the groove 60. As shown in FIG.
As shown in (C), a beam portion 63 is provided so as to project at a diagonal position of the groove 60.

In this torsion connector 53, the disc 5
When the disc 59 is vibrated like a butterfly wing about the groove 60 of the shaft 9, the beam 63 is twisted about the horizontal axis as shown in FIG. 9B. When this twist is viewed along the circumferential direction of the disc 59, the twist is about the vertical axis of the disc 59. Therefore, in the torsion connector 53, the disc 5
When longitudinal vibration acts on the crescent-shaped leg 61 of the disk 9,
A flexural vibration, such as a butterfly wing, is generated at this point, and this excites the torsional vibration of the beam portion 63, so that an elliptical vibration is generated.

In the torsional deformation element 51 of this modification, the torsional oscillator 52, which is an ultrasonic motor, is used as the stator, and the rotor is pressure-bonded to the end face of the torsional vibration element 52, whereby a strong rotational torque can be output.

Further, FIGS. 10A and 10B show a fourth modification of the first embodiment. In this modified example, the drive waveform of the rotary actuator body 1 of the first embodiment is changed. That is, in this modification, the drive waveform of the actuator body 1 is formed by a trapezoidal wave as shown in FIGS. In addition,
FIG. 10A shows a drive waveform for forward rotation, and FIG. 10B shows a drive waveform for reverse rotation.

Further, FIGS. 11A and 11B show a fifth modification of the first embodiment. In this modification, a leaf spring member (friction generating means) 71 for generating friction is provided between the connecting member 6 of the torsional deformation element 2 of the rotary actuator body 1 and the rotating member 7. The leaf spring member 71 is provided with a fixing portion 73 fixed to the end surface of the connecting member 6 with a fixing bolt 72, and four leaf spring-like claw portions 74 bent around the fixing portion 73. There is. Then, each claw portion 74 is inserted between the connecting member 6 and the rotating member 7 as shown in FIG. In this case, an urging force that urges each claw portion 74 in the outward spreading direction acts, and a frictional force is generated between the connecting member 6 and the rotating member 7 by the urging force of each claw portion 74. Has become.

FIG. 11C shows a sixth modified example of the first embodiment. In this modification, the friction generating means between the connecting member 6 of the torsional deformation element 2 and the rotating member 7 in the rotary actuator body 1 of the first embodiment is a fifth modification (FIG. 11A, (See (B)).

That is, in this modification, the torsional deformation element 2 is used.
A support bolt 81 is projected from the end surface of the connecting member 6. Further, the support bolt 81 is attached to the shaft center of the rotating member 7.
An insertion hole 82 and a bearing mounting hole 83 are provided. Further, two sets of bearings 84 are mounted between the inner peripheral surface of the bearing mounting hole 83 of the rotating member 7 and the outer peripheral surface of the support bolt 81. In addition, the coil spring 8 that presses the bearing 84 against the support bolt 81.
5 is attached. And this coil spring 8
The spring force of 5 generates a frictional force between the connecting member 6 and the rotating member 7.

FIG. 12D shows a seventh modified example of the first embodiment. In this modification, the friction generating means between the connecting member 6 of the torsional deformation element 2 and the rotating member 7 in the rotary actuator body 1 of the first embodiment is a fifth modification (FIG. 11A, (See (B)) and the sixth modification (see FIG. 11C).

That is, in this modification, the torsional deformation element 2 is used.
The friction generating means 91 by magnetic force is provided between the connecting member 6 and the rotating member 7. In this case, the connecting member 6 of this modification is formed by the permanent magnet 92. Further, a large-diameter hole portion 93 into which the end portion of the connecting member 6 is inserted and a magnet mounting hole 94 having a smaller diameter than the hole portion 93 are formed in the shaft center portion of the rotating member 7 of the present modification. There is. Further, a permanent magnet 95 is mounted in the magnet mounting hole 94 of the rotating member 7.

The magnetic force acting between the permanent magnet 92 of the connecting member 6 and the permanent magnet 95 of the rotating member 7 generates a frictional force between the connecting member 6 and the rotating member 7.

12 to 14 (A) and (B) show a second embodiment of the present invention. This is provided with a rotary actuator main body 101 having a configuration different from that of the first embodiment (see FIGS. 1 to 4A and 4B). Actuator body 101 of the present embodiment
As shown in FIG. 13, a columnar fixing member (friction engaging body) 102 is provided in the. The base end portion of the fixing member 102 is fixed to the fixing portion 103.

Further, the actuator main body 101 of the present embodiment is provided with a columnar torsional deformation element 104 having substantially the same configuration as the torsional deformation element 2 of the first embodiment. One end of a large-diameter connecting member 105 is connected to one end of the torsional deformation element 104. An insertion hole 106 into which the tip of the fixing member 102 is inserted is formed at the other end of the connecting member 105. The torsional deformation element 104 of the present embodiment is rotatably frictionally engaged with the fixed member 102 via the connecting member 105.

At the other end of the torsional deformation element 104, an object to be driven by this rotary actuator, for example, a movable body 107 such as a drive mechanism of an endoscope optical system incorporated in the endoscope is provided. It is connected.

Furthermore, the torsionally deformable element 1 of the present embodiment
As shown in FIG. 12, electrodes 108 are provided on both ends of the cylinder 04.
a and 108b are provided. In this case, each electrode 10
8a, 108b has L-shaped contact portions 109a,
109b is provided so as to project outward.

The fixed portion 103 has electrodes 108a, 1
Ring-shaped fixed electrodes 110a and 110b are provided so as to be in sliding contact with the contact portions 109a and 109b of 08b. The fixed electrodes 110a and 110b are connected to the lead wires 111a and 111, respectively.
It is connected to the actuator drive circuit 10 (see FIG. 2) of the first embodiment via b. The actuator drive circuit 10 is connected to a controller 11 (see FIG. 2) of the rotary actuator.

When the rotary actuator is driven, the controller 11 drives the actuator drive circuit 1
The operation of 0 is controlled, and the voltage application to the torsional deformation element 104 is controlled. At this time, an abrupt twist displacement of the torsional deformation element 104 that occurs when a voltage is applied gives an impact force to the connecting member 105 of the torsional deformation element 104 to overcome the frictional engagement force between the connecting member 105 and the fixing member 102. The torsional deformation element 104 side is relatively rotated with respect to the fixed portion 103, and the movable body 107 is rotationally driven.

