WO2009093645A1 - 駆動装置 - Google Patents
駆動装置 Download PDFInfo
- Publication number
- WO2009093645A1 WO2009093645A1 PCT/JP2009/050953 JP2009050953W WO2009093645A1 WO 2009093645 A1 WO2009093645 A1 WO 2009093645A1 JP 2009050953 W JP2009050953 W JP 2009050953W WO 2009093645 A1 WO2009093645 A1 WO 2009093645A1
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- WIPO (PCT)
- Prior art keywords
- control value
- temperature
- unit
- memory alloy
- shape memory
- Prior art date
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
- F03G7/065—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like using a shape memory element
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/028—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with means for compensating for changes in temperature or for controlling the temperature; thermal stabilisation
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
- G02B7/08—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted to co-operate with a remote control mechanism
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2280/00—Materials; Properties thereof
- F05B2280/50—Intrinsic material properties or characteristics
- F05B2280/5006—Shape memory
Definitions
- the present invention relates to a drive device that moves a movable part using a shape memory alloy.
- Patent Document 1 performs control to keep the temperature of the shape memory alloy constant, and does not correct the positional deviation of the lens unit according to changes in the environmental temperature. Therefore, in the method of Patent Document 1, when the environmental temperature changes, the movable part that holds the lens unit cannot be accurately positioned with respect to the target position.
- An object of the present invention is to provide a drive device that can position a movable part at a target position even when the environmental temperature changes.
- FIG. 1 is an external configuration diagram of a drive device according to an embodiment of the present invention.
- FIG. 1 is a block diagram of an imaging apparatus to which a driving device according to an embodiment of the present invention is applied. It is the graph which showed the characteristic of the displacement and resistance value of the shape memory alloy by one embodiment of this invention.
- 4 is a graph showing a control value-displacement characteristic of a movable part according to an embodiment of the present invention, a solid line showing a control value-displacement characteristic at a reference temperature, and a dotted line showing a control value-displacement characteristic at the time of driving; Yes. 4 is a graph showing a control value-displacement characteristic common to devices at a reference temperature and an own control value-displacement characteristic according to an embodiment of the present invention. It is the graph which showed the characteristic of the displacement of a shape memory alloy in case there exists a stopper, and resistance value.
- FIG. 1 is an external configuration diagram of the drive device.
- the drive device includes a shape memory alloy 1, a fixed portion 2, a bias spring 3, a lens 4, a movable portion 5, a guide shaft 6, and an overall control portion 100.
- the shape memory alloy 1, the fixed portion 2, the bias spring 3, and the guide shaft 6 constitute a moving mechanism portion.
- the shape memory alloy 1 is a wire whose longitudinal direction is the vertical direction with the upper end connected to the right end of the movable part 5 and the lower end connected to the lower fixed part 2, and when the temperature exceeds a certain temperature, the memory shape The movable portion 5 is contracted to return to the position and the movable portion 5 is moved downward by the contraction force.
- the shape memory alloy 1 is connected to the overall control unit 100, and is supplied with driving power from the overall control unit 100 and heated.
- the fixing unit 2 includes a pair of upper and lower fixing units 2 and 2 fixed to the housing of the imaging apparatus, and the upper fixing unit 2 is connected to the guide shaft 6 and the bias spring 3, and the lower fixing unit. 2, the guide shaft 6 and the shape memory alloy 1 are connected.
- the upper fixing portion 2 has a hole (not shown) for guiding light from the subject to the lens 4, and the lower fixing portion 2 has a light image of the subject imaged by the lens 4. A hole (not shown) is formed for guiding the light to the imaging sensor (not shown).
- the bias spring 3 has an upper end connected to the upper fixed portion 2, and a lower end connected to the right end of the movable portion 5.
- the bias spring 3 applies an upward stress to the shape memory alloy 1, extends the shape memory alloy 1 upward, and is movable.
- the part 5 is moved upward.
- the lens 4 is composed of a convex lens, for example, and forms an image of light from the subject and guides it to the image sensor.
