WO2016121060A1 - 硬度可変アクチュエータ - Google Patents
硬度可変アクチュエータ Download PDFInfo
- Publication number
- WO2016121060A1 WO2016121060A1 PCT/JP2015/052556 JP2015052556W WO2016121060A1 WO 2016121060 A1 WO2016121060 A1 WO 2016121060A1 JP 2015052556 W JP2015052556 W JP 2015052556W WO 2016121060 A1 WO2016121060 A1 WO 2016121060A1
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- WIPO (PCT)
- Prior art keywords
- shape memory
- phase
- hardness
- shape
- memory member
- Prior art date
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- 230000007704 transition Effects 0.000 claims abstract description 4
- 230000006698 induction Effects 0.000 claims description 45
- 230000008859 change Effects 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 6
- 239000004020 conductor Substances 0.000 claims description 5
- 238000010438 heat treatment Methods 0.000 claims description 4
- 229910045601 alloy Inorganic materials 0.000 claims description 2
- 239000000956 alloy Substances 0.000 claims description 2
- 229910001000 nickel titanium Inorganic materials 0.000 claims description 2
- 230000001939 inductive effect Effects 0.000 abstract description 4
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 19
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 229910001566 austenite Inorganic materials 0.000 description 3
- 229910000734 martensite Inorganic materials 0.000 description 3
- 238000005485 electric heating Methods 0.000 description 2
- 230000012447 hatching Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 229920000431 shape-memory polymer Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/00078—Insertion part of the endoscope body with stiffening means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0058—Flexible endoscopes using shape-memory elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
- A61M2025/0058—Catheters; Hollow probes characterised by structural features having an electroactive polymer material, e.g. for steering purposes, for control of flexibility, for locking, for opening or closing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0043—Catheters; Hollow probes characterised by structural features
- A61M2025/0063—Catheters; Hollow probes characterised by structural features having means, e.g. stylets, mandrils, rods or wires to reinforce or adjust temporarily the stiffness, column strength or pushability of catheters which are already inserted into the human body
- A61M2025/0064—Catheters; Hollow probes characterised by structural features having means, e.g. stylets, mandrils, rods or wires to reinforce or adjust temporarily the stiffness, column strength or pushability of catheters which are already inserted into the human body which become stiffer or softer when heated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/02—General characteristics of the apparatus characterised by a particular materials
- A61M2205/0266—Shape memory materials
Definitions
- the present invention relates to a hardness variable actuator for changing the hardness of a flexible member.
- Japanese Patent No. 3212673 discloses an endoscope that can change the hardness of the soft part of the insertion part.
- a flexible member for example, a coil pipe
- a flexible adjustment member for example, a coil pipe
- a flexible adjusting wire is fixed via a separator.
- the flexible member and the flexibility adjusting member extend along the soft portion to the operation portion, and extend over substantially the entire soft portion. By pulling the flexibility adjusting member, the flexible member is compressed and hardened, thereby changing the hardness of the soft part.
- Japanese Patent No. 3142828 discloses a hardness varying device for a flexible tube using a shape memory alloy. This hardness varying device is arranged to extend in the axial direction in a coil disposed in a flexible tube, an electrically insulating tube disposed inside the coil, and the electrically insulating tube. A shape memory alloy wire and an electric heating means for energizing the shape memory alloy wire are provided.
- the shape memory alloy wire has the property that its length expands at low temperatures and contracts at high temperatures.
- the shape memory alloy wire extends through fixing portions provided at both ends of the coil, and a caulking member is fixed to both ends thereof.
- the shape memory alloy wire is arranged so that it is loosened at a low temperature and the caulking member is engaged with and stretched at a fixed part at a high temperature.
- Shape wire made of shape memory alloy shrinks and hardens the coil at a high temperature heated by the electric heating means. On the other hand, at low temperatures without energization, the shape memory alloy wire stretches to soften the coil.
- This hardness variable device can be configured in a small size because of its simple configuration, but when the shape memory alloy wire contracts, both ends of the shape memory alloy wire are constrained and a load is applied to the shape memory alloy wire. There is difficulty in its durability.
