WO2010001807A1 - Drive device - Google Patents
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- WO2010001807A1 WO2010001807A1 PCT/JP2009/061621 JP2009061621W WO2010001807A1 WO 2010001807 A1 WO2010001807 A1 WO 2010001807A1 JP 2009061621 W JP2009061621 W JP 2009061621W WO 2010001807 A1 WO2010001807 A1 WO 2010001807A1
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- WIPO (PCT)
- Prior art keywords
- engagement member
- friction engagement
- drive device
- drive
- vibration
- Prior art date
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims description 13
- 230000003068 static effect Effects 0.000 claims description 7
- 239000000853 adhesive Substances 0.000 claims description 4
- 230000001070 adhesive effect Effects 0.000 claims description 4
- 244000208734 Pisonia aculeata Species 0.000 abstract description 13
- 229910052451 lead zirconate titanate Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 229910002113 barium titanate Inorganic materials 0.000 description 1
- JRPBQTZRNDNNOP-UHFFFAOYSA-N barium titanate Chemical compound [Ba+2].[Ba+2].[O-][Ti]([O-])([O-])[O-] JRPBQTZRNDNNOP-UHFFFAOYSA-N 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- HFGPZNIAWCZYJU-UHFFFAOYSA-N lead zirconate titanate Chemical compound [O-2].[O-2].[O-2].[O-2].[O-2].[Ti+4].[Zr+4].[Pb+2] HFGPZNIAWCZYJU-UHFFFAOYSA-N 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/021—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors using intermittent driving, e.g. step motors, piezoleg motors
- H02N2/025—Inertial sliding motors
Definitions
- the present invention relates to a drive device.
- a driving device that vibrates a columnar vibration member with a piezoelectric element or the like and slides and displaces a friction engagement member that frictionally engages the vibration member is known, for example, from Patent Document 1 and the like.
- the drive voltage applied to the piezoelectric element is a voltage having a symmetrical waveform according to the drive direction.
- the friction engagement member can be driven in the opposite direction at an equal speed.
- the drive speed in the pull-back direction which brings the friction engagement member closer to the piezoelectric element
- the drive speed in the extension direction which moves the friction engagement member away from the piezoelectric element. I know it.
- This speed difference is considered to be caused by the deformation of the adhesive that bonds the piezoelectric element and the vibration member being different between the compression direction and the extension direction.
- an object of the present invention is to provide a drive device that does not require a complicated drive circuit because the drive speed does not change between the feed-out direction and the pull-back direction.
- the driving device includes an electromechanical transducer that generates a mechanical displacement when a voltage is applied, and a vibration that is displaced in a longitudinal direction by the mechanical displacement of the electromechanical transducer.
- the difference between the driving torque for moving the friction engagement member in the extending direction away from the electromechanical conversion element and the driving torque for moving in the pulling direction closer to the electromechanical conversion element is compensated by the urging force of the urging member.
- the difference in the driving speed between the feeding direction and the pulling back direction of the friction engagement member can be reduced.
- the biasing member may be a coil spring.
- the coil spring may be disposed so as to surround the outer periphery of the vibration member.
- This configuration requires a small installation space for the coil spring. Further, since the biasing direction of the coil spring can be matched with the moving direction of the friction engagement member, the driving is stabilized.
- an average value of the urging force of the urging member when the friction engagement member is farthest and closest to the electromechanical conversion element is the friction engagement member and the vibration. It may be 0.5% or more and 5% or less of the maximum static frictional force between the members.
- the difference in the driving torque of the friction engagement member depending on the driving direction can be reduced by the urging force, so that the difference in the driving speed between the feeding direction and the pulling back direction can be reduced.
- the friction engagement member may be moved to a position other than the position farthest from the electromechanical transducer.
- the friction engagement member can be driven in the feeding direction away from the electromechanical conversion element at the time of start-up, the sticking cancellation can be assisted by the urging force of the urging member.
- the electromechanical conversion element and the vibration member may be fixed by an adhesive.
- the difference in the driving force due to the driving direction due to the deformation of the adhesive that bonds the electromechanical transducer and the vibration member cancels out the difference in the driving force due to the driving direction due to the biasing member.
- the friction engagement member can be driven at a constant speed regardless of the drive direction.
- the difference between the drive torque when the friction engagement member is moved in the feeding direction and the drive torque when the friction engagement member is moved in the pull-back direction is compensated by the biasing force of the biasing member, and the friction engagement member is fed out. And the driving speed difference between the pull-back direction and the pull-back direction can be reduced.
- FIG. 2 is a plan view of the drive device of FIG. 1 when a friction engagement member is at a position closest to a piezoelectric element. It is a frequency distribution table of the reciprocating speed difference of the friction engagement member of the drive device of FIG. It is a frequency distribution table of the reciprocation speed difference when a coil spring is removed from the drive device of FIG. It is a graph which shows the reciprocation speed difference when changing the spring constant of the coil spring of the drive device of FIG. It is a circuit diagram which shows the drive circuit and control apparatus of the drive device of FIG. It is a flowchart of control of the drive device of FIG.
- FIG. 1 and 2 show a lens driving device 1 according to one embodiment of the present invention.
- the lens driving device 1 has a weight 3 fixed to the housing 2, one end fixed to the weight 3, a piezoelectric element (electromechanical conversion element) 4 that expands and contracts when a voltage is applied, and one end fixed to the piezoelectric element 4.
- the columnar vibration member 5 that is displaced in the longitudinal direction by the expansion and contraction of the piezoelectric element 4, the friction engagement member 6 that frictionally engages the vibration member 5 in a slidable manner, and the outer periphery of the vibration member 5 are fitted.
