JPS61100392A - Drive - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a drive device, particularly one that uses a shape memory alloy, and is used in large-sized robots that have little familiarity with repeated heating and cooling of the shape memory alloy. The present invention relates to a drive device suitable for such applications.

[Background of the invention]

Shape-memory alloys have been developed as elements for driving robot hands, etc., but conventional ones have poor response in return operations because they lack effective cooling means other than natural air cooling. There was a drawback.

For example, Japanese Unexamined Patent Publication No. 57-16
There is one described in Publication No. 8891.

According to the publication, a P-type half-body element and an N-type semiconductor element are bonded to the surface of a shape memory alloy element so as not to inhibit the shape change of the shape memory alloy element, and the direction of current conduction is controlled by switching. An actuator element has been proposed that is characterized by:

In other words, by bonding a semiconductor element to a shape memory alloy element, heating it by the heat generated at the joint, and cooling it by heat absorption, we have created an actuator element that has better responsiveness and is easier to control than conventional ones. However, it could not be said to be the best cooling method due to insufficient consideration in terms of lifespan and cost.

[Purpose of the invention]

The present invention was made in view of the actual state of the prior art described above, and is a device that utilizes the shape change due to heating and cooling of a shape memory alloy. The aim is to provide a drive device that can be used even under special environments such as

[Summary of the Invention] The configuration of the drive device according to the present invention is such that one end of the wire is connected to a fixed body and the other end is connected to a movable body, and a first wire made of a plurality of shape memory alloy wires that expands and contracts when cooled and heated. and a second member that applies a bias force to the first member, and by cooling and heating the first member, the recovery force of the first member and the bias force of the second member are reduced. A driving device that performs a repetitive motion by reversing the magnitude relationship between the first member and the displacement of the driven object through the fully movable body of the first member, the repetitive motion comprising a plurality of cooling fins. A possible heat sink is provided near the first member, such that the cooling fins are separated from the first member when the first member is heated, and the cooling fins are in contact with the first member when the first member is cooled. The heat sink is configured to move the heat sink repeatedly.

Additionally, as a driving force for repeatedly moving the heat sink, a third member made of a shape memory alloy wire rod is connected at one end to a fixed body and the other end is connected to a member on the heat sink side, and a bias force is applied to the third member. and a fourth member that imparts an anti-nuclear motion by heating and cooling the third member to reverse the magnitude relationship between the recovery force of the third member and the bias force of the fourth member. It is something.

That is, the present invention is a drive device that combines a shape memory alloy member and another member that applies a bias force to the cage.
A heat sink having fins is provided near the shape memory alloy member, and the heat sink is repeatedly moved to forcibly cool the shape memory alloy.

[Embodiments of the invention]

Hereinafter, various examples of smiles according to the present invention will be explained with reference to FIGS. 1 to 15.

Fig. 1 is a longitudinal sectional view of a drive device according to an embodiment of the present invention, Figs. 2' and 3 are sectional views taken along line XX in Fig. 1, and Fig. 2 shows a cooling fin of a heat sink. FIG. 3 shows a state in which the parts are separated from the first member, and FIG. 3 shows a state in which they are in contact.

In the figure, reference numeral 1 denotes a wire-shaped member made of a shape memory alloy, which is a first member, and this shape memory alloy member 1 has been subjected to memory treatment in advance so that it converges at a cylinder temperature equal to or higher than the transformation temperature. Chill with something.

A shape memory alloy member 1 has one end attached to a base 3 related to a fixed body.
The other end is connected to the end plate 5 related to the movable body, and two of them are arranged at an interval.

Reference numeral 2 denotes a compression coil spring related to the second member, which is installed between the base 3 and the end plate 5 via a support 4, and this compression coil spring 2 is attached to the shape memory alloy wire 1. This applies bias force. One end of the column 4 is fixed to the base 3, and the other end is slidably inserted into the column insertion hole of the end plate 5.