Next, the operation of the above configuration will be described.
First, the operation of the rotary actuator main body 101 of the present embodiment driven by the drive waveform for normal rotation in FIG. 3A will be described with reference to FIG. It should be noted that when the actuator body 101 is stopped, the fixing member 102 is pressed against the connecting member 105, and is held in a state of being frictionally engaged by an appropriate frictional force.

When a voltage having a drive waveform for normal rotation is applied to the torsion deformation element 104 of the actuator body 101, the torsion deformation element 104 is connected in the region between a and b of the drive waveform for normal rotation. FIG. 14 shows the member 105 side.
The initial shape shown in (a) of (A) is rapidly twisted to the twisted deformed shape shown in (b), and in the region between b and c, the twisted deformed shape shown in (b) of FIG. c)
Repeat the cycle of gradual (slow) deformation to the original initial shape shown in.

That is, when the torsional deformation element 104 is rapidly torsionally deformed in the region between a and b of the drive waveform for normal rotation, the abrupt torsional displacement of the torsional deformation element 104 at this time causes the torsional deformation element 104 to move. An impact force is applied to the connecting member 105 to overcome the frictional engagement force between the connecting member 105 and the fixed member 102, and only the connecting member 105 is rotated, and the movable body 107 is moved to the moving body 107 (b) in FIG. ), The original position (position (a) in FIG. 14 (A)) is held in a stationary state.

Furthermore, when the torsional deformation element 104 is gently (low-speed) deformed to the original initial shape in the region between bc of the drive waveform for forward rotation, the contact surface between the connecting member 105 and the fixing member 102. The frictional engagement force between the connecting members 10
5 is held in a state of being frictionally engaged with the fixing member 102. Therefore, in this case, the torsion deformation element 104
14A, the movable body 107 is rotationally driven in the forward rotation direction along with the torsional deformation element 104.

When the actuator body 101 is driven by the reverse rotation drive waveform shown in FIG. 3B, the actuator body 101 operates as shown in FIG. 14B. Here, when a voltage having a drive waveform for reverse rotation is applied to the torsional deformation element 104 of the actuator body 101, the torsional deformation element 104 is moved to the area between d and e of the drive waveform for reverse rotation as shown in FIG. 14B, the initial shape shown in FIG. 14D to the twisted shape shown in FIG.
The cycle of rapidly deforming from the twisted deformed shape shown in (e) of (B) to the original initial shape shown in (f) is repeated.

That is, when the torsional deformation element 104 is slowly torsionally deformed in the region between d and e of the driving waveform for reverse rotation, the torsional deformation element 104 causes the friction between the contact surfaces of the connecting member 105 and the fixing member 102. The connecting member 105 is held in a state of being frictionally engaged with the fixed member 102 by the engaging force. Therefore, in this case, the torsion deformation element 1
Torsional deformation element 10 accompanying the gentle deformation operation of 04.
Along with 4, the movable body 107 is rotationally driven in the reverse rotation direction as shown in (e) of FIG.

Further, when the torsional deformation element 104 is rapidly deformed in the region between e and f of the driving waveform for reverse rotation, the rapid deformation operation of the torsional deformation element 104 impacts the connecting member 105 of the torsional deformation element 104. A force is applied to overcome the frictional engagement force between the connecting member 105 and the fixed member 102, the connecting member 105 rotates, and the moving body 107 moves to the original position as shown in (f) of FIG. Position (Fig. 14
(B) (position (e)) is held in a stationary state.

Therefore, when the actuator body 101 is operating, if the drive waveform of the forward rotation is applied to the torsional deformation element 104, the movable body 107 is rotationally driven in the forward rotation direction, and the torsional deformation element 104 is rotated in the reverse direction. When the drive waveform is applied, the movable body 107 is also rotationally driven in the reverse rotation direction.

Therefore, even in the case of the above-mentioned structure, by controlling the voltage application to the torsion deformation element 104 by the actuator drive circuit 10, the abrupt twist displacement of the torsion deformation element 104 occurring when the voltage is applied causes the connection member 105 to move. An impact force is applied to overcome the frictional engagement force between the connecting member 105 and the fixing member 102, and the fixing portion 103
On the other hand, since the movable body 107 side is rotationally driven, it is not necessary to provide another mechanical element such as a power transmission mechanism between the movable body and the movable member of the actuator as in the conventional case. Therefore, as in the first embodiment, the fixing portion 10
It is possible to simplify the configuration of the entire rotary drive mechanism that rotationally drives the movable body 107 that rotates with respect to the third embodiment, reduce the number of components, and reduce the size of the entire rotary drive mechanism.

Further, FIG. 15 shows a third embodiment of the present invention. This embodiment is different from the first embodiment (see FIGS. 1 to 4 (A) and (B)) and the second embodiment (see FIGS. 12 to 14 (A) and (B)). The rotary actuator main body 121 having a different structure is provided. The actuator main body 121 of the present embodiment is provided with a cylindrical fixing member (friction engagement body) 122.
The base end portion of the fixing member 122 is fixed to the fixing portion 123.

Further, the actuator main body 121 of the present embodiment is provided with a cylindrical torsional deformation element 124 having substantially the same structure as the torsional deformation element 2 of the first embodiment. One end of a small-diameter columnar connecting member 125 is connected to one end of the torsional deformation element 124. The other end of the connecting member 125 is inserted into the cylinder of the fixing member 122. Then, the torsionally deformable element 1 of the present embodiment
24 is rotatably frictionally engaged with the fixed member 122 via a connecting member 125.

Further, the connecting member 1 of the torsional deformation element 124
An object to be driven by the rotary actuator, for example, a ring-shaped movable body 126 such as a drive mechanism of an endoscope optical system incorporated in the endoscope is mounted on the outer peripheral surface of 25.

In the present embodiment, by controlling the voltage application to the torsional deformation element 124, an abrupt twist displacement of the torsional deformation element 124 that occurs when the voltage is applied gives an impact force to the coupling member 125, and the coupling member 125 The movable body 126 side can be rotationally driven with respect to the fixed portion 123 by overcoming the frictional engagement force between the 125 and the fixed member 122. Therefore, also in the present embodiment, similarly to the first embodiment, it is not necessary to interpose other mechanical elements such as a power transmission mechanism between the moving body and the movable member of the actuator, and therefore the fixing portion 123 is not necessary. Moving object 126
It is possible to simplify the configuration of the entire rotary drive mechanism that drives the rotary drive, as compared with the related art, reduce the number of constituent parts, and reduce the size of the entire rotary drive mechanism.

FIG. 16 shows a fourth embodiment of the present invention. This is the third embodiment (FIG. 15).
The inertial body 127 having an appropriate weight is connected to the end of the rotary actuator body 121 (see (1)) on the opposite side of the end of the torsional deformation element 124 from the joint with the connecting member 125. Also in this case, the same effect as that of the third embodiment can be obtained.