- a coil spring (biasing member) 8 that is held in a compressed state between the wall 7 of the housing 2 through which the vibration member 5 penetrates and the friction engagement member 6 in order to maintain the posture of the vibration member 5;
- a ball frame 9 that is formed integrally with the frictional engagement member 6 and holds the lens, and a guide shaft 10 that is held in parallel with the vibration member 5 in the housing 2 and engages the ball frame 8 so as to be slidable.
- the friction engagement member 6 includes a groove 11 that receives the vibration member 5, a pressing member 12 that is pressed against the vibration member 5 at an opening portion of the groove 11, and a spring member 13 that presses the pressing member 12 against the vibration member.
- the maximum static frictional force between the vibration member 5 and the friction engagement member 6 is 15 gf.
- the coil spring 8 is a helical spring made of, for example, a stainless steel wire having a wire diameter of 0.04 mm, having 25 turns, a natural length of 6 mm, and a spring constant of 0.04 gf / mm.
- the coil spring 8 is compressed by 1.5 mm from its natural length and exerts an urging force of 0.1 gf when the frictional engagement member 6 is at a position farthest from the piezoelectric element 4 as shown in FIG. 2, when the frictional engagement member 6 is located closest to the piezoelectric element 4, it is compressed 3.0 mm from the natural length and exerts an urging force of 0.2 gf, and an average of 0.15 gf is applied. It comes to show power. That is, the coil spring 8 urges the friction engagement member 8 in the extending direction away from the piezoelectric element 4 over the entire movement range along the vibration member 6.
- the driving device 1 applies a predetermined driving voltage to the piezoelectric element 4 to reciprocally displace the vibrating member 5 in the extending direction and the retracting direction.
- the friction engagement member 6 can be moved at a speed of 28.6 mm / sec by slidably displacing 6 with respect to the vibration member 5 by the inertial force of the friction engagement member 6.
- FIG. 3 100 drive devices 1 are manufactured, the moving speed of the friction engagement member 6 in the feeding direction and the pulling back direction is measured, and the reciprocating speed difference ((pulling back speed) ⁇ (feeding speed)) is calculated. Show the distribution. As shown in the figure, the reciprocating speed difference of the frictional engagement member 6 in the driving device 1 is distributed around substantially zero, and it can be seen that there is no speed difference between the feeding direction and the pulling back direction.
- FIG. 4 shows the result of measuring the reciprocating speed difference of the frictional engagement member 6 with the coil spring 8 of the drive device 1 removed. As shown in the figure, it can be seen that when there is no coil spring 8, the speed in the pull-back direction is higher than the speed in the feed-out direction by about 1.5 mm / sec. That is, in the driving device 1, the coil spring 8 has succeeded in eliminating the reciprocal speed difference of the friction engagement member 6.
- the average value of the urging force of the coil spring 8 is 0.15 gf, which corresponds to 1% of the maximum static frictional force (15 gf) between the vibration member 5 and the friction engagement member 6.
- FIG. 5 shows the result of measuring the reciprocating speed difference of the frictional engagement member 6 of the drive device 1 when the spring constant of the coil spring 6 is changed and the urging force is changed to a different value.
- the reciprocating speed difference when the urging force was 0%, that is, when the coil spring 6 was not present was 1.5 mm / sec.
- the reciprocating speed difference of the friction engagement member 6 is -1.5%, and the coil spring It can be seen that if the urging force is made 7% or less of the maximum static frictional force, the reciprocating speed difference of the frictional engagement member 6 can be made smaller than when the coil spring 6 is not provided. Furthermore, if the biasing force of the coil spring 6 is 0.5% or more and 5% or less of the maximum static frictional force, the reciprocating speed difference of the frictional engagement member 6 can be sufficiently reduced.
- the space efficiency is improved by fitting the coil spring 8 to the columnar vibration member 5, and the operation position and direction of the drive torque and the biasing force of the coil spring 8 due to the vibration of the vibration member 5 are determined.
- the coil spring 8 may be disposed outside the vibration member 5.
- the coil spring 8 is fitted to the guide shaft 10 and the friction engagement member 6 is biased via the ball frame 9. May be.
- the biasing member that biases the friction engagement member 6 in the feeding direction may be any member other than the coil spring 6 that can exert a biasing force, such as a leaf spring.
- FIG. 6 shows a drive circuit 14 and a control circuit 15 of the drive device 1.
- the drive circuit 14 includes transistors 16, 17, 18, and 19.
- the power supply Vp (V) is connected to one of a pair of electrodes of the piezoelectric element 4 connected in parallel, and the other electrode of the piezoelectric element 4 is grounded.
- the piezoelectric element 4 is a full bridge circuit capable of applying a rectangular wave voltage of ⁇ Vp (V) and a wave height of 2 Vp (V).
- the control device 15 controls the drive circuit 14 to move the friction engagement member 6 in accordance with the operation signal while the operation signal is input. Specifically, the control device 15 outputs a control signal that turns on the transistors 16 and 18 and turns off the transistors 17 and 19 or turns off the transistors 16 and 18 and turns on the transistors 17 and 19.
- the drive circuit 14 is programmed to apply a rectangular wave drive voltage of ⁇ Vp (V) to the piezoelectric element 4.
- V V
- control device 15 performs control as shown in FIG.
- the control device 15 starts the illustrated control.
- step S1 the control device 15 causes the drive circuit 14 to output a drive voltage that causes the friction engagement member 6 to slide and displace in the feeding direction as an operation preparation operation of the drive device 1 for 100 msec.