- An object of the present invention is to provide a variable hardness actuator having a simple structure and durability.
- the hardness variable actuator includes a shape memory member in which the phase can change between the first phase and the second phase, and a phase change between the first phase and the second phase in the shape memory member.
- the induction member which causes is provided.
- the shape memory member is disposed on the flexible member with at least one free end. When in the first phase, the shape memory member assumes a soft state that can be easily deformed according to external forces, thus providing a relatively low hardness for the flexible member.
- the shape memory member when the shape memory member is in the second phase, it takes a hard state showing a tendency to take a memory shape memorized in advance against an external force, and thus the flexible member has a relatively high hardness.
- FIG. 1 shows a variable hardness actuator according to an embodiment.
- FIG. 2 shows a variable hardness actuator according to another embodiment.
- FIG. 3 is a diagram for explaining an operation of the hardness variable actuator, and shows a state in which the hardness state of the shape memory member is changed according to switching of the switch of the drive circuit.
- FIG. 4 is a diagram for explaining the operation of the hardness variable actuator. In the situation where an external force is acting near the free end of the shape memory member in a direction perpendicular to the central axis of the shape memory member, FIG. A state in which the hardness state of the shape memory member is changed according to switching of the switch is shown.
- FIG. 5 is a diagram for explaining the operation of the hardness variable actuator.
- FIG. 6 is a diagram for explaining the operation of the hardness variable actuator, and shows a state in which the presence or absence of an external force is switched in a situation where the switch of the drive circuit is in an OFF state and the shape memory member is in a soft state.
- FIG. 7 is a diagram for explaining the operation of the hardness variable actuator, and shows a state in which the hardness state of the bent shape memory member is changed from the soft state to the hard state in accordance with switching of the switch of the drive circuit. .
- FIG. 8 is a diagram for explaining the operation of the hardness variable actuator, and shows a state in which the presence / absence of an external force is switched in a situation where the switch of the drive circuit is in an on state and the shape memory member is in a hard state. .
- FIG. 1 shows a variable hardness actuator according to an embodiment.
- the variable hardness actuator 10 has a function of providing the flexible member with different hardness by taking different hardness states, and between the first phase and the second phase.
- a shape memory member 20 that can change phase, and an induction member 30 that causes the shape memory member 20 to cause phase change between the first phase and the second phase.
- the shape memory member 20 is disposed on the flexible member with at least one free end.
- the shape memory member 20 When the shape memory member 20 is in the first phase, it takes a soft state that can be easily deformed according to an external force, that is, exhibits a low elastic modulus, and thus provides a relatively low hardness for the flexible member. Further, when the shape memory member 20 is in the second phase, the shape memory member 20 takes a hard state showing a tendency to take a memory shape memorized in advance against an external force, that is, exhibits a high elastic coefficient, and thus is flexible. Providing a relatively high hardness to the structural member.
- the memory shape is not limited to this, but may be a linear shape, for example.
- the external force means a force that can deform the shape memory member 20, and gravity is also considered as a part of the external force.
- the induction member 30 has a performance of generating heat.
- the shape memory member 20 has a property that the phase is changed from the first phase to the second phase with respect to the heating of the induction member 30.
- the shape memory member 20 may be mainly composed of, for example, a shape memory alloy.
- the shape memory alloy is not limited to this, but may be, for example, an alloy containing NiTi.
- the shape memory member 20 is not limited to this, and may be mainly composed of other materials such as a shape memory polymer, a shape memory gel, and a shape memory ceramic.
- a certain member is mainly composed of a certain material, that the entire member is made of the material, and in addition, the member is a member made of the material. In addition, it means having a member made of other materials.
- the shape memory alloy mainly constituting the shape memory member 20 may be one in which the phase changes between the martensite phase and the austenite phase, for example.
- the shape memory alloy undergoes plastic deformation relatively easily with respect to external force during the martensite phase. That is, the shape memory alloy exhibits a low elastic modulus during the martensite phase.
- the shape memory alloy resists external force and does not easily deform during the austenite phase. Even if it is deformed due to a large external force, if the large external force disappears, it shows superelasticity and returns to the memorized shape. That is, the shape memory alloy exhibits a high elastic modulus during the austenite phase.