6 is a driving wire, 7 is a driven object, 8 is a heating lead wire, 9 is a control device including a heating power source, and 10 is an arrow indicating the amount of repeated displacement of the driven object 7. .

A heat sink 11 is provided with a plurality of (in this example, two upper and lower) cooling piece fins 12 and is made of a material with good conductivity, such as aluminum.

The heat sink 11 is a cylindrical member that is attached to the base 3 and the end plate 5 for repeated rotation movement so as to surround the compression coil spring 2 related to the second member.

Reference numeral 13 denotes a wire-shaped wire material made of a shape memory alloy according to the third feature, which has been subjected to memory treatment in advance so as to contract at a high temperature higher than the transformation temperature.

The shape memory alloy leg member 13 is fixed to the base 3 at one end and connected to the drive wire 14 at the other end, and 9.15 is the connecting end thereof.

Reference numeral 16 denotes a tension coil spring related to the fourth member, and the tension coil spring 16 has one end fixed to the base 3 and the other end connected to the drive wire 14, and applies a bias force to the shaped alloy wire 3. It is intended to give. The drive wire 14 is attached to the heat sink 11 and is attached to the heat sink 11.
It transmits repetitive rotational motion to the Reference numeral 17 shows the position of the shaft during the repeated rotational movement.

The shape memory alloy assembly 13, the drive wire 14, and the tension coil spring 16 constitute a drive source that repeatedly rotates the heaton/ri 11.

Here, the shape memory alloy wire 13 is connected to the heat sink 11.
It is better to make it as thin as possible as long as the force M required to rotate it is maintained.

Next, the operation of the drive device having such a configuration will be explained.

First, when the shape memory alloy wire 1 of the first member is energized and heated by the control device 9 via the lead wire 8a, the temperature of the wire 1 rises, and when it reaches a transformation temperature or higher, it attempts to contract into the memorized shape and recovers. Generates force F1.

Since the recovery force Fl during heating is larger than the pie spacing F2 of the compression coil spring 2 related to the second member applying bias force to the wire 1, the force (FIF2) causes shape memory. The alloy wire 1 and the compression coil spring 2 contract. Therefore, the end plate 5 and drive wire 6 connected thereto are pulled to the left in FIG. 1, and the driven object 7 is moved to the left. FIGS. 1 and 2 show the state during heating.

At this time, the shape memory alloy wire 13 of the third member of the drive source that repeatedly moves the heat sink 11 is not heated by electricity, and as shown in FIG. Since the recovery force F4 of the shape memory alloy wire 13 is larger than the recovery force F3 of the shape memory alloy wire 13, (F
4F3) is pulling the heat sink 11 in the counterclockwise direction. Therefore, the cooling fins 12 of the heat sink 11 do not come into contact with the shape memory alloy wire 1, but are separated from each other by a certain distance.

Next, when the current heating of the shape memory alloy wire 1 is stopped and at the same time the shape memory alloy wire 13 is heated with current using the heating lead wire 8b, the state shown in FIG. 2 changes to the state shown in FIG. 3.

That is, when the shape memory alloy wire 13 reaches a transformation temperature or higher, it tries to contract into the memorized shape and generates a recovery force F3.

This restoring force F3 is also larger than the pie spacing F4 of the tension coil spring 16 that applies a bias force to the wire 13.
The ζ-tosink 11 is pulled clockwise by a force (F'3F4), and the cooling fins 12 are forcibly brought into contact with the shape memory alloy wire 1.

Since the shape memory alloy wire 1 contacts the cooling fins 12 of the heat sink 11, it is rapidly cooled by thermal conduction. At this time, the restoring force Ft of the shape memory alloy wire 1 rapidly decreases, and the shape memory alloy wire 1 and the compression coil spring 2 are expanded by the force (F2 Ft). Then,
The end plate 5 and drive wire 6 connected thereto are pulled to the right in FIG. 1, and the driven object 7 is moved to the right.