- step S2 whether or not an operation signal has been input is confirmed. If an operation signal has been input, a drive voltage that causes the frictional engagement member 6 to slide and displace in accordance with the input operation signal in step S3.
- the drive circuit 14 is made to output. When the output of the drive voltage according to the operation signal is completed in step S3, or when the operation signal cannot be confirmed in step S2, the presence or absence of the operation signal is confirmed in step S4.
- step S2 If the operation signal is maintained, the process returns to step S2 to confirm the operation signal. However, when the driving signal is stopped, that is, when the driving end of the driving device 1 is detected, the process proceeds to step S5, and the driving voltage for slidingly moving the friction engagement member 6 in the pullback direction is output by 100 msec. The control of the drive circuit 14 is finished.
- the drive device 1 displaces the friction engagement member 6 in the pull-back direction by 2.86 mm in step S5 before the operation is stopped.
- the frictional engagement member 6 stops at a position close to the piezoelectric element 5 by 2.86 mm or more from a position farthest from the piezoelectric element 4.
- the drive device 1 vibrates the vibration member 5 so that the friction engagement member 6 may be displaced in the drawing
- the frictional engagement member 6 is a coil that acts in the same direction as the driving torque generated by the vibration of the vibration member 5. In response to the urging force of the spring 8, the fixed state can be eliminated by these torques.
- the friction engagement member 6 is extended even a little at the end of the operation of the drive device 1. What is necessary is just to engage with positions other than the position furthest from the piezoelectric element 4 so that the room which moves to a direction may be left. Most effectively, the drive device 1 should move the friction engagement member 6 to a position closest to the piezoelectric element 4 at the end of the operation. For example, in the driving device 1, the friction engagement member 6 can be moved to a position closest to the piezoelectric element 4 by outputting a drive voltage in the pull-back direction for a time sufficient to displace the friction engagement member 6 by the stroke or more. .
- the piezoelectric element As a material of the piezoelectric element, a known material such as barium titanate or lead zirconate titanate (PZT) may be appropriately selected and used.
- PZT lead zirconate titanate
- a piezoelectric element is used as the electromechanical conversion element.
- the electromechanical conversion element is not limited to the piezoelectric element, and any element that causes mechanical displacement according to the drive voltage may be used.
- a strain element or the like can also be used.
Abstract
A drive device having a drive speed which does not change in a pay-out direction and a pull-back direction and not requiring a complex drive circuit. The drive device (1) is provided with an electromechanical converting element (4) mechanically displaced upon receiving a voltage, a vibrating member (5) dimensionally displaced in the longitudinal direction by the mechanical displacement of the electromechanical converting element (4), and a frictionally engaging member (6) making slidable friction engagement with the vibrating member (5). The drive device (1) is also provided with an urging member (8) for urging the frictionally engaging member (6) in the direction in which the friction engaging member (6) separates from the electromechanical converting element (4) in the entire range of movement of the frictionally engaging member (6).
Description
本発明は駆動装置に関する。
The present invention relates to a drive device.
圧電素子等で柱状の振動部材を振動させ、振動部材に摩擦係合する摩擦係合部材を滑り変位させる駆動装置が、例えば、特許文献１等により公知である。
A driving device that vibrates a columnar vibration member with a piezoelectric element or the like and slides and displaces a friction engagement member that frictionally engages the vibration member is known, for example, from Patent Document 1 and the like.
通常、圧電素子に印加する駆動電圧は、駆動方向に応じて互いに対称な波形の電圧を用いる。理論上は、対称な波形を用いることで、摩擦係合部材を等しい速度で逆方向に駆動することができる。しかしながら、実際の駆動装置では、摩擦係合部材を圧電素子から遠ざける繰り出し方向の駆動速度に対して、摩擦係合部材を圧電素子に近づける引き戻し方向の駆動速度が５％程度高くなることが経験上分かっている。この速度差は、圧電素子と振動部材とを接着する接着剤の変形が、圧縮方向と伸張方向とで異なることに起因すると考えられている。
Usually, the drive voltage applied to the piezoelectric element is a voltage having a symmetrical waveform according to the drive direction. Theoretically, by using a symmetrical waveform, the friction engagement member can be driven in the opposite direction at an equal speed. However, in actual driving devices, experience has shown that the drive speed in the pull-back direction, which brings the friction engagement member closer to the piezoelectric element, is about 5% higher than the drive speed in the extension direction, which moves the friction engagement member away from the piezoelectric element. I know it. This speed difference is considered to be caused by the deformation of the adhesive that bonds the piezoelectric element and the vibration member being different between the compression direction and the extension direction.
繰り出し方向と引き戻し方向との速度差をなくすために、駆動電圧を、繰り出し方向と引き戻し方向とで単なる対称波形とは異なる波形とするには、駆動回路の構成が複雑になり、駆動装置が高価になるという問題がある。
In order to eliminate the speed difference between the feed-out direction and the pull-back direction, in order to make the drive voltage different from a symmetric waveform in the feed-out direction and the pull-back direction, the configuration of the drive circuit becomes complicated and the drive device is expensive. There is a problem of becoming.
前記問題点に鑑みて、本発明は、繰り出し方向と引き戻し方向とで駆動速度が変化せず、複雑な駆動回路を要しない駆動装置を提供することを課題とする。
In view of the above problems, an object of the present invention is to provide a drive device that does not require a complicated drive circuit because the drive speed does not change between the feed-out direction and the pull-back direction.