- the induction member 30 may be composed of a heater, for example. That is, the inducing member 30 may have the property of generating heat in response to the supply of current flowing therethrough. Moreover, the induction member 30 should just have the capability to generate
- the shape memory member 20 may be mainly composed of a conductive material.
- the shape memory member 20 includes a main body 22 made of a conductive material such as a shape memory alloy, and an insulating film 24 provided around the main body 22.
- the insulating film 24 functions to prevent a short circuit between the shape memory member 20 and the induction member 30.
- the insulating film 24 is provided so as to cover at least a portion facing the induction member 30.
- FIG. 1 a form in which the outer peripheral surface of the main body 22 is partially covered is depicted.
- the present invention is not limited thereto, and may be provided so as to cover the entire outer peripheral surface of the main body 22. Further, it may be provided so as to cover the entire main body 22.
- the induction member 30 may be mainly composed of a conductive material.
- the induction member 30 includes a main body 32 of a conductive material and an insulating film 34 provided around the main body 32.
- the insulating film 34 functions to prevent a short circuit between the shape memory member 20 and the induction member 30 and a short circuit between adjacent portions of the main body 32 of the induction member 30.
- the hardness variable actuator 10 includes an insulating member that prevents a short circuit between the shape memory member 20 and the induction member 30.
- the insulating film 24 of the shape memory member 20 and the insulating film 34 of the inducing member 30 hit this insulating member. If the insulating film 34 of the induction member 30 provides a reliable short circuit prevention function, the insulating film 24 of the shape memory member 20 may be omitted.
- the main body 32 of the induction member 30 may be a heating wire, that is, a conductive member having a large electric resistance. Both ends of the main body 32, that is, the heating wire are connected to a drive circuit 40 including a power source 42 and a switch 44.
- the drive circuit 40 supplies the current flowing through the induction member 30 to the induction member 30 in response to the switch 44 being turned on or closed, and the current to the induction member 30 in response to the switch 44 being turned off or opened. Stop supplying.
- the induction member 30 generates heat in response to the supply of current.
- the shape memory member 20 may be a wire shape.
- the induction member 30 is disposed near the shape memory member 20.
- the induction member 30 may be coiled, and the shape memory member 20 may extend through the inside of the coiled induction member 30. Thanks to such an arrangement, the heat generated by the induction member 30 is efficiently transmitted to the shape memory member 20.
- FIG. 2 shows a variable hardness actuator according to another embodiment.
- the hardness variable actuator 10 ⁇ / b> A is similar to the variable hardness actuator 10 in that the shape memory member 20 ⁇ / b> A can change phase between the first phase and the second phase, and the shape memory member 20 ⁇ / b> A has the first
- An induction member 30A is provided that causes phase transition between the first phase and the second phase.
- shape memory member 20A Various characteristics of the shape memory member 20A are the same as those of the shape memory member 20.
- Various characteristics of the induction member 30 ⁇ / b> A are the same as those of the induction member 30.
- the shape memory member 20A has a pipe shape.
- the induction member 30A has a wire shape that can be easily deformed, and extends through the inside of the shape memory member 20A. Thanks to such an arrangement, the heat generated by the induction member 30 is efficiently transmitted to the shape memory member 20. Further, since the elastic modulus of the shape memory member 20A depends on the radial dimension, the pipe-shaped shape memory member 20A exhibits a high elastic modulus under the same volume condition as compared with the solid structure, Therefore, it provides high hardness.
- variable hardness actuator unit The operation of the above-described variable hardness actuator will be described below with reference to FIGS. For convenience, the description will be made assuming that one end of the shape memory member 20 is fixed. Further, it is assumed that the memory shape of the shape memory member 20 is a linear shape. In FIGS. 3 to 8, the shape memory member 20 in the soft state is shown with a left-upward hatching, and the shape memory member 20 in a hard state is shown with a right-upward hatching. 3 to 8 typically depict the variable hardness actuator 10 of FIG. 1, but the operation of the variable hardness actuator 10A of FIG. 2 is the same as this.