- the movable portion 5 includes a movable main body portion 51 and a holding portion 52, moves downward along the guide shaft 6 by the contraction force of the shape memory alloy 1, and moves along the guide shaft 6 by the biasing force of the bias spring 3.
- the lens 4 is moved upward and the lens 4 is moved vertically.
- the movable main body 51 has a long hole extending in the vertical direction, and a guide shaft 6 is inserted into the long hole.
- the holding part 52 is formed so as to extend from the substantially vertical center of the right side surface of the movable main body part 51 toward the right direction, and holds the lens 4 so as to surround the periphery of the circular lens 4. Further, the lower end of the bias spring 3 is connected to the upper side of the right end of the holding portion 52, and the shape memory alloy 1 is connected to the lower side of the right end.
- the guide shaft 6 is composed of a rod-like member whose upper end is connected to the upper fixed portion 2 and whose lower end is connected to the lower fixed portion 2 and whose longitudinal direction is the longitudinal direction, and moves the movable portion 5 in the vertical direction. To guide you.
- the overall control unit 100 controls the positioning of the movable unit 5 and controls the entire imaging apparatus.
- FIG. 2 shows a block diagram of the overall control unit 100.
- the overall control unit 100 includes a control unit 10, a drive unit 20, and a resistance detection unit 30.
- the control unit 10 includes a microcomputer including a CPU, a ROM, a RAM, and the like, and includes a temperature detection unit 11, a setting unit 12, and a correction unit 13.
- the temperature detector 11 detects the ambient temperature around the shape memory alloy 1.
- the temperature detection unit 11 detects the environmental temperature based on the resistance value of the shape memory alloy 1 detected by the resistance detection unit 30.
- the temperature detection unit 11 detects the resistance value when the shape memory alloy 1 actually starts displacement, and when the shape memory alloy 1 starts displacement at the detected resistance value and the reference temperature.
- the ambient temperature is detected based on the deviation from the resistance value.
- FIG. 3 is a graph showing the characteristics of the displacement and the resistance value of the shape memory alloy.
- the solid line shows the characteristics at low temperature
- the dotted line shows the characteristics at high temperature.
- the graph at the high temperature has a larger slope than the graph at the low temperature.
- the resistance value at the point P at which the shape memory alloy 1 starts to be displaced is higher at the high temperature than at the low temperature.
- the temperature detection unit 11 stores in advance the relationship between the resistance value at the point P and the temperature, detects the resistance value at the point P, and specifies the temperature with respect to the detected resistance value, thereby shape memory alloy 1 can be detected, and this temperature can be detected as the environmental temperature.
- the temperature detection unit 11 increases the driving power supplied to the shape memory alloy 1 with a constant step size, and every time the driving power is increased, the difference between the resistance values before and after the increase is obtained and the difference greatly changes. Can be detected as the resistance value at the point P.
- the detection of the environmental temperature based on the resistance value is merely an example, and the environmental temperature may be detected by detecting the resistance value of the shape memory alloy 1 when a minute electric power that does not cause displacement is applied.
- the ambient temperature may be detected by installing a temperature sensor such as a thermistor or a thermocouple in the vicinity of the shape memory alloy 1.
- the setting unit 12 is a control value-displacement characteristic indicating the relationship between the control value for positioning the movable part 5 and the displacement of the movable part 5, and the control value-displacement characteristic at a predetermined reference temperature. Is used to position the movable part 5 at the target position.
- the reference temperature it is preferable to employ an average temperature in an environment where the use of the imaging device is assumed.
- the correction unit 13 calculates the target position of the movable unit 5 resulting from the deviation between the control value-displacement characteristic at the environmental temperature and the control value-displacement characteristic at the reference temperature.
- the control value is corrected so as to correct the positional deviation.
- FIG. 4 is a graph showing the control value-displacement characteristic of the movable part 5.
- the solid line shows the control value-displacement characteristic at the reference temperature
- the dotted line shows the control value-displacement characteristic at the time of driving.
- Such a change in the control value-displacement characteristic is considered to be caused by a change in the linear expansion coefficient of the moving mechanism section due to the environmental temperature.
- Cval1 is set as the control value. It is positioned at the position P1 ′ instead of P1.