In this way, the cooling fins 12 of the heat sink 11 are forcibly brought into contact with the shape memory alloy wire 1, so it is possible to provide a drive device with better responsiveness during cooling than in the past.

Note that in the drive device of this embodiment, the heat sink 11
Since the heat capacity of the heat sink 11 is sufficiently large, even if heat is absorbed from the shape memory alloy wire 1 during cooling, the heat sink itself radiates the heat to the surrounding air by natural convection.
The temperature does not rise, and there is no problem with long-term use.

FIG. 4 is a diagram comparing the cooling effect of the above embodiment with conventional natural air cooling, with the horizontal axis representing the cooling time t (seconds) and the vertical axis representing the temperature T3. The solid line is a cooling diagram of the shape memory alloy wire l when the heat sink 11 of this embodiment is used;
The broken line shows a cooling diagram in the case of conventional natural air cooling.

The experimental drive device is the one shown in FIG. 1, and the shape memory alloy wires 1 and 13 are nickel titanium alloy with a diameter of 0°35, and the lengths are 170 mm and 70 mm, respectively.
It is wm. The transformation temperature is Ti during heating, t = 95 C
, T old = 450 during cooling.

The material of the heat sink 11 (including the cooling fins 12) is aluminum, and its dimensions are 140 degrees in length and 50 degrees in width.

As is clear from FIG. 4, the cooling effect of this example is better than that of conventional natural air cooling, and the temperature of the shape memory alloy wire 1 reaches from the transformation temperature TAf to Told. You can see that the time has been shortened. Comparing the cooling time between the transformation temperatures, the cooling using the heat sink in this embodiment is shortened to about 1/3 compared to natural air cooling.

However, since it takes about 3 seconds to cool down,
The drive device of this embodiment is particularly suitable for a large drive device in which the repetition rate of heating and cooling of a shape memory alloy is small.

The cooling time can be further shortened by modifying the sliding friction parts such as the heat sink 11, the base 3, and the end plate 5, which rotate repeatedly.

In addition, the shape memory alloy wire 13 of the driving source was tested with the same diameter as the wire 1 (0.35E11), but in terms of design, a diameter of 0.1 W or less is sufficient, and a smaller diameter is preferable.

Next, FIG. 5 is a cross-sectional view of a heat sink and its drive source part of a drive device according to another embodiment of the present invention, and in the figure, the same reference numerals as in FIG. 2 are the same as those in the previous embodiment. Since this is only a partial explanation, its explanation will be omitted.

Further, each part of the drive device other than that shown in FIG. 5 is the same as the example shown in FIG. 1.

In FIG. 5, 13A is a shape memory alloy wire rod related to the third member, and 16A is a compression coil spring related to the fourth member. The compression coil spring 16A is arranged concentrically with the shape memory alloy wire 13A inside, one end of both members is fixed to the base 3, and the other end is connected with the tip 15A of the cooling fin 12 of the heat 7 tank 11. are doing.

Even if the shape memory alloy wire 13A and the compression coil spring 16A are placed at the same location in this way, the effect as a driving device is exactly the same as that of the previous embodiment shown in FIGS. 1-3.

However, the coil spring in the example of FIG. 5 is a compression coil spring.

Next, still another example of the drive source section of the heat sink will be described in the sixth example.
This will be explained with reference to the figures.

FIG. 6 is a sectional view of a heat sink and its drive source portion of a drive device according to still another embodiment of the present invention;
Components with the same reference numerals as those in FIG. 2 are the same parts as those in the embodiment shown in FIGS. 1-2, so their explanation will be omitted.

Further, each part of the drive device other than that shown in FIG. 6 is the same as the example shown in FIG. 1.

In FIG. 6, 16B refers to the fourth member.
J Shape memory alloy wire rod is used; in this example, the same wire rod as the shape memory alloy wire rod 13B related to the third member is used as the fourth member.