17 and 18 show the fifth embodiment of the present invention.
FIG. This embodiment is shown in FIG.
The rotary actuator of the first embodiment is applied as a driving means of the zoom adjusting mechanism 134 of the observation optical system incorporated in the main body 133a of the distal end forming portion 133 in the insertion portion 132 of the endoscope 131 shown in FIG. is there.

In this case, the observation optical system of the endoscope 131 is provided with an observation window portion 135 on the tip surface of the tip forming portion 133. Further, an observation optical system mounting hole 133b is formed inside the distal end configuration body 133a, and an actuator mounting hole 133c of the zoom adjusting mechanism 134 is formed adjacent to the mounting hole 133b.

Further, in the observation optical system, a front side fixed lens 136 arranged to face the observation window portion 135, a rear side fixed lens 138 arranged to face the front side fixed lens 136 at a distance, and these are arranged. And a zoom lens 139 which is disposed between the fixed lenses 136 and 138 and is movable along the optical axis direction of the observation optical system.
The lenses 136, 138, and 139 form an objective lens group of the observation optical system.

Behind the rear side fixed lens 138, a solid-state image sensor 14 such as a CCD for converting an observation image formed by the objective lens group of the observation optical system into an electric signal.
0 is provided.

The lens frame 141 of the zoom lens 139 is movably supported on the lens barrel 137 holding the front and rear fixed lenses 136 and 138 along the optical axis of the observation optical system. A connection arm 142 is provided on the lens frame 141 so as to project toward the actuator mounting hole 133c. In this case, the lens barrel 137 is formed with a guide hole 143 through which the connecting arm 142 is inserted.

Further, the actuator body 1 of the rotary actuator of the first embodiment is mounted in the actuator mounting hole 133c. In this case, the base end of the rotary screw 145 of the ball screw mechanism 144 is fixed to the rotary member 7 of the actuator body 1. The rotary screw 145 of the ball screw mechanism 144 is rotationally driven by the rotary actuator body 1.

Further, the lens frame 14 of the zoom lens 139
A fixed nut 146, which is screwed with the rotary screw 145 of the ball screw mechanism 144, is fixed to the first connecting arm 142. When the actuator body 1 is driven, the rotational movement of the rotary screw 145 is converted into the forward / backward movement of the connecting arm 142 along the axial direction of the rotary screw 145 via the screwing portion of the rotary screw 145 and the fixed nut 146. With the rotation of the rotary screw 145, the connecting arm 142 is driven back and forth in the axial direction of the rotary screw 145 via the fixed nut 146, and together with the connecting arm 142, the zoom lens 1
The lens frame 140 of 39 can be moved and operated along the optical axis direction of the observation optical system.

In addition, the two electrodes 3a and 3b of the torsionally deformable element 3 in the actuator body 143 are the endoscope 13 and
18 is connected to the insertion end 132 of the first insertion part 132 and the proximal end part of the insertion part 132, and the external control part via the lead wires 9a and 9b arranged in the universal cord 148. It is connected to 149.

Next, the operation of the above configuration will be described.
First, when the actuator body 1 is driven by the drive waveform for forward rotation of FIG.
The rotary screw 145 of 44 is rotationally driven in the forward rotation direction.
Therefore, in this case, the rotary screw 145 and the fixed nut 1
Rotational movement of the rotary screw 145 is converted into, for example, forward movement of the connecting arm 142 along the axial direction of the rotary screw 145 via a screwing portion with the 46, and the lens frame 140 of the zoom lens 139 is observed together with the connecting arm 142. It is moved in the forward direction along the optical axis of the system.

Further, the actuator body 1 is shown in FIG.
When driven by the drive waveform for reverse rotation, the rotary screw 145 of the ball screw mechanism 144 is rotationally driven in the reverse rotation direction. Therefore, in this case, the rotational movement of the rotary screw 145 is coupled to the connecting arm 1 along the axial direction of the rotary screw 145 via the threaded portion between the rotary screw 145 and the fixed nut 146.
42 is converted into, for example, a backward movement, and this connecting arm 14
Along with 2, the lens frame 140 of the zoom lens 139 is moved in the backward direction along the optical axis direction of the observation optical system.

Therefore, in this embodiment, the position of the zoom lens 139 is moved in the front-back direction along the optical axis of the observation optical system of the endoscope 131 by driving the actuator body 1 to adjust the zoom of the observation optical system. be able to.

FIG. 19 shows a sixth embodiment of the present invention. In this embodiment, the insertion portion 15 of the endoscope is used.
The rotary actuator according to the first embodiment is applied as a driving unit of a bending mechanism 153 that vertically bends the bending portion 152 provided on the distal end side of the No. 1 unit.

That is, a plurality of bending pieces 154 are pivotally attached to the bending portion 152 so as to be vertically rotatable about a pair of left and right rotating pins 155. Further, the insertion portion 151
The rotary actuator main body 1 of the first embodiment is mounted inside the curved portion 152 on the proximal end side thereof.

The base end of the output shaft 156 is fixed to the rotary member 7 of the rotary actuator body 1. The pulley 157 is driven to rotate by the rotary actuator body 1.

Further, a pulley 157 is fixed to the tip of the output shaft 156. The pulley 157 is connected to the base ends of a pair of angle wires 158a and 158b. The tip ends of the respective angle wires 158a and 158b are fixed to the tipmost bending piece 154 of the bending portion 152.

Next, the operation of the above configuration will be described.
First, when the actuator body 1 is driven by the drive waveform for normal rotation of FIG. 3A, the pulley 157 is rotationally driven in the positive rotation direction via the output shaft 156. Therefore, in this case, one angle wire, for example, the upper angle wire 158a is pulled to drive the bending portion 152 to bend upward.

Also, the actuator body 1 is shown in FIG.
When driven by the reverse rotation drive waveform, the pulley 157 is rotationally driven in the reverse rotation direction via the output shaft 156. Therefore, in this case, the lower angle wire 158b is pulled and the bending portion 152 is bent downward.

Further, FIG. 20 shows a seventh embodiment of the present invention. The present embodiment is a rotary actuator according to the first embodiment as a driving means of an opening / closing mechanism 164 that opens and closes a gripping portion 163 arranged at the tip of an insertion portion 162 of a forceps 161 which is an endoscopic treatment tool. Is applied.

In this case, a tubular tip hard portion 165 is fixed to the tip of the insertion portion 162. This tip hard part 1
The rotary actuator main body 1 of the first embodiment is fixed inside the base 65 on the proximal end side.