前記問題点を解決するために、本発明による駆動装置は、電圧が印加されると機械的変位を生じる電気機械変換素子と、前記電気機械変換素子の機械的変位によって長手方向に位置変位する振動部材と、前記振動部材に滑り変位可能に摩擦係合する摩擦係合部材と、前記摩擦係合部材を前記電気機械変換素子から離れる方向にその移動範囲の全域に亘って付勢する付勢部材とを有するものとする。
In order to solve the above problems, the driving device according to the present invention includes an electromechanical transducer that generates a mechanical displacement when a voltage is applied, and a vibration that is displaced in a longitudinal direction by the mechanical displacement of the electromechanical transducer. A member, a friction engagement member that frictionally engages the vibration member so as to be slidable, and a biasing member that biases the friction engagement member in the direction away from the electromechanical conversion element over the entire moving range. It shall have.
この構成によれば、摩擦係合部材を電気機械変換素子から遠ざける繰り出し方向に移動させる駆動トルクと電気機械変換素子に近づける引き戻し方向に移動させる駆動トルクとの差を付勢部材の付勢力によって補い、摩擦係合部材の繰り出し方向と引き戻し方向との駆動速度の差を小さくできる。
According to this configuration, the difference between the driving torque for moving the friction engagement member in the extending direction away from the electromechanical conversion element and the driving torque for moving in the pulling direction closer to the electromechanical conversion element is compensated by the urging force of the urging member. The difference in the driving speed between the feeding direction and the pulling back direction of the friction engagement member can be reduced.
また、本発明の駆動装置において、前記付勢部材は、コイルばねであってもよい。
In the driving device of the present invention, the biasing member may be a coil spring.
この構成によれば、摩擦係合部材の移動ストロークが長くても安定した付勢ができる。
According to this configuration, stable urging can be performed even if the moving stroke of the friction engagement member is long.
また、本発明の駆動装置において、前記コイルばねは、前記振動部材の外周を囲むように配置してもよい。
Further, in the driving device of the present invention, the coil spring may be disposed so as to surround the outer periphery of the vibration member.
この構成によれば、コイルばねの設置スペースが小さくて済む。また、コイルばねの付勢方向を摩擦係合部材の移動方向に合致させることができるので、駆動が安定する。
This configuration requires a small installation space for the coil spring. Further, since the biasing direction of the coil spring can be matched with the moving direction of the friction engagement member, the driving is stabilized.
また、本発明の駆動装置において、前記摩擦係合部材が前記電気機械変換素子に最も遠いときと最も近いときとの前記付勢部材の付勢力の平均値が、前記摩擦係合部材と前記振動部材との間の最大静止摩擦力の０．５％以上５％以下であってもよい。
In the driving device of the present invention, an average value of the urging force of the urging member when the friction engagement member is farthest and closest to the electromechanical conversion element is the friction engagement member and the vibration. It may be 0.5% or more and 5% or less of the maximum static frictional force between the members.
この構成によれば、付勢力によって駆動方向による摩擦係合部材の駆動トルクの差を小さくできるので、繰り出し方向と引き戻し方向との駆動速度の差を小さくできる。
According to this configuration, the difference in the driving torque of the friction engagement member depending on the driving direction can be reduced by the urging force, so that the difference in the driving speed between the feeding direction and the pulling back direction can be reduced.
また、本発明の駆動装置において、運転終了時には、前記摩擦係合部材を、前記電気機械変換素子から最も遠い位置以外の位置に移動させてもよい。
Further, in the drive device of the present invention, at the end of the operation, the friction engagement member may be moved to a position other than the position farthest from the electromechanical transducer.
この構成によれば、起動時に摩擦係合部材を前記電気機械変換素子から遠ざかる繰り出し方向に駆動することができるので、付勢部材の付勢力により、固着解消を補助できる。
According to this configuration, since the friction engagement member can be driven in the feeding direction away from the electromechanical conversion element at the time of start-up, the sticking cancellation can be assisted by the urging force of the urging member.
また、本発明の駆動装置において、前記電気機械変換素子と前記振動部材とが接着剤によって固定されていてもよい。
Further, in the driving device of the present invention, the electromechanical conversion element and the vibration member may be fixed by an adhesive.
この構成によれば、電気機械変換素子と振動部材とを接着する接着剤の変形に起因する駆動方向による駆動力の差と、付勢部材に起因する駆動方向による駆動力の差とが相殺され、駆動方向に拘わらず一定の速度で摩擦係合部材を駆動できる。
According to this configuration, the difference in the driving force due to the driving direction due to the deformation of the adhesive that bonds the electromechanical transducer and the vibration member cancels out the difference in the driving force due to the driving direction due to the biasing member. The friction engagement member can be driven at a constant speed regardless of the drive direction.
本発明によれば、摩擦係合部材を繰り出し方向に移動させるときの駆動トルクと引き戻し方向に移動させるときの駆動トルクとの差を付勢部材の付勢力によって補い、摩擦係合部材の繰り出し方向と引き戻し方向との駆動速度の差を小さくできる。
According to the present invention, the difference between the drive torque when the friction engagement member is moved in the feeding direction and the drive torque when the friction engagement member is moved in the pull-back direction is compensated by the biasing force of the biasing member, and the friction engagement member is fed out. And the driving speed difference between the pull-back direction and the pull-back direction can be reduced.
これより、本発明の実施形態について、図面を参照しながら説明する。図１および図２に、本発明の一つの実施形態であるレンズ駆動装置１を示す。
Now, embodiments of the present invention will be described with reference to the drawings. 1 and 2 show a lens driving device 1 according to one embodiment of the present invention.