In this example, when it is desired to separate the cooling fins 12 from the shape memory alloy wire 1, that is, when it is desired to separate the cooling fins 12 from the shape memory alloy wire 1,
When heating, the shape memory alloy wire 16B is electrically heated, and the shape memory alloy wire 13B is cooled by natural air cooling. As a result, the heat sink 11 rotates counterclockwise as shown in FIG. 6, and the cooling fins 12 and the shape memory alloy wire 1 are separated.

Conversely, when it is desired to bring the cooling fins 12 into contact with the shape memory alloy wire 1, that is, when cooling the shape memory alloy wire 1, the shape memory alloy wire 13B is electrically heated and the shape memory alloy wire 16B is naturally cooled. Cool down. As a result, the heat sink 11 rotates clockwise, and the cooling fins 12 and the shape memory alloy wire 1 come into contact with each other.

According to this example, the effect as a driving source for repeatedly rotating the heat sink 11 is the same as that of the driving source shown in FIGS. 2 and 3 above.

Particularly, when the heat sink 11 is frequently repeatedly moved in a short cycle, it is better to combine two shape memory alloys as shown in FIG. 6 for the structure of one driving source.

In the above embodiment, the case where there are two shape memory alloy wires 1 for the first member was explained, but in order to increase the output, the number may be increased to three or four, and this example is described in the seventh example.
As shown in the figure.

FIG. 7 shows a first embodiment of a drive device according to still another embodiment of the present invention. This is a cross-sectional view of the second member and the heat sink part, in which the same reference numerals as in FIG. 2 are equivalent parts.

The example in Fig. 7 is the wire rod 1-1.1-2.1 of the shape memory base metal.
-3.1-4 are arranged at intervals vertically and horizontally.

In this case, the cooling fins 12-1 are attached to the heat sink 11.
．． 12-2, 12-3, and 12-4 may be provided.

In addition, in the above embodiment, the compression coil spring 2 is used as the second member that applies a bias force to the first member, but as shown in FIG. 8, an elastic member such as a bellows is used. It's okay.

FIG. 8 is a sectional view showing a second member of a drive device according to still another embodiment of the present invention, and in the figure, the same reference numerals as in FIG. 1 indicate the same parts.

In FIG. 8, reference numeral 18 denotes a bellows related to the second member, which is mounted between the reed base 3 and the end plate 5 via the support 4.

Even if the bellows 18 is used as the second member, the same effect as when a compression coil spring is used can be expected.

Next, an embodiment of a drive device that provides repetitive rotational motion to a driven object will be described with reference to FIGS. 9 to 11.

First, FIG. 9 is a block diagram of a drive device according to still another embodiment of the present invention.

In FIG. 9, reference numeral 1a denotes a shape memory alloy wire rod related to the first member, which has been subjected to memory treatment in advance so as to contract at a high temperature higher than the transformation temperature. Two shape memory alloy wires 1a are arranged at intervals, with one end connected to the base 3A of the fixed body and the other end connected to the end plate 5a.

1b is a shape memory alloy wire rod related to the second member, which is similar to the shape memory wire rod 1a, and one end is connected to the base 3A and the other end is connected to the end plate 5b, and two wires are connected at an interval. It is located.

The end plates 5a, 5b are connected to a drive wire 6 attached to a pulley 19. 20 is the rotating shaft of the pulley 19, 21 is
The support member 7A of the pulley 19 is a driving object and is fixed to a part of the pulley 19.

10' indicates the amount of displacement of the driven object 7A due to repeated rotations.

11a and llb are heat sinks similar to those shown in FIG. 1 earlier, and cooling fins 12a, respectively.

12b.

The heat sinks lla and llb are shape memory alloy wire rods 1
One each is provided near a and lb. Although detailed illustrations are omitted, the repetitive motion of the heat sinks lla and llb is performed by the shape memory alloy wire rods 13a and 13b of the third member and the tension coil spring of the fourth member. , the groove bottom is as shown in Fig. 2.