Further, the opening / closing mechanism 164 of the grip portion 163 is provided with a link mechanism 166 constituting a pantograph mechanism. The base end of the link mechanism 166 is connected to the tip of a slider 167 that slides in the tip rigid portion 165 in the axial direction. The slider 167 is formed with an engagement groove 169 that engages with a guide member 168 protruding from the inner peripheral surface of the hard tip portion 165. This engagement groove 16
Reference numeral 9 extends along the axial direction of the hard tip portion 165. The guide member 168 of the hard tip portion 165 and the engaging groove 169 of the slider 167 engage with each other to prevent the slider 167 from rotating.

A nut member 170 is fixed to the base end of the slider 167. A feed screw 171 fixed to the rotating member 7 of the actuator body 1 is screwed into the screw hole of the nut member 170. The feed screw 171 is rotatably driven by the rotary actuator body 1.

Next, the operation of the above configuration will be described.
First, when the actuator body 1 is driven by the drive waveform for normal rotation in FIG. 3A, the feed screw 171 is rotationally driven in the normal rotation direction. Therefore, in this case, the rotational movement of the feed screw 171 is converted into, for example, the forward movement of the slider 167 along the axial direction of the feed screw 171 via the screwing portion of the feed screw 171 and the nut member 170 of the slider 167. As the slider 167 moves forward, the grip portion 163 is opened via the link mechanism 166.

Further, the actuator body 1 is shown in FIG.
When driven by the reverse rotation drive waveform, the feed screw 171 is rotationally driven in the reverse rotation direction. for that reason,
In this case, the rotational movement of the feed screw 171 is converted into the backward movement of the slider 167 along the axial direction of the feed screw 171 via the threaded portion between the feed screw 171 and the nut member 170 of the slider 167, and the slider 167 moves backward. By the backward movement, the grip portion 163 is closed via the link mechanism 166.

Therefore, in this embodiment, the slider 167 is moved back and forth in the hard tip portion 165 by driving the actuator body 1, whereby the grip portion 163 is opened and closed.

FIG. 21 shows the eighth embodiment of the present invention. The present embodiment is the first embodiment as a driving means of a forceps raising mechanism 184 for raising a forceps raising lever 183 provided on the inner bottom portion of the channel opening 182 of the forceps channel 181 of the side-viewing endoscope. The rotary actuator of the embodiment is applied.

Here, the channel port 182 is formed on the outer peripheral surface of the distal end body 185 of the endoscope. Further, the base end of the forceps raising lever 183 is provided at the inner bottom of the channel port 182 of the tip end main body 185 with the pivot pin 186.
Is pivoted by

Then, the forceps 187 inserted into the forceps channel 181 is moved from the channel opening 182 to the tip portion main body 1
It is adapted to be projected to the outside of 85. At this time,
The direction of the protruding portion of the forceps 187 protruding from the channel opening 182 to the outside of the tip portion main body 185 is the forceps raising lever 1
It can be adjusted as needed by the turning operation of 83.

The forceps raising mechanism 184 is provided with a rotary plate 188 for rotating the forceps raising lever 183. An operation pin 189 is projectingly provided on the outer peripheral edge of the rotary plate 188. The operation pin 189 is in contact with the forceps raising lever 183 from the side opposite to the forceps 187.

Further, the output shaft of the rotary actuator main body 1 is connected to the axial center of the rotary plate 188. The rotary plate 188 is rotationally driven by the rotary actuator body 1.

Next, the operation of the above configuration will be described.
First, when the actuator body 1 is driven by the drive waveform for normal rotation in FIG. 3A, the rotary plate 188 is rotationally driven in the normal rotation direction via the output shaft. for that reason,
In this case, the forceps raising lever 183 is rotated, for example, in the direction from the dotted line position to the solid line position in FIG. 21 in accordance with the rotation operation of the operation pin 189 of the rotary plate 188.

Further, the actuator body 1 is shown in FIG.
When driven by the drive waveform for reverse rotation, the rotary plate 188 is rotationally driven in the reverse rotation direction via the output shaft. Therefore, in this case, the operation pin 1 of the rotary plate 188 is
The forceps raising lever 183 moves as shown in FIG.
During the time 1, the solid line position is rotated in the direction of the dotted line position.

Therefore, in the present embodiment, the direction of the protruding portion of the forceps 187 protruding from the channel opening 182 to the outside of the tip end body 185 is appropriately adjusted by driving the rotary plate 188 by the actuator body 1.

22 and 23 show a ninth embodiment of the present invention. In this embodiment, the left and right relay optical systems 192a and 192 of the stereoscopic rigid endoscope 191 are used.
Convergence angle adjusting mechanism 1 for adjusting the convergence angle θ which is the angle between the optical axes of the left and right incident lights respectively incident on b
The rotary actuator of the first embodiment is applied as the driving means of 93.

In this stereoscopic rigid endoscope 191, a proximal operating portion 195 is connected to the proximal end portion of a rigid insertion portion 194 to be inserted into the body as shown in FIG. further,
The stereoscopic rigid endoscope 191 is provided with two CCDs 196a and 196b for picking up a subject image transmitted by a pair of left and right relay optical systems 192a and 192b for stereoscopic observation, and a left and right subject image with parallax. To get.

Further, a pair of left and right relay optical systems 192a,
192b is built in the insertion part 194 of the stereoscopic rigid endoscope 191. These relay optical systems 192a and 192
The portion b is shielded from each other by a light shielding member (not shown).

As shown in FIG. 23, a prism 197 for reflecting the left and right subject images transmitted by the relay optical systems 192a and 192b in the direction perpendicular to the optical axis thereof is provided in the operating portion 195 on the near side. There is. Further, inside the operation unit 195, mirrors 198a and 198b for reflecting the two subject images reflected by the prism 197 in a direction parallel to the optical axes of the relay optical systems 192a and 192b, and these mirrors 198.
The images reflected by a and 198b are CCDs 196a and 196b.
And an imaging lens (not shown) that forms an image on the exposure surface of. Peripheral circuits are provided at the rear ends of the CCDs 196a and 196b, respectively.

Further, the CCDs 196a and 196b respectively convert the formed left and right subject images into electric signals, and the control device 2 is provided via a peripheral circuit and a signal cable.
It outputs to 00.

Further, the stereoscopic rigid endoscope 191 has a built-in illumination optical system (not shown). Then, the illumination light supplied from a light source device (not shown) is guided to the illumination window portion at the tip of the insertion portion 194 through this illumination optical system so that the subject is illuminated with the illumination light.