- FIG. 3 shows a state in which the hardness state of the shape memory member 20 is changed in accordance with switching of the switch 44 of the drive circuit 40.
- the switch 44 of the drive circuit 40 is in an OFF state, that is, is open, and the shape memory member 20 is in a first phase in a soft state with a low elastic modulus.
- FIG. 4 shows that the external force F1 is applied in the direction perpendicular to the central axis of the shape memory member 20 near the free end of the shape memory member 20, and the shape memory member 20 is switched according to the switching of the switch 44 of the drive circuit 40. It shows how the hardness state is changed.
- the external force F1 is smaller than the restoring force that the shape memory member 20 tries to return to the memory shape.
- the switch 44 of the drive circuit 40 is in the OFF state, and the shape memory member 20 is in the first phase in the soft state.
- the shape memory member 20 is easily deformed according to the external force F1.
- the shape memory member 20 is bent by the external force F1.
- the induction member 30 when the switch 44 of the drive circuit 40 is switched to the on state, the induction member 30 generates heat, and the shape memory member 20 changes to the second phase that is in the hard state.
- the shape memory member 20 tends to take a memory shape. That is, if the shape memory member 20 has a shape different from the memory shape, the shape memory member 20 attempts to return to the memory shape. Since the external force F1 is smaller than the restoring force of the shape memory member 20, the shape memory member 20 returns to the memory shape, that is, the linear shape against the external force F1.
- FIG. 5 shows the hardness of the shape memory member 20 in accordance with the switching of the switch 44 of the drive circuit 40 in a situation where the external force F2 acts on the free end of the shape memory member 20 in a direction parallel to the central axis of the shape memory member 20. It shows how the state is changed.
- This external force F2 is smaller than the restoring force that the shape memory member 20 tries to return to the memory shape.
- the switch 44 of the drive circuit 40 is in the OFF state, and the shape memory member 20 is in the first phase in the soft state.
- the shape memory member 20 is easily deformed according to the external force F2.
- the shape memory member 20 is compressed by the external force F2. In other words, the shape memory member 20 is bent, and its length, that is, the dimension along the central axis is reduced.
- the induction member 30 when the switch 44 of the drive circuit 40 is switched to the ON state, the induction member 30 generates heat, and the shape memory member 20 changes to the second phase that is in the hard state. In this second phase, the shape memory member 20 tends to take a memory shape. Since the external force F2 is smaller than the restoring force of the shape memory member 20, the shape memory member 20 returns to the memory shape, that is, the original linear length against the external force F2.
- FIG. 6 shows how the presence / absence of an external force is switched in the first phase where the switch 44 of the drive circuit 40 is in the OFF state and the shape memory member 20 is in the soft state. In the first phase, the shape memory member 20 is easily deformed according to an external force.
- an external force F ⁇ b> 1 is acting in the direction perpendicular to the central axis of the shape memory member 20 near the free end of the shape memory member 20.
- the shape memory member 20 is bent by the external force F1.
- FIG. 7 shows a state where the hardness state of the bent shape memory member 20 is changed from the soft state to the hard state in accordance with switching of the switch 44 of the drive circuit 40.
- FIG. 7 shows the same state as the right side of FIG. 6, that is, the shape memory member 20 is bent by the external force F1, and then the external force F1 is removed and remains bent.
- the induction member 30 when the switch 44 of the drive circuit 40 is switched to the on state, the induction member 30 generates heat, and the shape memory member 20 changes to the second phase that is in the hard state.
- the shape memory member 20 shows a tendency to take a memory shape, so that the shape memory member 20 returns to a memory shape, that is, a linear shape.
- FIG. 8 shows a state in which the presence or absence of an external force is switched in a situation where the switch 44 of the drive circuit 40 is in the ON state and the shape memory member 20 is in the second phase in the hard state. In this second phase, the shape memory member 20 tends to take a memory shape.
- FIG 8 shows a state in which an external force F3 is acting in the direction perpendicular to the central axis of the shape memory member 20 near the free end of the shape memory member 20 on the left side of FIG.