- the correction unit 13 corrects the control value so that the control value is not Cval1 but Cval1 ′ that is the control value at the position P1 in the control value-displacement characteristic during driving. Specifically, the correction unit 13 corrects the control value by calculation shown in Expression (1) using a value obtained by multiplying the difference between the environmental temperature during driving and the reference temperature by a predetermined temperature coefficient.
- Cval ′ Cval + ⁇ ⁇ ⁇ T (1)
- Cval ′ is a control value after correction
- Cval is a control value before correction
- ⁇ is a predetermined first temperature coefficient
- ⁇ T is a difference between the reference temperature and the environmental temperature.
- the correction unit 13 corrects the positional deviation from the target position of the movable part 5 due to the deviation of the offset component between the control value-displacement characteristic at the environmental temperature and the control value-displacement characteristic at the reference temperature.
- the control value can be corrected.
- the first temperature coefficient ⁇ it is preferable to adopt a value calculated in advance by an experiment based on the relationship between the environmental temperature and the linear expansion coefficient of the moving mechanism unit.
- correction unit 13 may correct the control value by the calculation shown in Expression (2).
- Cval ′ Cval ⁇ ⁇ ⁇ T (2)
- ⁇ is a predetermined second temperature coefficient.
- the correction unit 13 corrects the positional deviation from the target position of the movable part 5 due to the deviation of the inclination component between the control value-displacement characteristic at the environmental temperature and the control value-displacement characteristic at the reference temperature.
- the control value can be corrected.
- the second temperature coefficient ⁇ it is preferable to adopt a value determined in advance by an experiment based on the relationship between the environmental temperature and the linear expansion coefficient of the moving mechanism unit, like the first temperature coefficient ⁇ .
- correction unit 13 may correct the control value by the calculation shown in Expression (3).
- the correction unit 13 causes the displacement of the movable unit 5 from the target position due to the deviation between the offset component and the inclination component of the control value-displacement characteristic at the environmental temperature and the control value-displacement characteristic at the reference temperature.
- the control value can be corrected so as to be corrected.
- the drive unit 20 supplies the drive power corresponding to the control value set by the setting unit 12 to the shape memory alloy 1 and positions the movable unit 5 by expanding and contracting the shape memory alloy 1. Specifically, the drive unit 20 specifies a control value corresponding to the resistance value of the shape memory alloy 1 detected by the resistance detection unit 30, and the specified control value becomes the control value set by the setting unit 12. Thus, the drive power is adjusted. In addition, since the resistance value of the shape memory alloy 1 varies depending on the displacement, the displacement of the shape memory alloy 1 can be specified by detecting the resistance value of the shape memory alloy 1.
- the drive part 20 should just supply drive electric power to the shape memory alloy 1 with a voltage, an electric current, or a PWM signal.
- the drive unit 20 may adjust the voltage output to the shape memory alloy 1 so that the resistance value of the shape memory alloy 1 becomes the resistance value set by the setting unit 12.
- the drive part 20 should just adjust the electric current output to the shape memory alloy 1 so that the resistance value of the shape memory alloy 1 may turn into the resistance value set by the setting part 12, when it depends on an electric current.
- the drive unit 20 adjusts the duty ratio of the PWM signal output to the shape memory alloy 1 so that the resistance value of the shape memory alloy 1 becomes the resistance value set by the setting unit 12. That's fine.
- the resistance detector 30 is configured by, for example, a Wheatstone bridge connected to one end of the shape memory alloy 1, and detects the resistance value of the shape memory alloy 1 by detecting the current value and the voltage value flowing through the shape memory alloy 1. calculate.
- the voltage value of the shape memory alloy 1 may be detected, and this voltage value may be detected as a resistance value.
- the other end of the shape memory alloy 1 is grounded.
- the setting unit 12 sets the control value (Cval) for the target position using the control value-displacement characteristic at the reference temperature.
- the correction unit 13 substitutes the environmental temperature detected by the temperature detection unit 11 and the control value (Cval) set by the setting unit 12 into any one of the equations (1) to (3).
- the value (Cval) is corrected, and the control value (Cval ′) is calculated.