Further, the CCD 196 is provided in the control device 200.
Signal processing circuits 202a and 202b that perform processes such as γ correction on the electric signals output by a and 196b are provided. Each of the signal processing circuits 202a and 202b is A
/ D converters 203a and 203b, frame memory 204
a, 204b, and D / A converters 205a, 205b are sequentially connected to the three-dimensional conversion processing circuit 206. The three-dimensional conversion processing circuit 206 is connected to the monitor 201.

Then, the signal processing circuits 202a, 202
Each video signal output from b is an A / D converter 203a,
After A / D conversion in 203b, each A / D conversion output is stored in the frame memories 204a and 204b for each frame. Furthermore, each frame memory 20
4a and 204b are read from the respective signals by D / A converters 205a and 205b.
The outputs of the converters 205a and 205b are alternately displayed on the monitor 201 by the three-dimensional conversion processing circuit 206.

Here, the control device 200 is the CCD 196.
a, 196b, and each CCD 196a, 1
The electric signal output from 96b is processed, and the monitor 2
In 01, a left subject image and a right subject image are displayed in 1 second, for example, 3
It is designed to be displayed alternately 0 times.

At this time, the observer can see the image on the monitor 201 through glasses that have a built-in polarization shutter, for example, which opens and closes the left and right visual fields alternately in synchronization with the switching operation of the display screen of the monitor 201. , The subject can be viewed as a stereoscopic image. This gives an observer a stereoscopic effect by utilizing the afterimage phenomenon. Since the left subject image and the right subject image transmitted by the two relay optical systems 192a and 192b have a parallax, they can be observed as a stereoscopic image. It is like this. As a method of realizing stereoscopic vision, a method of simultaneously displaying the left and right images on the monitor 201 may be used instead of the method of alternately displaying the left and right images.

Further, the A / D converters 203a and 203b are connected to an image shift detection circuit 208 for detecting the shift amount between the left and right images via the contour extraction circuits 207a and 207b. The image shift detection circuit 208 is connected to memory control circuits 209a and 209b, a shift amount detection button 210 provided on the operation unit 195 of the endoscope 191, and an actuator control circuit 219, respectively.

Then, the A / D converters 203a and 203b
From each video signal output from the contour extraction circuit 207a,
The contour of the image is extracted by 207b. Further, the image shift detection circuit 208 causes the contour extraction circuit 207 to
The shift amounts of the left and right images are detected by comparing the outputs of a and 207b. Subsequently, the memory control circuits 209a and 209b respectively control the reading of the frame memories 204a and 204b according to the output of the image shift detection circuit 208.

Further, the image shift detection circuit 208 uses the endoscope 1
When the shift amount detection button 210 of the operation unit 195 of 91 is turned on, the shift amount of the left and right images is detected. Then, the memory control circuits 209a and 209b adjust the frame memory 2 so that the left and right images are aligned in the same amount.
The reading order of the addresses 04a and 204b is controlled.

Here, the control device 200 may detect the deviation amount of the left and right images only once, or may detect the deviation amount of the left and right images again by the image deviation detection circuit 208. It may be possible to confirm that the displacement between the left and right images is within an appropriate range. If there is a deviation after confirmation, the amounts of misalignment of the left and right images are adjusted again. The frame memories 204a, 2
The video signals read from 04b are displayed at substantially the same display position on the monitor 201 and can be viewed by the observer as a stereoscopic subject image.

Further, the vergence angle adjusting mechanism 193 of the stereoscopic rigid endoscope 191 is constructed as follows. That is, in this convergence angle adjusting mechanism 193, as shown in FIG. 22, a pair of left and right prisms 212a and 212b are arranged on the respective optical axes of the binocular inside the observation window 199 on the distal end surface of the insertion portion 194. . The prisms 212a and 212b are fixed to the inner ends of the mounts 213a and 213b. An output shaft 214 of the rotary actuator body 1 is connected to each of the mounting bases 213a and 213b. Then, the mounting bases 213a and 213b are rotationally driven by the rotary actuator main body 1, and the left and right prisms 212a and 212b swing as shown by arrows in FIG. 22 as the mounting bases 213a and 213b rotate. It is supposed to be done.

Next, the stereoscopic rigid endoscope 191 having the above structure.
The operation of the convergence angle adjusting mechanism 193 will be described. First, the images obtained from the left and right eyes of the stereoscopic endoscope 191 are signal-processed, and the image shift detection circuit 208 shifts the left and right images (if the shift amount is large, a good three-dimensional image is not obtained. ) Is detected and three-dimensionally imaged. At this time, the data of the shift amount is sent to the actuator control circuit 219 at the same time.

The actuator control circuit 219 drives the actuator body 1 of the left and right prisms 212a and 212b based on the output signal from the image shift detection circuit 208. With the operation of each actuator body 1, the mounting bases 213a and 213b are rotated around the output shaft 214, and the prisms 212a and 212b are rotated in the arrow direction in FIG. 22, thereby changing the convergence angle θ. .

By changing the vergence angle θ in this way,
The intersection of the optical axes of the incident lights of the left and right eyes of the endoscope 191 moves. At this time, the actuator control circuit 219 controls the operation of the actuator main body 1 of the left and right prisms 212a and 212b so that the intersection of the optical axes of the left and right incident light is at the position of the observation target (the optical axis of the left and right incident light When the intersection comes to the position of the observation target, the amount of misalignment between the left and right images becomes minimal).

Therefore, in the above configuration, the convergence angle adjusting mechanism 193 of the stereoscopic rigid endoscope 191 can be controlled so that the intersection of the optical axes of the left and right incident lights comes to the position of the observation target. Therefore, a good three-dimensional image can be obtained even if the distance between the observation target and the endoscope 191 changes.

FIGS. 24 and 25 show the first embodiment of the present invention.
0 shows an embodiment. This embodiment is shown in FIG.
As shown in FIG. 4, the rotary actuator of the first embodiment is used as the driving means of the diaphragm mechanism 224 of the observation optical system incorporated in the rigid main body 223a of the distal end forming portion 223 of the insertion portion 222 of the endoscope 221. It is applied.
In FIG. 24, reference numeral 225 is an observation window portion, 226 is a plurality of objective lenses incorporated in the observation optical system, and 227 is an image pickup CCD.

Further, the diaphragm mechanism 224 has an objective lens 226.
It is arranged on the tip side of the group. As shown in FIG. 25, the diaphragm mechanism 224 is provided with a plurality of, in the present embodiment, three shield plates 230.