The state shown in FIG. 9 is when the binding material 1a of the first member is cooled;
The wire rod 1b of the second member is heated, the wire rod 1b of the second member and the wire rod 13a of the third member are electrically heated by the control device 9 and the heating lead wire 8, and the heat sink l
The cooling fins 12a of la are in contact with the wire rod 1a of the first member.

At this time, the recovery force F2' of the wire rod 1b of the second member is
Due to the recovery force F1' of the wire rod 1a of the member, the pulley 19 is rotated in the clockwise direction, and the driven object 7A
The clock also rotates in the direction of the clock.

Next, when the cooling and heating of each member are reversed, the wire rod 1a of the first member and the restoring force F1' are larger than the restoring force F2' of the wire rod 1b of the second member. Seven people rotate counterclockwise.

In this way, the drive device shown in FIG. 9 can repeatedly rotate the driven object 7A by a displacement amount of 40'.

Next, FIG. 10 relates to still another embodiment of the present invention.

I! FIG. 11 is a configuration diagram of the transmission device, and FIG.
This is a Y cross-sectional view, and the parts in the figure with the same reference numerals as in FIGS. 9 and 6 are the same parts, so the explanation thereof will be omitted.

The example in Fig. 10 differs from the example in Fig. 9 in that the heat sink is 1
It is one.

In FIG. 10, 1/, /a are shape memory alloy wire rods related to the first member, and 1/b/ are shape memory alloy wire rods related to the second member, both of which contract at high temperatures above the transformation temperature. One end is connected to the base 3B, and the other end is connected to the drive wire 6 attached to the pulley 19.

11B is a heat sink, and 12B is its cooling fin. The cooling fins 12B are provided asymmetrically with respect to the center of the heat sink IIB so that they can individually contact the wire 1/a of the Ml member and the wire 1'b of the second member.

The drive source for repeatedly rotating the heat sink is the same as that shown in FIG. 6 above, and includes a shape memory alloy wire rod 13B relating to the third member and a shape memory alloy wire rod 16B relating to the fourth member.
and one end of each is fixed to the base 3B, and the other end is connected to the drive wire 14 attached to the heat sink IIB.

The state shown in Figure 10.11 is the state in which the first member wire 1/
a is during cooling, the wire rod 1'b of the second member is during heating,
Therefore, the wire 13B of the third member is heated, the wire 16B of the fourth member is cooled, and the cooling fins 12B of the heat sink IIB are in contact with the first member /a.

The restoring force of member 1'b of the second member is the same as that of member 1'b of the first member.
The restoring force of /a causes the dog, the pulley 19, and the driven object 7A to rotate in the clockwise direction.

If the cooling and heating of each member are reversed, the driven object 7A rotates in the counterclockwise direction.

In this embodiment, in order to further improve the contact between the cooling fins 12B of the heat sink 11B and the shape memory alloy wires 1'a, l'b, 9 wires 1/a, 1/b are used.
It is desirable to change the cross-sectional shape from circular to rectangular.

Alternatively, it may be in a film form.

Next, an application example of the heat sink section is shown in Fig. 12 and 13.
As shown in the figure.

First, FIG. 12 is a longitudinal sectional view of a drive device according to still another embodiment of the present invention. In the figure, parts with the same reference numerals as in FIG. 1 are equivalent parts, so their explanation will be omitted.

In the embodiment shown in FIG. 12, a part of the heat sink IIC is brought into close contact with the heat pipe 23. In the embodiment shown in FIG.

In the figure, 2C is a compression coil spring related to the second member, and is installed between the heat pipe 23 and the end plate 5C.

3C is a base related to a fixed body, which fixes one end of the shape memory alloy wire related to the first member and supports the heat pipe 23 via a sliding portion 26.