- the setting unit 12 outputs the control value (Cval ′) calculated by the correction unit 13 to the drive unit 20.
- the drive unit 20 adjusts the drive power until the resistance value of the shape memory alloy 1 detected by the resistance detection unit 30 becomes a resistance value corresponding to the control value (Cval ′), and the shape memory alloy 1 Set the position to the target position. Thereby, the movable part 5 is positioned at the target position.
- control value-displacement characteristic employed by the setting unit 12 is a control value-displacement characteristic common to devices obtained at the design stage. That is, a common control value-displacement characteristic is adopted for all products to which the present drive device is applied.
- the control value-displacement characteristic also varies from one solid to another. Therefore, when the setting unit 12 sets the control value using the control value-displacement characteristic common to the equipment, the movable part 5 is moved to the target position from the deviation between the control value-displacement characteristic of itself and the control value-displacement characteristic common to the equipment. Can not be positioned.
- the first temperature coefficient ⁇ is an experiment that can correct the positional deviation from the target position of the movable part 5 due to the deviation between the control value-displacement characteristic common to the devices and the own control value-displacement characteristic. It is preferable to adopt the value obtained automatically.
- FIG. 5 is a graph showing control value-displacement characteristics common to equipment at the reference temperature, and its own control value-displacement characteristics.
- the dotted line shows the control value-displacement characteristics common to equipment, and the solid line represents its own control.
- the value-displacement characteristic is shown. As shown in FIG. 5, it can be seen that the control value-displacement characteristic common to the devices is different from the own control value-displacement characteristic.
- the control value for the predetermined first position P1 and the control value for the predetermined second position P2 are measured, and the two obtained points are straight lines.
- the self-control value-displacement characteristic is calculated by connecting with.
- the self control value-displacement characteristic may be obtained by connecting points to positions other than P1 and P2 with straight lines.
- the setting unit 12 sets the control value to Cval1 in order to position the movable unit 5 at the first position P1, the control value for the first position P1 in its own control value-displacement characteristic.
- the first temperature coefficient ⁇ may be obtained such that Cval1 is corrected to Cval1 ′.
- the displacement-resistance characteristic of the shape memory alloy 1 changes to an L shape as shown in FIG. 6, and the resistance value changes while the displacement remains constant. An area to be generated occurs. This is because even when the resistance value of the shape memory alloy 1 is increased in order to move the movable part 5 further upward while the movable part 5 is in contact with the stopper, the movement of the movable part 5 is restricted by the stopper. Because. In this case, the temperature detector 11 may detect the inflection point P at which the shape memory alloy 1 starts to be displaced, and calculate the environmental temperature from the inflection point P and the inflection point P at the reference temperature.
- the displacement of the movable part from the target position caused by the deviation between the control value-displacement characteristic at the environmental temperature and the control value-displacement characteristic at the reference temperature. Therefore, even if the environmental temperature changes, the movable part 5 can be positioned at the target position.
- the drive device includes a movable portion, a temperature detection portion that detects an environmental temperature, a shape memory alloy, a moving mechanism portion that moves the movable portion using the shape memory alloy, and the movable portion.
- a setting unit for setting a control value using a control value-displacement characteristic at a predetermined reference temperature indicating a relationship between a control value for positioning and a displacement of the movable part; and a driving power corresponding to the control value in the shape Based on the environmental temperature detected by the temperature detection unit, a drive unit that positions the movable part by supplying the memory alloy and expanding and contracting the shape memory alloy, and a control value-displacement characteristic at the environmental temperature, And a correction unit that corrects the control value so that a positional deviation of the movable part from a target position due to a deviation from a control value-displacement characteristic at the reference temperature is corrected.
- the positional deviation from the target position of the movable part caused by the deviation between the control value-displacement characteristic at the environmental temperature and the control value-displacement characteristic at the reference temperature is corrected based on the environmental temperature. Since the control value is corrected, the movable part can be positioned at the target position even if the environmental temperature changes.
- the correction unit may be configured such that the movable unit is caused by a deviation of at least one of a slope component and an offset component between the control value-displacement characteristic at the environmental temperature and the control value-displacement characteristic at the reference temperature. It is preferable to correct the control value so that the positional deviation from the target position is corrected.