Further, each shield plate 230 is rotatably supported by a support pin 231 protruding from the tip body 223a. Further, one end of a link 232 is rotatably connected to the end of each shield plate 230 via a first engagement pin 233. Further, the other end of each link 232 is provided with another shield plate 230 via the second engagement pin 234.
Is rotatably connected to.

Further, one of the three shield plates 230 has a coil spring 235 for biasing the three shield plates 230 toward the open position, and three coil springs 235 resist the spring force of the coil spring 235. And a shield plate drive mechanism 236 for rotating the shield plate 230 in the direction of the diaphragm position. Here, the shield plate drive mechanism 236 is provided with a rotary plate 237. The shield plate 23 is provided on the outer peripheral edge of the rotary plate 237.
An operation pin 238 for pressing 0 is provided in a protruding manner.

Further, the output shaft 239 of the rotary actuator main body 1 is connected to the shaft center portion of the rotary plate 237. The rotary plate 237 is driven to rotate by the rotary actuator body 1.

Next, the operation of the above configuration will be described.
First, when the actuator body 1 is driven by the drive waveform for normal rotation in FIG. 3A, the rotary plate 237 is rotationally driven in the normal rotation direction via the output shaft 239. Therefore, in this case, one shield plate 230 is supported by the support pin 231 as the operation pin 238 of the rotary plate 237 rotates.
It is driven to rotate around. At this time, one shield plate 23
The turning operation of 0 is performed by the other shield plate 230 via the link 232.
Is transmitted to Therefore, the other shield plates 230 are simultaneously driven to rotate in the same manner in conjunction with the rotation operation of the shield plate 230 which is driven to rotate by the operation pin 238. And
As the three shield plates 230 rotate at this time, for example, the optical path of the observation optical system is narrowed.

Further, the actuator body 1 is shown in FIG.
When driven by the reverse rotation drive waveform, the rotary plate 237 is rotationally driven in the reverse rotation direction via the output shaft 239. Therefore, in this case, the coil spring 235 is accompanied by the rotation of the operation pin 238 of the rotary plate 237.
The three shield plates 230 are driven to rotate by the spring force in the direction of the open position that opens the optical path of the observation optical system. And
With the opening / closing operation of the shield plate 230, the objective lens 22
The amount of light incident on the sixth group is adjusted to adjust the depth of field.

FIG. 26A shows the 11th embodiment of the present invention. This embodiment is the first embodiment (see FIGS. 1 to 4 (A) and (B)), the second embodiment (see FIGS. 12 to 14 (A) and (B)), and the second embodiment. Embodiment 3 (see FIG. 15) and Embodiment 4 (see FIG. 16)
The rotary and direct acting actuator main body 241 having a different structure from that of the reference (see) is provided.

That is, in the actuator body 241 of the present embodiment, the expansion-type piezoelectric vibrator (or electrostrictive element) is provided between the torsion deformation element 2 and the connecting member 6 of the rotary actuator body 1 of the first embodiment. ) 242 is provided. The expandable piezoelectric vibrator 242 is one in which an electrode is formed on a ceramic such as barium titanate, lead zirconate titanate, or porcelain, and a direct current is applied to the electrode to cause mechanical extensional deformation. The piezoelectric vibrator is an element in which a distortion proportional to the electric field strength is generated by the reverse voltage effect. Further, the electrostrictive element is an element in which distortion proportional to the square of the electric field strength occurs when a drive voltage is applied.

A leaf spring member (friction generating means) 243 for generating friction is disposed between the connecting member 6 of the actuator body 241 and the rotating member 7. The leaf spring member 243 has a ring-shaped fixing portion 245 fixed to the end surface of the rotating member 7 by a fixing bolt 244, and a plurality of leaf spring-like claw portions 246 bent and formed in an inner peripheral portion of the fixing portion 245. And are provided. Then, each claw portion 246
Is inserted between the connecting member 6 and the rotating member 7. In this case, an urging force that urges each claw 246 in the direction of contracting inwardly acts, and a frictional force is generated between the connecting member 6 and the rotating member 7 by the urging force of each claw 246. Has become.

Therefore, in the structure described above, by controlling the voltage application to the torsional deformation element 2, an abrupt twist displacement of the torsional deformation element 2 that occurs at the time of applying a voltage gives an impact force to the connecting member 6. It is possible to overcome the frictional engagement force between the connecting member 6 and the rotating member 7 and rotate the rotating member 7 side with respect to the fixed portion 5 to rotationally drive the movable body 8, and at the same time, expandable piezoelectric vibration. By controlling the voltage application to the child 242, the rotary member 7 can be moved forward and backward with respect to the connecting member 6 in the axial direction of the rotary member 7.

26B and 26C show the twelfth embodiment of the present invention. The present embodiment is an eleventh embodiment (see FIG. 26 (A)) as a driving means for rotationally driving and advancing / retreating an ultrasonic transducer 253 arranged in a sheath 252 of an ultrasonic probe 251.
The rotary and linear actuator body 241 is applied.

A holding member 254 for holding the ultrasonic transducer 253 is connected to the tip of the rotary member 7 of the actuator body 241. Further, the electrode 2 of the ultrasonic transducer 253 is provided on the outer peripheral surface and the inner peripheral surface of the rotating member 7, respectively.
55 and 256 are attached.

Also, the sheath 25 of the ultrasonic probe 251
A contact point 258 connected to the lead wire 257 is provided on the inner peripheral surface of 2.
Is provided. Then, an electric current is supplied to the electrode 255 of the ultrasonic transducer 253 via the contact 258.

It should be noted that a space between the connecting member 6 of the torsional deformation element 2 of the actuator body 241 and the rotating member 7 is shown in FIG.
A leaf spring member (friction generating means) 71 for friction generation having the configuration shown in (A) and (B) is mounted.

Then, the ultrasonic probe 2 of the present embodiment
In 51, the ultrasonic transducer 253 radiates a pulsed ultrasonic wave to the living body, and echoes the same ultrasonic transducer 253.
To receive. A tomographic image of acoustic impedance in the living body can be measured from the distribution of echo time and intensity at this time.

During ultrasonic diagnosis, the torsional deformation element 2 of the actuator body 241 rotates the ultrasonic transducer 253 through the rotating member 7 to obtain a tomographic image of the acoustic impedance in the direction orthogonal to the axis of the probe 251. And the ultrasonic transducer 253 is moved back and forth in the axial direction of the probe 251 via the rotary member 7 by the expandable piezoelectric vibrator 242 of the actuator body 241, so that the acoustic impedance in the direction parallel to the axial direction of the probe 251 is obtained. A tomographic image of is obtained. Furthermore, a three-dimensional tomographic image is obtained by combining the rotational movement and the linear movement of the ultrasonic transducer 253.