レンズ駆動装置１は、ハウジング２に固定された錘３と、錘３に一端が固定され、電圧が印加されると伸縮する圧電素子（電気機械変換素子）４と、圧電素子４に一端が固定され、圧電素子４の伸縮によって長手方向に変位する柱状の振動部材５と、振動部材５に滑り変位可能に摩擦係合する摩擦係合部材６と、振動部材５の外周を囲むように嵌装され、振動部材５の姿勢保持のために振動部材５が貫通するハウジング２の壁部７と、摩擦係合部材６との間で圧縮状態に保持されるコイルばね（付勢部材）８と、摩擦係合部材６と一体に形成され、レンズを保持する玉枠９と、ハウジング２に振動部材５と平行に保持され、玉枠８が摺動可能に係合するガイド軸１０とを有する。
The lens driving device 1 has a weight 3 fixed to the housing 2, one end fixed to the weight 3, a piezoelectric element (electromechanical conversion element) 4 that expands and contracts when a voltage is applied, and one end fixed to the piezoelectric element 4. The columnar vibration member 5 that is displaced in the longitudinal direction by the expansion and contraction of the piezoelectric element 4, the friction engagement member 6 that frictionally engages the vibration member 5 in a slidable manner, and the outer periphery of the vibration member 5 are fitted. A coil spring (biasing member) 8 that is held in a compressed state between the wall 7 of the housing 2 through which the vibration member 5 penetrates and the friction engagement member 6 in order to maintain the posture of the vibration member 5; A ball frame 9 that is formed integrally with the frictional engagement member 6 and holds the lens, and a guide shaft 10 that is held in parallel with the vibration member 5 in the housing 2 and engages the ball frame 8 so as to be slidable.
摩擦係合部材６は、振動部材５を受入れる溝１１と、溝１１の開放部で振動部材５に押圧される押さえ部材１２と、押さえ部材１２を振動部材に押圧するばね部材１３とを有する。振動部材５と摩擦係合部材６との間の最大静止摩擦力は、１５ｇｆである。
The friction engagement member 6 includes a groove 11 that receives the vibration member 5, a pressing member 12 that is pressed against the vibration member 5 at an opening portion of the groove 11, and a spring member 13 that presses the pressing member 12 against the vibration member. The maximum static frictional force between the vibration member 5 and the friction engagement member 6 is 15 gf.
コイルばね８は、例えば、線径０．０４ｍｍのステンレス鋼線からなり、巻数２５巻、自然長６ｍｍ、ばね定数０．０４ｇｆ／ｍｍのつるまきばねである。駆動装置１において、コイルばね８は、図１に示すように摩擦係合部材６が圧電素子４から最も遠い位置にあるとき、自然長から１．５ｍｍ圧縮されて０．１ｇｆの付勢力を発揮、図２に示すように摩擦係合部材６が圧電素子４に最も近い位置にあるとき、自然長から３．０ｍｍ圧縮されて０．２ｇｆの付勢力を発揮、平均して０．１５ｇｆの付勢力を発揮するようになっている。つまり、コイルばね８は、摩擦係合部材８を、その振動部材６に沿った移動範囲の全域に亘って圧電素子４から離れる繰り出し方向に付勢する。
The coil spring 8 is a helical spring made of, for example, a stainless steel wire having a wire diameter of 0.04 mm, having 25 turns, a natural length of 6 mm, and a spring constant of 0.04 gf / mm. In the driving device 1, the coil spring 8 is compressed by 1.5 mm from its natural length and exerts an urging force of 0.1 gf when the frictional engagement member 6 is at a position farthest from the piezoelectric element 4 as shown in FIG. 2, when the frictional engagement member 6 is located closest to the piezoelectric element 4, it is compressed 3.0 mm from the natural length and exerts an urging force of 0.2 gf, and an average of 0.15 gf is applied. It comes to show power. That is, the coil spring 8 urges the friction engagement member 8 in the extending direction away from the piezoelectric element 4 over the entire movement range along the vibration member 6.
駆動装置１は、圧電素子４に所定の駆動電圧を印加することで、振動部材５を繰り出し方向と引き戻し方向に非対称に往復変位させ、振動部材５が急峻に変位する際に、摩擦係合部材６を摩擦係合部材６の慣性力により、振動部材５に対して滑り変位させることで、２８．６ｍｍ／ｓｅｃの速度で移動させられる。
The driving device 1 applies a predetermined driving voltage to the piezoelectric element 4 to reciprocally displace the vibrating member 5 in the extending direction and the retracting direction. When the vibrating member 5 is abruptly displaced, the friction engagement member 6 can be moved at a speed of 28.6 mm / sec by slidably displacing 6 with respect to the vibration member 5 by the inertial force of the friction engagement member 6.