- the external force F3 is larger than the restoring force that the shape memory member 20 tries to return to the memory shape. For this reason, although the shape memory member 20 tries to return to the memory shape against the external force F3, the external force F3 exceeds the restoring force of the shape memory member 20, so the shape memory member 20 is bent by the external force F3. .
- the external force F3 that has been acting on the shape memory member 20 until then is removed. Since the external force F3 larger than the restoring force of the shape memory member 20 is removed, the shape memory member 20 returns to the memory shape, that is, the linear shape.
- variable hardness actuators 10 and 10A are attached to the flexible member without any restriction on both ends of the shape memory members 20 and 20A.
- the variable hardness actuators 10 and 10A are arranged with a small gap in a limited space of the flexible member such that one end or both ends of the shape memory members 20 and 20A are free ends.
- the limited space means a space that can just accommodate the hardness variable actuators 10 and 10A. Therefore, even if the deformation of one of the variable hardness actuators 10 and 10A and the flexible member is slight, it can contact the other and apply an external force.
- the flexible member is a tube having an inner diameter slightly larger than the outer diameter of the variable hardness actuators 10 and 10A, and the variable hardness actuators 10 and 10A may be disposed inside the tubes.
- the present invention is not limited to this, and the flexible member only needs to have a space slightly larger than the hardness variable actuators 10 and 10A.
- the hardness variable actuators 10 and 10A provide the flexible member with a relatively low hardness, and external force acting on the flexible member, that is, the shape memory member 20 and It easily deforms according to the force that can deform 20A.
- the hardness variable actuators 10 and 10A provide the flexible member with a relatively high hardness, and the external force acting on the flexible member, that is, the shape memory member. The tendency which returns to memory shape against the force which can deform
- the phase of the shape memory members 20 and 20A is switched between the first phase and the second phase by the drive circuit 40, the hardness of the flexible member is switched.
- variable hardness actuators 10 and 10A In addition to switching the hardness, under a situation where an external force is acting on the flexible member, the variable hardness actuators 10 and 10A also function as a bidirectional actuator that switches the shape of the flexible member. Moreover, under the situation where the external force is not acting on the flexible member and the flexible member is deformed in the first phase before the phase of the shape memory members 20, 20A is switched to the second phase. Also functions as a unidirectional actuator that restores the shape of the flexible member.