22 is the heat absorption part of the heat pipe 23 and the heat sink 11
It is inscribed in C. Reference numeral 24 denotes a heat dissipation section of the heat pipe 23, which has a large number of heat dissipation fins 25. Further, 26 is a base 3 when the heat pipe 23 rotates repeatedly.
This is the sliding part between C and C, and is made up of bearings and the like.

The heat absorption part 22 of the heat pipe 23 is a heat sink 11C.
The cooling fins 12C efficiently guide the heat removed during cooling of the shape memory alloy wire 1 to the heat absorbing part 22 of the heat pipe 23, and radiate the heat from the heat radiating part 24. For this reason, it is desirable that the area in which the heat absorbing portion 22 is in close contact with the heat 7 tank 11C is wide.

In FIG. 12, heat is radiated from the heat radiating portion 24 of the heat pipe 23 by natural cooling using the fins 25, but forced cooling may be performed by flowing a fluid such as air.

In the drive device having such a configuration, the cooling fins 12C of the heat sink 11C shown in FIG. 1 are efficiently cooled, so that the cooling effect is large.

Furthermore, since the cooling fins 12C of the heat sink 11C are cooled by the heat pipe 23 rather than by natural air cooling, they can be used even in a vacuum, which is an environment where natural air cooling is impossible.

In this case, air cooling is not possible in a vacuum, so
The drive sources (third member, fourth member, drive wire 14, etc.) that repeatedly move the heat sink 11C and the control device 9 need to be exposed outside the base 3C (on the left side of the base 3C in FIG. 12).

At this time, the heat dissipation part 24 of the heat pipe 23 is also connected to the base 3.
Take it out to the outside of C and cool it with air, etc.

Next, FIG. 13 is a longitudinal cross-sectional view of a drive device according to still another embodiment of the present invention, in which the same reference numerals as in FIG. 1 or FIG. 12 refer to parts equivalent to those in the previous embodiment. Because it is,
The explanation will be omitted.

In the embodiment shown in FIG. 13, a part of the heaton/liquid 11C is brought into close contact with the fluid flow path 27.

In the figure, 28 and 29 are the upper flow path, the lower flow path, and the fluid (for example, water) flowing in from the flexible tube 30, respectively.
31 is made to flow through the upper channel 28 as shown by the arrow, turn back at the end of the channel 27, flow through the lower channel 29, and flow out from the flexible tube 30.

The fluid circuit may be a closed circuit with a cooler or the like (not shown) in the middle, or may be a disposable open circuit.

Like the heat pipe 23 shown in FIG. 12, the flow path 27 is attached in close contact with a part of the heat sink 11C, and it is desirable that the contact area is large.

The drive device shown in FIG. 13 can also be used under special environments such as in a vacuum because the same effects as the drive device shown in FIG. 12 can be obtained. In this case, the heat sink 1
The drive source of 1C and the control device 9 need to be taken outside the vacuum area.

Next, as a practical example in which a plurality of drive devices of the above-mentioned embodiments are combined, an example of a robot manipulator will be described in the 14th example.
This will be explained with reference to the figures and FIG.

Here, FIG. 14 is a perspective view of a robot manipulator to which an embodiment of the present invention is applied, and FIG. 15 is a z-2 sectional view of FIG. 14.

In FIG. 14, 32 corresponds to the drive device according to the embodiment of the present invention shown in FIGS. 35 is a wrist, 36 is a connection joint from the base 3 to another arm, etc., 7a and 7b are fingers corresponding to the pivoting object 7 in FIG. 1, and 37a and 37b are finger joints. be.

The control device 9 is inserted into the central space 34 of the cylinder 33 to save space.

When the drive device 32 operates as described in FIGS. 1 to 4, the joints 37a and 37b connected to the other end of the drive wire 6 move rapidly during both heating and cooling. Becomes a manipulator with good responsiveness.

As shown in FIG. 15, eight drive devices 32 are arranged at equal intervals on the outside of the cylinder 33.