図３に、駆動装置１を１００個製造し、摩擦係合部材６の繰り出し方向と引き戻し方向との移動速度を計測し、その往復速度差（（引き戻し方向速度）－（繰り出し方向速度））の分布を示す。図示するように、駆動装置１における摩擦係合部材６の往復速度差は、略ゼロを中心に分布しており、繰り出し方向と引き戻し方向とに速度差がないことが分かる。図４に、これに対して、駆動装置１のコイルばね８を取り外した状態で摩擦係合部材６の往復速度差を測定した結果を示す。図示するようにコイルばね８がない場合、引き戻し方向の速度が、繰り出し方向の速度に対して約１．５ｍｍ／ｓｅｃ高くなっていることが分かる。つまり、駆動装置１では、コイルばね８によって、摩擦係合部材６の往復速度差をなくすことに成功している。
In FIG. 3, 100 drive devices 1 are manufactured, the moving speed of the friction engagement member 6 in the feeding direction and the pulling back direction is measured, and the reciprocating speed difference ((pulling back speed) − (feeding speed)) is calculated. Show the distribution. As shown in the figure, the reciprocating speed difference of the frictional engagement member 6 in the driving device 1 is distributed around substantially zero, and it can be seen that there is no speed difference between the feeding direction and the pulling back direction. FIG. 4 shows the result of measuring the reciprocating speed difference of the frictional engagement member 6 with the coil spring 8 of the drive device 1 removed. As shown in the figure, it can be seen that when there is no coil spring 8, the speed in the pull-back direction is higher than the speed in the feed-out direction by about 1.5 mm / sec. That is, in the driving device 1, the coil spring 8 has succeeded in eliminating the reciprocal speed difference of the friction engagement member 6.
駆動装置１では、コイルばね８の付勢力の平均値は、０．１５ｇｆであり、振動部材５と摩擦係合部材６との間の最大静止摩擦力（１５ｇｆ）の１％に相当する。図５には、コイルばね６のばね定数を変更し、付勢力を異なる値にしたときの、駆動装置１の摩擦係合部材６の往復速度差を測定した結果を示す。
In the driving device 1, the average value of the urging force of the coil spring 8 is 0.15 gf, which corresponds to 1% of the maximum static frictional force (15 gf) between the vibration member 5 and the friction engagement member 6. FIG. 5 shows the result of measuring the reciprocating speed difference of the frictional engagement member 6 of the drive device 1 when the spring constant of the coil spring 6 is changed and the urging force is changed to a different value.
図示するように、付勢力が０％、即ちコイルばね６がない場合の往復速度差は１．５ｍｍ／ｓｅｃであった。また、コイルバネ６の付勢力が振動部材５と摩擦係合部材６との間の最大静止摩擦力の８％のときの摩擦係合部材６の往復速度差が－１．５％であり、コイルバネの付勢力を上記最大静止摩擦力の７％以下にすれば、コイルばね６を設けない場合よりも、摩擦係合部材６の往復速度差を小さくできることが分かる。さらに、コイルばね６の付勢力を、上記最大静止摩擦力の０．５％以上、５％以下にすれば、摩擦係合部材６の往復速度差を十分に小さくできる。
As shown in the drawing, the reciprocating speed difference when the urging force was 0%, that is, when the coil spring 6 was not present was 1.5 mm / sec. Further, when the urging force of the coil spring 6 is 8% of the maximum static frictional force between the vibration member 5 and the friction engagement member 6, the reciprocating speed difference of the friction engagement member 6 is -1.5%, and the coil spring It can be seen that if the urging force is made 7% or less of the maximum static frictional force, the reciprocating speed difference of the frictional engagement member 6 can be made smaller than when the coil spring 6 is not provided. Furthermore, if the biasing force of the coil spring 6 is 0.5% or more and 5% or less of the maximum static frictional force, the reciprocating speed difference of the frictional engagement member 6 can be sufficiently reduced.
尚、本実施形態では、コイルばね８を柱状の振動部材５に嵌装することで空間効率を高め、振動部材５の振動による駆動トルクとコイルばね８の付勢力との作用位置と作用方向とを一致させることによって駆動の安定化を図っている。しかしながら、本発明では、コイルばね８を振動部材５の外側に配置してもよく、例えば、コイルばね８をガイド軸１０に嵌装して玉枠９を介して摩擦係合部材６を付勢してもよい。さらに、摩擦係合部材６を繰り出し方向に付勢する付勢部材は、コイルばね６以外にも、板ばね等、付勢力を発揮し得るいかなる形態の部材を使用してもよい。
In the present embodiment, the space efficiency is improved by fitting the coil spring 8 to the columnar vibration member 5, and the operation position and direction of the drive torque and the biasing force of the coil spring 8 due to the vibration of the vibration member 5 are determined. To stabilize the drive. However, in the present invention, the coil spring 8 may be disposed outside the vibration member 5. For example, the coil spring 8 is fitted to the guide shaft 10 and the friction engagement member 6 is biased via the ball frame 9. May be. Further, the biasing member that biases the friction engagement member 6 in the feeding direction may be any member other than the coil spring 6 that can exert a biasing force, such as a leaf spring.
さらに、図６に、駆動装置１の駆動回路１４および制御回路１５を示す。駆動回路１４は、トランジスタ１６，１７，１８，１９を有し、並列に接続された圧電素子４の一対の電極の一方に電源Ｖｐ（Ｖ）を接続し、圧電素子４の他方の電極を接地することで、圧電素子４に±Ｖｐ（Ｖ）、波高２Ｖｐ（Ｖ）の矩形波電圧を印加可能なフルブリッジ回路である。
Further, FIG. 6 shows a drive circuit 14 and a control circuit 15 of the drive device 1. The drive circuit 14 includes transistors 16, 17, 18, and 19. The power supply Vp (V) is connected to one of a pair of electrodes of the piezoelectric element 4 connected in parallel, and the other electrode of the piezoelectric element 4 is grounded. By doing so, the piezoelectric element 4 is a full bridge circuit capable of applying a rectangular wave voltage of ± Vp (V) and a wave height of 2 Vp (V).