- the control value can be corrected so that is corrected.
- the correction unit corrects the control value based on a value obtained by multiplying a difference between the environmental temperature and the reference temperature by a predetermined temperature coefficient.
- the movable part can be positioned with high accuracy.
- the said temperature coefficient is a value calculated beforehand based on the relationship between the environmental temperature detected by the said temperature detection part, and the linear expansion coefficient of the said moving mechanism part.
- the movable section can be positioned with high accuracy.
- the setting unit sets a control value by using a control value-displacement characteristic common to the devices at the reference temperature, and the temperature coefficient includes a control value-displacement characteristic common to the devices, It is preferable that a value for correcting a positional deviation from the target position of the movable part due to a deviation from the control value-displacement characteristic is set.
- the temperature coefficient is set so that the positional deviation from the target position of the movable part due to the deviation between the common control value-displacement characteristic of the device and the own control value-displacement characteristic is corrected. Therefore, the movable part can be accurately positioned.
- the self control value-displacement characteristic is obtained by measuring a control value at a predetermined first position and a control value at a second position different from the first position. It is preferable that
- the self control value-displacement characteristic is obtained by measuring a control value at a predetermined first position and a control value at a second position different from the first position. Therefore, it is possible to obtain its own control value-displacement characteristic by measuring two points.
- the temperature detection unit detects a resistance value when the shape memory alloy actually starts displacement, and when the shape memory alloy starts displacement at the detected resistance value and the reference temperature. It is preferable to detect the environmental temperature based on a deviation from the resistance value.
- the resistance value when the shape memory alloy starts displacement is detected, and based on the deviation between the detected resistance value and the resistance value when the shape memory alloy starts displacement at the reference temperature, Since the environmental temperature is detected, the environmental temperature can be accurately detected using the shape memory alloy.
- the driving unit supplies the driving power by a voltage, current, or PWM signal.
- driving power is supplied to the shape memory alloy using a voltage, current, or PWM signal.
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Abstract
Description
但し、Cval´は補正後の制御値、Cvalは補正前の制御値、αは予め定められた第1の温度係数、ΔTは基準温度と環境温度との差分である。
但し、βは予め定められた第2の温度係数である。
これにより、補正部13は、環境温度における制御値-変位特性と、基準温度における制御値-変位特性とのオフセット成分と傾き成分とのずれに起因する可動部5の目標位置からの位置ずれが修正されるように制御値を補正することができる。
Claims (9)
- 可動部と、
環境温度を検出する温度検出部と、
形状記憶合金を備え、前記形状記憶合金を用いて前記可動部を移動させる移動機構部と、
前記可動部を位置決めするための制御値と前記可動部の変位との関係を示す所定の基準温度における制御値-変位特性を用いて前記制御値を設定する設定部と、
前記制御値に応じた駆動電力を前記形状記憶合金に供給し、前記形状記憶合金を伸縮させることで前記可動部を位置決めする駆動部と、