The shapes of each of these drive devices 32 are similar to those shown in FIGS. 1 to 3, and include a shape memory alloy wire rod 13 related to the third member and a tension coil spring 16 related to the fourth member. One end of each is fixed to the cylinder 33, and the other end of each is connected to a drive wire 14 attached to the heat sink 11.

Eight heat sinks are shown as 11-1 to 11-8, but in FIG. 1 is in contact and cooled, and the other wires 1 are heated.

When the manipulator is configured as shown in Figure 14.15,
If there is something that gets hot, such as the control device 9, it may be provided in the center space 34 of the cylinder 33 and cooled by blowing air into the space 34.

Moreover, if the drive device 32 itself is arranged in the center space 34 of the cylinder 33, it will be good in terms of appearance and safety.

The drive devices of each of the above embodiments are difficult to apply when the repetition time of heating and cooling the shape memory alloy is short (for example, 1 second or less), but it is difficult to apply it to manipulators for large robots with long repetition times or forced air cooling. It is effective when used in a vacuum.

If the actuator section of an industrial machine is a drive device with one degree of freedom, the devices of the embodiments shown in FIGS. 1.9, 10, 12 and 13 can be applied as is.

In each of the above embodiments, the repetitive motion of the heat sink is performed by rotational motion, but the present invention is not limited to this, and may be performed by reciprocating motion.

Furthermore, in each of the above embodiments, a shape memory alloy wire is used as the drive source for the repetitive motion of the heat sink, and its characteristics are utilized. However, the drive source is not limited to this, and other drives such as a motor can There is no problem in using the source.

〔Effect of the invention〕

As described above, according to the present invention, a device that utilizes shape change due to heating and cooling of a shape memory alloy has better response during cooling than conventional natural air cooling, and can be used in special environments such as vacuum. However, we can also provide a drive system that can be used in any country.

[Brief explanation of drawings]

FIG. 1 is a longitudinal sectional view of a drive device according to an embodiment of the present invention, FIG. 2.3 is a sectional view taken along line XX in FIG. 1, and FIG.
Figure 3 shows a state in which the cooling fins of the heat sink are separated from the first member, and a state in which they are in contact, and Figure 4 compares the cooling effect of the embodiment shown in Figure 1 with conventional natural air cooling. 5 is a sectional view of a heat sink of a drive device according to another embodiment of the present invention and its drive source, and FIG. 6 is a cross-sectional view of a heat sink of a drive device according to yet another embodiment of the present invention. FIG. 7 is a cross-sectional view of the drive source section of the drive source section 1. A cross-sectional view of the second member and the heat sink portion, FIG. 8 is a cross-sectional view showing the second member of the S motion device according to still another embodiment of the present invention, and FIG. FIG. 10 is a configuration diagram of a drive device according to another embodiment of the present invention, FIG. 11 is a YY cross-sectional view of FIG. 10, FIG. FIG. 13 is a longitudinal sectional view of a drive device according to yet another embodiment of the present invention, and FIG. 14 is a perspective view of a robot manipulator to which an embodiment of the present invention is applied.
FIG. 15 is a sectional view taken along the Z-Z line in FIG. 14. 1.1-1.1-2.1-3.1-4. la, 11b・
...Shape memory alloy wire, 2,2C...Compression coil spring, 3,3A, 3B, 3C...Pace, 5°5C...
- End plate, 6... Drive wire, 7, 7A... Drive target, 7a, 7b--Finger, 8, 8a, 8b... Heating lead wire, 9... Control device, 10 .10'...Displacement amount, 11.11-1.11-2.11-3.11-4゜11-5.11-6.11-7.11-8゜112, l
lb, lIC-・Heat 7/ri, 12°12-1.1
2-2.12-3.12-4゜128.12b, 12B
, 12C...Cooling fin, 13.13A, 13B, 1
6B, 13a, 13b...Shape memory alloy wire rod, 14
..., drive wire, 16... tension coil spring, 16
A...Compression coil spring, 17...Displacement amount, 18...
・Bellows, 19... Pulley, 22... Heat absorption part, 23
... heat pipe, 24 ... heat dissipation section, 26 ... sliding section, 27 ... flow path, 28 ... upper flow path, 29 ...
・Lower flow path, 30...Flexible pipe, 31...Fluid, 32
..., drive device, 33... cylinder, 35... wrist,
37a, 37b--Joints. VJt diagram %Z diagram 3 [D Figure 4 Reiken Haruma t (杓ふ 5 Figure ゝ---, -C Figure 7 Atsushi 14 Figure 31L