制御装置１５は、運転信号が入力されている間、操作信号に従って摩擦係合部材６を移動させるように、駆動回路１４を制御する。具体的には、制御装置１５は、トランジスタ１６，１８をオンし、トランジスタ１７，１９をオフ、或いは、トランジスタ１６，１８をオフし、トランジスタ１７，１９をオンするような制御信号を出力することで、先に説明したように、駆動回路１４に圧電素子４に±Ｖｐ（Ｖ）の矩形波状の駆動電圧を印加させるようプログラムされている。制御装置１５は、摩擦係合部材６を繰り出し方向に滑り変位させる場合、駆動回路１４が出力する駆動電圧のデューティ比が３０％になるように、そして、摩擦係合部材６を引き戻し方向に滑り変位させる場合、駆動電圧のデューティ比が７０％になるように制御信号を変化させる。
The control device 15 controls the drive circuit 14 to move the friction engagement member 6 in accordance with the operation signal while the operation signal is input. Specifically, the control device 15 outputs a control signal that turns on the transistors 16 and 18 and turns off the transistors 17 and 19 or turns off the transistors 16 and 18 and turns on the transistors 17 and 19. Thus, as described above, the drive circuit 14 is programmed to apply a rectangular wave drive voltage of ± Vp (V) to the piezoelectric element 4. When the control device 15 slides and displaces the friction engagement member 6 in the feeding direction, the control device 15 slides the friction engagement member 6 in the pull-back direction so that the duty ratio of the drive voltage output from the drive circuit 14 becomes 30%. In the case of displacement, the control signal is changed so that the duty ratio of the drive voltage becomes 70%.
また、制御装置１５は、図７に示すような制御を行う。制御装置１５は、運転信号が入力されると、図示する制御を開始する。制御装置１５は、先ず、ステップＳ１において、駆動装置１の運転準備動作として、摩擦係合部材６を繰り出し方向に滑り変位させる駆動電圧を１００ｍｓｅｃだけ駆動回路１４に出力させる。そして、ステップＳ２において、操作信号の入力の有無を確認し、操作信号が入力されていれば、ステップＳ３で、入力された操作信号に従って、摩擦係合部材６を滑り変位させるような駆動電圧を駆動回路１４に出力させる。ステップＳ３で操作信号に応じた駆動電圧の出力が完了したとき、または、ステップＳ２で操作信号が確認できなかったときは、ステップＳ４で運転信号の有無を確認する。運転信号が維持されていれば、ステップＳ２に戻って操作信号を確認する。しかしながら、運転信号が停止、つまり、駆動装置１の運転終了が検知された場合は、ステップＳ５に進んで、摩擦係合部材６を引き戻し方向に滑り変位させる駆動電圧を１００ｍｓｅｃだけ出力させてから、駆動回路１４の制御を終了する。
Further, the control device 15 performs control as shown in FIG. When the operation signal is input, the control device 15 starts the illustrated control. First, in step S1, the control device 15 causes the drive circuit 14 to output a drive voltage that causes the friction engagement member 6 to slide and displace in the feeding direction as an operation preparation operation of the drive device 1 for 100 msec. In step S2, whether or not an operation signal has been input is confirmed. If an operation signal has been input, a drive voltage that causes the frictional engagement member 6 to slide and displace in accordance with the input operation signal in step S3. The drive circuit 14 is made to output. When the output of the drive voltage according to the operation signal is completed in step S3, or when the operation signal cannot be confirmed in step S2, the presence or absence of the operation signal is confirmed in step S4. If the operation signal is maintained, the process returns to step S2 to confirm the operation signal. However, when the driving signal is stopped, that is, when the driving end of the driving device 1 is detected, the process proceeds to step S5, and the driving voltage for slidingly moving the friction engagement member 6 in the pullback direction is output by 100 msec. The control of the drive circuit 14 is finished.
この制御により、駆動装置１は、運転の停止前に、ステップＳ５において、摩擦係合部材６を２．８６ｍｍだけ引き戻し方向に変位させる。これにより、駆動装置１の停止時には、摩擦係合部材６が圧電素子４から最も遠い位置から、２．８６ｍｍ以上、圧電素子５に近い位置に静止する。そして、駆動装置１は、次の起動時には、ステップＳ１において、摩擦係合部材６を繰り出し方向に変位させるように振動部材５を振動させる。ここで、駆動装置１の停止時に摩擦係合部材６が振動部材５に対して固着していても、摩擦係合部材６は、振動部材５の振動による駆動トルクと、おなじ方向に作用するコイルばね８の付勢力とを受け、これらのトルクによって固着状態を解消できる。
With this control, the drive device 1 displaces the friction engagement member 6 in the pull-back direction by 2.86 mm in step S5 before the operation is stopped. As a result, when the driving device 1 is stopped, the frictional engagement member 6 stops at a position close to the piezoelectric element 5 by 2.86 mm or more from a position farthest from the piezoelectric element 4. And at the time of the next starting, the drive device 1 vibrates the vibration member 5 so that the friction engagement member 6 may be displaced in the drawing | feeding-out direction in step S1. Here, even if the frictional engagement member 6 is fixed to the vibration member 5 when the driving device 1 is stopped, the frictional engagement member 6 is a coil that acts in the same direction as the driving torque generated by the vibration of the vibration member 5. In response to the urging force of the spring 8, the fixed state can be eliminated by these torques.