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Abstract
Description
図1は、一実施形態による硬度可変アクチュエータを示している。図1に示されるように、硬度可変アクチュエータ10は、異なる硬度状態を取る得ることにより可撓性部材に異なる硬度を提供する機能を有しており、第一の相と第二の相の間で相が移り変わり得る形状記憶部材20と、形状記憶部材20に第一の相と第二の相の間の相の移り変わりを引き起こさせる誘起部材30を備えている。さらに、形状記憶部材20は、少なくとも一つの自由端をもって可撓性部材に配される。
図2は、別の実施形態による硬度可変アクチュエータを示している。図2に示されるように、硬度可変アクチュエータ10Aは、硬度可変アクチュエータ10と同様、第一の相と第二の相の間で相が移り変わり得る形状記憶部材20Aと、形状記憶部材20Aに第一の相と第二の相の間の相の移り変わりを引き起こさせる誘起部材30Aを備えている。
以下、図3~図8を参照して、前述の硬度可変アクチュエータの動作について説明する。便宜上、形状記憶部材20の一端が固定されているものとして説明する。また、形状記憶部材20の記憶形状は直線形状であるとする。図3~図8において、軟質状態である形状記憶部材20が左上がりのハッチングで示され、硬質状態である形状記憶部材20が右上がりのハッチングで示されている。図3~図8には、代表的に図1の硬度可変アクチュエータ10が描かれているが、図2の硬度可変アクチュエータ10Aの動作もこれと同様である。
上述された硬度可変アクチュエータ10,10Aは、形状記憶部材20,20Aの両端が何ら拘束されることなく、可撓性部材に装着される。たとえば、硬度可変アクチュエータ10,10Aは、形状記憶部材20,20Aの一端または両端が自由端であるように、可撓性部材の限られた空間内に少ないすき間をもって配置される。
Claims (10)
- 可撓性部材に異なる硬度を提供し得る硬度可変アクチュエータであり、
第一の相と第二の相の間で相が移り変わり得る形状記憶部材を備えており、前記形状記憶部材は、前記第一の相にあるときは、外力に従って容易に変形し得る軟質状態を取り、したがって、前記可撓性部材に比較的低い硬度を提供し、前記第二の相にあるときは、外力に抗してあらかじめ記憶している記憶形状を取る傾向を示す硬質状態を取り、したがって、前記可撓性部材に比較的高い硬度を提供し、さらに、
前記形状記憶部材に前記第一の相と前記第二の相の間の相の移り変わりを引き起こさせる誘起部材を備えており、前記形状記憶部材は、少なくとも一つの自由端をもって前記可撓性部材に配される、硬度可変アクチュエータ。 - 前記誘起部材は、熱を発する性能を有しており、前記形状記憶部材は、前記誘起部材の加熱に対して、前記第一の相から前記第二の相に相が移り変わる性質を有している、請求項1に記載の硬度可変アクチュエータ。
- 前記形状記憶部材と前記誘起部材はいずれも、導電性材料から主に構成されており、前記硬度可変アクチュエータは、前記形状記憶部材と前記誘起部材の間の短絡を防止する絶縁部材をさらに備えている、請求項1または2に記載の硬度可変アクチュエータ。
- 前記形状記憶部材は、ワイヤ状であり、前記誘起部材は、前記形状記憶部材の近くに配されている、請求項1ないし3のいずれかひとつに記載の硬度可変アクチュエータ。
- 前記誘起部材は、コイル状であり、前記形状記憶部材は、前記誘起部材の内側を通って延びている、請求項4に記載の硬度可変アクチュエータ。
- 前記形状記憶部材は、パイプ状である、請求項1ないし3のいずれかひとつに記載の硬度可変アクチュエータ。
- 前記誘起部材は、前記形状記憶部材の内側を通って延びている、請求項6に記載の硬度可変アクチュエータ。
- 前記形状記憶部材は、NiTiを含む合金から主に構成されている、請求項1ないし7のいずれかひとつに記載の硬度可変アクチュエータ。
- 前記誘起部材は、それを通って流れる電流の供給に対して熱を発する性質を有している、請求項1ないし8のいずれかひとつに記載の硬度可変アクチュエータ。
- 前記記憶形状は直線状である、請求項1ないし9のいずれかひとつに記載の硬度可変アクチュエータ。
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JP2016571604A JP6421202B2 (ja) | 2015-01-29 | 2015-01-29 | 硬度可変アクチュエータ |
DE112015006095.2T DE112015006095T5 (de) | 2015-01-29 | 2015-01-29 | Variable-steifheit-aktuator |
PCT/JP2015/052556 WO2016121060A1 (ja) | 2015-01-29 | 2015-01-29 | 硬度可変アクチュエータ |
CN201580074763.3A CN107205617B (zh) | 2015-01-29 | 2015-01-29 | 硬度可变致动器 |
US15/658,684 US20170321666A1 (en) | 2015-01-29 | 2017-07-25 | Variable-stiffness actuator |
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WO2018083762A1 (ja) * | 2016-11-02 | 2018-05-11 | オリンパス株式会社 | 剛性可変アクチュエータ |
WO2018189888A1 (ja) * | 2017-04-14 | 2018-10-18 | オリンパス株式会社 | 剛性可変装置 |
WO2018193541A1 (ja) * | 2017-04-19 | 2018-10-25 | オリンパス株式会社 | 剛性可変アクチュエータ |
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JP7167127B2 (ja) * | 2018-03-06 | 2022-11-08 | オリンパス株式会社 | 可撓管挿入装置、剛性制御装置、挿入部の挿入方法、及び剛性制御プログラムを記録した記録媒体 |
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US20170321666A1 (en) | 2017-11-09 |
JPWO2016121060A1 (ja) | 2017-10-05 |
JP6421202B2 (ja) | 2018-11-07 |
CN107205617A (zh) | 2017-09-26 |
CN107205617B (zh) | 2020-03-20 |
DE112015006095T5 (de) | 2017-10-19 |
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