The present invention is not limited to the above-mentioned embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention. Next, other characteristic technical matters of the present application will be additionally described as follows.

(Additional Item 1) In an actuator for rotationally driving a body to be moved, a torsional deformation element that generates torsional displacement, a rotating member, and one end of the torsional deformation element are connected and are rotatable with the rotating member. An abrupt torsional displacement is caused between the coupling member that frictionally engages with the torsional deformation element, and an impact force is applied to the coupling member by the torsional deformation element, so that the frictional engagement force between the coupling member and the rotating member is increased. Overcome,
And a drive unit for rotating the rotating member relative to the connecting member.

(Additional Item 2) The rotary actuator according to Additional Item 1, wherein the other end of the torsionally deformable element is fixed and the movable body is connected to the rotating member. (Additional Item 3) The rotary actuator according to Additional Item 1, wherein the rotating member is fixed, and the movable body is connected to the other end of the torsionally deformable element.

(Additional Item 4) The rotary actuator according to Additional Item 1, wherein the rotating member is fixed and the movable body is connected to the connecting member. (Additional Item 5) The rotary actuator according to Additional Item 1, wherein the rotating member is fixed, a movable body is connected to the connecting member, and an inertial body is connected to the other end of the torsionally deformable element.

(Additional Item 6) The rotary actuator according to Additional Item 1, wherein the torsional deformation element includes an electrostrictive element or a piezoelectric element. (Additional Item 7) The rotary actuator according to Additional Item 6, wherein the torsionally deformable element includes a bimorph element including an electrostrictive element or a piezoelectric element that is displaced in thickness.

(Additional Item 8) The torsional deformation element is provided with an electrostrictive element or a piezoelectric element and a torsional connector for converting longitudinal vibration of the electrostrictive element or the piezoelectric element into a torsional displacement. The rotary actuator according to appendix 6.

(Additional Item 9) The rotary actuator according to Additional Item 1, wherein the driving means has a first torsional displacement and a second displacement that are different in speed. (Additional Item 10) The rotary actuator according to Additional Item 9, wherein the driving unit has a full-wave rectified wave.

(Additional Item 11) The rotary actuator according to Additional Item 9, wherein the driving means has a trapezoidal wave. (Additional Item 12) Additional Item 1 wherein the rotating member and the connecting member have friction engagement means for generating a frictional force by a magnetic force.
The rotary actuator described.

(Additional Item 13) The rotary actuator according to Additional Item 1, wherein the driving means includes pulse voltage supply means for changing a pulse per unit time to change a moving speed. (Additional Item 14) The rotary actuator according to Additional Items 3, 4, and 5, wherein the deformable element has a rotatable contact electrode that supplies electric power from the driving unit and does not restrain rotation of the deformable element.

(Additional Item 15) In an actuator device for driving a movable part of an endoscope, a torsional deformation element for generating a torsional displacement, a rotating member, and one end of the torsional deformation element are connected to rotate with the rotating member. An abrupt torsional displacement is caused between the connection member that frictionally engages with the torsional deformation element, and the torsional deformation element applies an impact force to the connection member so that the frictional engagement between the connection member and the rotary member is increased. And a drive unit that overcomes the resultant force and rotates the rotating member relative to the connecting member.

(Additional Item 16) The rotary actuator according to Additional Item 15, wherein the other end of the torsionally deformable element is fixed and the movable body is connected to the rotating member. (Additional Item 17) The rotary actuator according to Additional Item 15, wherein the rotating member is fixed and the movable body is connected to the other end of the torsionally deformable element.

(Additional Item 18) The rotating member is fixed,
16. The rotary actuator according to claim 15, wherein the movable body is connected to the connecting member. (Additional Item 19) The rotary actuator according to Additional Item 15, wherein the rotating member is fixed, a movable body is connected to the connecting member, and an inertial body is connected to the other end of the torsionally deformable element.

(Additional Item 20) The rotary actuator according to Additional Item 15, which drives the observation optical system and / or the illumination optical system of the endoscope. (Additional Item 21) The rotary actuator according to Additional Item 15, which drives a zoom lens of an endoscope.

(Additional Item 22) The rotary actuator according to Additional Item 15 which drives a focus lens of an endoscope. (Additional Item 23) The rotary actuator according to Additional Item 15, which drives a diaphragm mechanism that adjusts the amount of incident light in the observation optical system of the endoscope.

(Additional Item 24) The rotary actuator according to Additional Item 15 which drives a mechanism for adjusting the vergence angle of the endoscope. (Appendix 25) Appendix 1 for driving a bending mechanism of an endoscope
5. The rotary actuator according to item 5.

(Additional Item 26) The rotary actuator according to Additional Item 15 which drives the bending mechanism of the treatment tool. (Additional Item 27) The rotary actuator according to Additional Item 15, which drives on the forceps table of the endoscope for adjusting the pulling-out direction of the treatment tool.

(Additional Item 28) In an actuator for rotationally driving a body to be moved, a deformable element for selectively generating a torsional displacement and an expansion / contraction displacement, a movable member, and a movable member connected to one end of the deformable element. A sharp twist displacement is generated between the connecting member that frictionally engages in a rotatable and linearly movable manner, and the deforming element, and the deforming element applies an impact force to the connecting member so that the connecting member and the moving member are connected. A combined rotary / linear motion actuator, comprising: a driving unit that overcomes the frictional engagement force and rotates or moves the moving member relative to the connecting member.

(Additional Item 29) An actuator device for driving a movable part of an endoscope, wherein the combined rotary / linear motion actuator according to Additional Item 28 is provided.

[0155]

According to the present invention, the structure of the entire rotary drive mechanism for rotationally driving the movable body that rotates with respect to the fixed portion is simplified, the number of constituent parts is reduced, and the entire rotary drive mechanism is downsized. be able to.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view showing the main configuration of a rotary actuator according to a first embodiment of the present invention.

2A is a vertical cross-sectional view of a torsional deformation element of the rotary actuator according to the first embodiment, and FIG. 2B is a cross-sectional view taken along line L ₁ -L _{1 of} FIG. 2A.

FIG. 3A is a characteristic diagram showing a drive waveform for forward rotation of the rotary actuator according to the first embodiment,
FIG. 7B is a characteristic diagram showing a drive waveform for reverse rotation of the rotary actuator in the same embodiment.

4A is an explanatory view for explaining an operating state of the torsional deformation element at each time point of the drive waveform for normal rotation in FIG. 3A, and FIG. 4B is a reverse rotation diagram of FIG. 3B. Explanatory drawing for demonstrating the operating state of the torsion deformation | transformation element at each time of a drive waveform.