Claims (1)

[Scope of Claims] 1. A first member made of a plurality of shape memory alloy wires, which expand and contract when cooled and heated, with one end of the wire connected to a fixed body and the other end connected to a movable body; and a second member that applies a bias force to the first member, and by cooling and heating the first member, the magnitude relationship between the recovery force of the first member and the bias force of the second member is determined. The drive device is configured to perform repetitive motion by reversing the movement and convert the expansion and contraction of the first member into displacement of a driven object via a movable body, the drive device including a heat sink capable of repetitive motion and equipped with a plurality of cooling fins. The heat sink is provided near one member, and the heat sink is repeated so that the cooling fins separate from the first member when the first member is heated, and the cooling fins contact the first member when the first member is cooled. A drive device configured to cause motion. 2.Claim 1: In the above-mentioned device, as a driving source for repeatedly moving the heat sink, a third wire made of a shape memory alloy wire is connected at one end to the fixed body and the other end is connected to a member on the heat sink side. a fourth member that applies a bias force to the member and the third member, heating the third member;
A drive device configured to perform repetitive motion by reversing the magnitude relationship between the recovery force of the third member and the bias force of the fourth member by cooling. 3. In the item described in claim 1, the first member is a plurality of shape memory alloy members maintained at intervals so as to be able to contact the cooling fin portion of the heat sink, and the second member is an identification member. and a heat sink provided with a plurality of cooling fins is a cylindrical body provided to surround a second member, and is driven via a movable body by expansion and contraction of the first member. A drive device that gives repetitive linear motion to an object. 4. In the item described in claim 1, the movable body is a pulley, and two shape memory alloy wire rods relating to the first and second members connected to the identification body are attached to the drive wire to the pulley. A drive device that is connected to each other and applies repetitive rotational motion to a driven object via a pulley by expanding and contracting these first and second members. 5. In the item described in claim 1, the movable body is a pulley, and a plurality of first members connected to the identification body and a second
The members are at least two shape memory alloy wire rods that expand and contract when cooled and heated, respectively, and in the vicinity of these first and second members, a movable material is attached to the first and second members, respectively. A heat sink equipped with a plurality of cooling fins separated from each other is provided, and the first and second members are connected to drive wires attached to the pulley, respectively, to alternately heat and cool the first and second members. A drive device that applies repetitive rotational motion to a driven object via a pulley, possibly by expanding and contracting the first and second members. 6. A drive device according to claim 1, wherein a heat pipe is rotatably mounted on a fixed body in close contact with a heat sink, with the close contact portion serving as a heat absorption portion. 7. The drive device according to claim 1, wherein a part of the heat sink is configured to be in close contact with the fluid flow path. 8. In the item described in claim 2, the third member is a wire made of a shape memory alloy whose one end is connected to a fixed body, and the fourth wire is a tension coil whose one end is connected to the fixed body. A drive device in which the other end of these wire rods and the other end of a tension coil spring are each connected to drive wires attached to a heat sink. 9. A drive device according to claim 2 or 8, which uses a shape memory alloy wire as the fourth member. 10. In the thing described in claim 2, the third
The member is a wire made of a shape memory alloy, the fourth member is a compression coil spring, and the compression coil spring and the wire are positioned concentrically with the wire inside, and both are placed at the tip of the cooling fin of the heat sink. A drive device that is connected to the