このように、起動時に振動部材５の振動による駆動トルクと、コイルばね８の付勢力とをおなじ方向に作用させるためには、駆動装置１の運転終了時に、摩擦係合部材６が少しでも繰り出し方向に移動する余地を残すように、つまり、圧電素子４から最も遠い位置以外の位置に係合するようにすればよい。摩擦係合部材６の固着解消に最も効果的には、駆動装置１は、運転終了時に摩擦係合部材６を圧電素子４に最も近い位置に移動させるようにするとよい。例えば、駆動装置１では、摩擦係合部材６をそのストローク以上変位させられるだけの時間だけ引き戻し方向の駆動電圧を出力すれば、摩擦係合部材６を圧電素子４に最も近い位置に移動させられる。
As described above, in order to cause the drive torque generated by the vibration of the vibration member 5 and the urging force of the coil spring 8 to act in the same direction at the time of startup, the friction engagement member 6 is extended even a little at the end of the operation of the drive device 1. What is necessary is just to engage with positions other than the position furthest from the piezoelectric element 4 so that the room which moves to a direction may be left. Most effectively, the drive device 1 should move the friction engagement member 6 to a position closest to the piezoelectric element 4 at the end of the operation. For example, in the driving device 1, the friction engagement member 6 can be moved to a position closest to the piezoelectric element 4 by outputting a drive voltage in the pull-back direction for a time sufficient to displace the friction engagement member 6 by the stroke or more. .
尚、圧電素子の材料としては、チタン酸バリウムや、ジルコン酸チタン酸鉛（ＰＺＴ）など、公知の材料を適宜選択して用いればよい。また、以上の実施形態の説明では、電気機械変換素子として圧電素子を用いているが、圧電素子に限定されるものではなく、駆動電圧に応じて機械的変位を生じるものであればよく、電歪素子などを用いることもできる。
As a material of the piezoelectric element, a known material such as barium titanate or lead zirconate titanate (PZT) may be appropriately selected and used. In the description of the above embodiment, a piezoelectric element is used as the electromechanical conversion element. However, the electromechanical conversion element is not limited to the piezoelectric element, and any element that causes mechanical displacement according to the drive voltage may be used. A strain element or the like can also be used.
１…駆動装置
２…ハウジング
３…錘
４…圧電素子（電気機械変換素子）
５…振動部材
６…摩擦係合部材
８…コイルばね（付勢部材）
１４…駆動回路
１５…制御装置 DESCRIPTION OFSYMBOLS 1 ... Drive device 2 ... Housing 3 ... Weight 4 ... Piezoelectric element (electromechanical conversion element)
5 ...Vibration member 6 ... Friction engagement member 8 ... Coil spring (biasing member)
14 ... Drivecircuit 15 ... Control device
２…ハウジング
３…錘
４…圧電素子（電気機械変換素子）
５…振動部材
６…摩擦係合部材
８…コイルばね（付勢部材）
１４…駆動回路
１５…制御装置 DESCRIPTION OF
5 ...
14 ... Drive
Claims (6)
- 電圧が印加されると機械的変位を生じる電気機械変換素子と、
前記電気機械変換素子の機械的変位によって長手方向に位置変位する振動部材と、
前記振動部材に滑り変位可能に摩擦係合する摩擦係合部材と、
前記摩擦係合部材を前記電気機械変換素子から離れる方向にその移動範囲の全域に亘って付勢する付勢部材とを有することを特徴とする駆動装置。 An electromechanical transducer that produces mechanical displacement when a voltage is applied;
A vibration member that is displaced in the longitudinal direction by a mechanical displacement of the electromechanical transducer;
A frictional engagement member that frictionally engages the vibration member in a slidable manner;
And a biasing member that biases the friction engagement member in the direction away from the electromechanical conversion element over the entire movement range. - 前記付勢部材は、コイルばねであることを特徴とする請求項１に記載の駆動装置。 The drive device according to claim 1, wherein the biasing member is a coil spring.
- 前記コイルばねは、前記振動部材の外周を囲むように配置されていることを特徴とする請求項２に記載の駆動装置。 The drive device according to claim 2, wherein the coil spring is disposed so as to surround an outer periphery of the vibration member.
- 前記摩擦係合部材が前記電気機械変換素子に最も遠いときと最も近いときとの前記付勢部材の付勢力の平均値が、前記摩擦係合部材と前記振動部材との間の最大静止摩擦力の７％以下であることを特徴とする請求項１から３のいずれかに記載の駆動装置。 The average value of the urging force of the urging member when the friction engagement member is farthest from the electromechanical transducer and the closest is the maximum static friction force between the friction engagement member and the vibration member. The driving device according to claim 1, wherein the driving device is 7% or less.
- 運転終了時には、前記摩擦係合部材を、前記電気機械変換素子から最も遠い位置以外の位置に移動させることを特徴とする請求項１から４のいずれかに記載の駆動装置。 5. The drive device according to claim 1, wherein at the end of the operation, the friction engagement member is moved to a position other than a position farthest from the electromechanical conversion element.
- 前記電気機械変換素子と前記振動部材とが接着剤によって固定されていることを特徴とする請求項１から５のいずれかに記載の駆動装置。 6. The driving apparatus according to claim 1, wherein the electromechanical conversion element and the vibration member are fixed by an adhesive.
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| JP2014079288A (en) * | 2012-10-12 | 2014-05-08 | Tanita Corp | Helical spring, connector, electrode, and electrometer |
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| JP2005237144A (en) * | 2004-02-20 | 2005-09-02 | Konica Minolta Holdings Inc | Piezoelectric actuator |
| JP2005354866A (en) * | 2004-06-14 | 2005-12-22 | Fujinon Corp | Actuator |
| JP2008514978A (en) * | 2005-09-27 | 2008-05-08 | ナノモーション エルティーディー． | The camera module |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014079288A (en) * | 2012-10-12 | 2014-05-08 | Tanita Corp | Helical spring, connector, electrode, and electrometer |
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2010001807A1 (en) | 2011-12-22 |
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