FIG. 5 is a schematic configuration diagram showing a drive circuit of the rotary actuator according to the first embodiment.

FIG. 6 is a characteristic diagram for explaining operating characteristics of the rotary actuator according to the first embodiment.

[7] shows a first modification of the rotary actuator of the first embodiment, (A) is a longitudinal sectional view of the torsional deformation element, L ₁ (B) in FIG. 7 (A) - Sectional drawing of L ₁ line.

8A and 8B show a second modification of the rotary actuator according to the first embodiment, where FIG. 8A is a vertical cross-sectional view of a torsionally deformable element, and FIG. 8B is a cross sectional view taken along line L _1- of FIG. 8A. L ₁ line sectional view,
(C) Figure 8 L ₂ -L ₂ line cross-sectional view of (A).

9A and 9B show a third modification of the rotary actuator of the first embodiment, in which FIG. 9A is a vertical cross-sectional view of a torsional oscillator including a torsional connector, and FIG. 9B is a torsional connector. 9C is a perspective view showing a deformed state of FIG. 9, FIG. 9C is a left side view of FIG. 9D, FIG. 9D is a side view of the torsion connector, and FIG.
The right view of (D).

FIG. 10A shows a fourth modification of the first embodiment, and FIG. 10A is a characteristic diagram showing a trapezoidal drive waveform for forward rotation of a rotary actuator. FIG. 7B is a characteristic diagram showing a drive waveform for the reverse rotation of the rotary actuator in the same embodiment.

FIG. 11A is a vertical cross-sectional view of a main part showing a mounting state of a leaf spring member between a connecting member and a rotating member in a rotary actuator according to a fifth modification of the first embodiment;
11B is a sectional view taken along the line L ₁ -L _{1 of} FIG. 11A, and FIG. 11C is the friction between the connecting member and the rotating member in the rotary actuator of the sixth modified example of the first embodiment. FIG. 7D is a vertical cross-sectional view of the main part showing the generating means, FIG.
FIG. 10 is a longitudinal cross-sectional view of a main part showing a friction generating unit between a connecting member and a rotating member in the rotary actuator of the modification example of FIG.

FIG. 12 is a vertical sectional view showing a contact structure of a rotary actuator according to a second embodiment of the invention.

FIG. 13 is a vertical cross-sectional view showing the main configuration of the rotary actuator according to the second embodiment.

14A is an explanatory diagram for explaining an operating state of the torsionally deformable element according to the second embodiment at each time point of the drive waveform for normal rotation in FIG. 3A, and FIG. 3 (B) is an explanatory diagram for explaining an operating state of the torsionally deformable element according to the second embodiment at each time point of the reverse rotation drive waveform of FIG.

FIG. 15 is a vertical cross-sectional view showing the main configuration of a rotary actuator according to a third embodiment of the invention.

FIG. 16 is a vertical cross-sectional view showing the main configuration of a rotary actuator according to a fourth embodiment of the invention.

FIG. 17 is a vertical cross-sectional view of a main part showing a fifth embodiment of the present invention.

FIG. 18 is a side view of a main portion showing an operation portion of the endoscope according to the fifth embodiment.

FIG. 19 is a perspective view of essential parts showing a schematic configuration of a sixth embodiment of the present invention.

FIG. 20 is a vertical cross-sectional view of a main part showing a schematic configuration of a seventh embodiment of the present invention.

FIG. 21 is a vertical cross-sectional view of a main part showing a schematic configuration of an eighth embodiment of the present invention.

FIG. 22 is a vertical cross-sectional view of a main part showing a schematic configuration of a ninth embodiment of the present invention.

FIG. 23 is a schematic configuration diagram showing a control circuit of a convergence angle changing mechanism of an endoscope of a ninth embodiment.

FIG. 24 is a vertical cross-sectional view of the essential parts showing the schematic configuration of the tenth embodiment of the present invention.

25 is a cross-sectional view taken along line L ₁ -L _{1 of} FIG.

FIG. 26 (A) is a longitudinal sectional view of an essential part showing a rotary and linear actuator body according to an eleventh embodiment of the present invention, and FIG. 26 (B) is an ultrasonic wave according to a twelfth embodiment of the present invention. FIG. 16C is a vertical cross-sectional view of a main part showing an initial state before driving the actuator incorporated in the probe, and (C) is a movement of the ultrasonic transducer after driving the actuator incorporated in the ultrasonic probe of the twelfth embodiment. FIG. 3 is a vertical cross-sectional view of a main part showing a state.

[Explanation of symbols]

1, 101, 121 Rotating actuator body 2, 31, 41, 51, 104, 124 Torsional deformation element 5, 103, 123 Fixing part 6, 105, 125 Connecting member 7 Rotating member (friction engaging body) 8, 107, 126 Moved object 10 Actuator drive circuit (driving means) 102, 122 Fixed member (friction engagement body)

Claims (2)

[Claims] 1. A torsional deformation element that generates a sudden torsional displacement when a voltage is applied, a coupling member coupled to the torsional deformation element, and friction frictionally engaged with the coupling member so as to be rotatable relative thereto. A rotary actuator main body including an engaging body is provided, and one of the torsional deformation element and the frictional engaging body is fixed to the fixed portion side, and the rotation other than the fixed element fixed to the fixed portion side. A movable body is connected to the rotating element side of the mold actuator body, and a voltage is applied to the torsional deformation element to apply an impact force to the coupling member due to a sharp twist displacement of the torsional deformation element that occurs when the voltage is applied. And overcomes the frictional engagement force between the coupling member and the frictional engagement body to relatively rotate the rotary element side with respect to the fixed element,
A rotary actuator comprising drive means for rotating the movable body. 2. A torsional deformation element that generates a rapid torsional displacement when a voltage is applied, a coupling member coupled to the torsional deformation element, and friction frictionally engaged with the coupling member in a rotatable manner. A rotary actuator body including an engaging body is provided, and either the torsional deformation element or the frictional engaging body is fixed to the fixed portion side in the endoscope, and fixed to the fixed portion side. A rotary member inside the endoscope is connected to the rotary element side of the rotary actuator body other than the elements, and the voltage application to the torsional deformation element is further controlled to rapidly twist the torsional deformation element when the voltage is applied. The displacement exerts an impact force on the coupling member to overcome the frictional engagement force between the coupling member and the frictional engagement body, so that the rotary element side is relatively rotated with respect to the fixed element. Then,
A rotary actuator comprising drive means for rotating the rotary member.