前記温度検出部により検出された環境温度を基に、前記環境温度における制御値-変位特性と、前記基準温度における制御値-変位特性とのずれに起因する前記可動部の目標位置からの位置ずれが修正されるように前記制御値を補正する補正部とを備えることを特徴とする駆動装置。 - 前記補正部は、前記環境温度における制御値-変位特性と、前記基準温度における制御値-変位特性との傾き成分及びオフセット成分の少なくともいずれか一方のずれに起因する前記可動部の目標位置からの位置ずれが修正されるように前記制御値を補正することを特徴とする請求項1記載の駆動装置。
- 前記補正部は、前記環境温度と前記基準温度との差分に所定の温度係数を乗じた値に基づいて前記制御値を補正することを特徴とする請求項2記載の駆動装置。
- 前記温度係数は、前記温度検出部により検出された環境温度と前記移動機構部の線膨張係数との関係に基づいて予め算出された値であることを特徴とする請求項3記載の駆動装置。
- 前記設定部は、前記基準温度における機器共通の制御値-変位特性を用いて制御値を設定するものであり、
前記温度係数は、前記機器共通の制御値-変位特性と、自己の制御値-変位特性とのずれに起因する前記可動部の目標位置からの位置ずれを修正する値が設定されていることを特徴とする請求項3又は4記載の駆動装置。 - 前記自己の制御値-変位特性は、所定の第1の位置における制御値と前記第1の位置とは異なる第2の位置における制御値とを計測することで得られたものであることを特徴とする請求項5記載の駆動装置。
- 前記温度検出部は、前記形状記憶合金の抵抗値を基に、前記環境温度を検出することを特徴とする請求項1~6のいずれかに記載の駆動装置。
- 前記温度検出部は、前記形状記憶合金が実際に変位を開始するときの抵抗値を検出し、検出した抵抗値と、前記基準温度において前記形状記憶合金が変位を開始するときの抵抗値とのずれを基に、前記環境温度を検出することを特徴とする請求項7記載の駆動装置。
- 前記駆動部は、電圧、電流、又はPWM信号により前記駆動電力を供給することを特徴とする請求項1~8のいずれかに記載の駆動装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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EP09703320.3A EP2246564A4 (en) | 2008-01-23 | 2009-01-22 | CONTROL DEVICE |
JP2009522041A JP4363500B2 (ja) | 2008-01-23 | 2009-01-22 | 駆動装置 |
US12/863,928 US8351141B2 (en) | 2008-01-23 | 2009-01-22 | Drive device |
CN2009801092686A CN102187097B (zh) | 2008-01-23 | 2009-01-22 | 驱动装置 |
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JP2008012959 | 2008-01-23 | ||
JP2008-012959 | 2008-01-23 |
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WO2009093645A1 true WO2009093645A1 (ja) | 2009-07-30 |
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PCT/JP2009/050953 WO2009093645A1 (ja) | 2008-01-23 | 2009-01-22 | 駆動装置 |
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US (1) | US8351141B2 (ja) |
EP (1) | EP2246564A4 (ja) |
JP (1) | JP4363500B2 (ja) |
KR (1) | KR20100111725A (ja) |
CN (1) | CN102187097B (ja) |
WO (1) | WO2009093645A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011040250A1 (ja) * | 2009-09-29 | 2011-04-07 | コニカミノルタホールディングス株式会社 | アクチュエータ、駆動装置、およびカメラモジュール |
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JP2013518204A (ja) * | 2010-01-22 | 2013-05-20 | デカ・プロダクツ・リミテッド・パートナーシップ | 形状記憶合金ワイヤ制御のための方法およびシステム |
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JP5221672B2 (ja) * | 2007-12-03 | 2013-06-26 | ケンブリッジ メカトロニクス リミテッド | 形状記憶合金作動構造の制御 |
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US8351141B2 (en) | 2008-01-23 | 2013-01-08 | Konica Minolta Opto, Inc. | Drive device |
WO2011040250A1 (ja) * | 2009-09-29 | 2011-04-07 | コニカミノルタホールディングス株式会社 | アクチュエータ、駆動装置、およびカメラモジュール |
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WO2012060129A1 (ja) * | 2010-11-05 | 2012-05-10 | 株式会社ナナオ | センサユニット作動機構及び当該センサユニット作動機構を備えた液晶表示装置 |
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US11067767B2 (en) | 2016-10-07 | 2021-07-20 | Rohm Co., Ltd. | Actuator driver |
US11914219B2 (en) | 2016-10-07 | 2024-02-27 | Rohm Co., Ltd. | Actuator driver |
Also Published As
Publication number | Publication date |
---|---|
US8351141B2 (en) | 2013-01-08 |
CN102187097B (zh) | 2013-06-19 |
EP2246564A4 (en) | 2015-02-18 |
US20110032628A1 (en) | 2011-02-10 |
EP2246564A1 (en) | 2010-11-03 |
CN102187097A (zh) | 2011-09-14 |
KR20100111725A (ko) | 2010-10-15 |
JPWO2009093645A1 (ja) | 2011-05-26 |
JP4363500B2 (ja) | 2009-11-11 |
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