WO2016185824A1 - 超音波アクチュエータ - Google Patents
超音波アクチュエータ Download PDFInfo
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- WO2016185824A1 WO2016185824A1 PCT/JP2016/061422 JP2016061422W WO2016185824A1 WO 2016185824 A1 WO2016185824 A1 WO 2016185824A1 JP 2016061422 W JP2016061422 W JP 2016061422W WO 2016185824 A1 WO2016185824 A1 WO 2016185824A1
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- Prior art keywords
- ultrasonic
- unit
- vibration
- conveyance roller
- ultrasonic transducer
- Prior art date
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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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/103—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors by pressing one or more vibrators against the rotor
-
- 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
- A61B1/00147—Holding or positioning arrangements
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
- B06B1/0607—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using multiple elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
- B06B1/0688—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction with foil-type piezoelectric elements, e.g. PVDF
- B06B1/0696—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction with foil-type piezoelectric elements, e.g. PVDF with a plurality of electrodes on both sides
-
- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/001—Driving devices, e.g. vibrators
- H02N2/002—Driving devices, e.g. vibrators using only longitudinal or radial modes
- H02N2/0025—Driving devices, e.g. vibrators using only longitudinal or radial modes using combined longitudinal modes
-
- 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
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/005—Mechanical details, e.g. housings
- H02N2/0055—Supports for driving or driven bodies; Means for pressing driving body against driven body
-
- 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
- H02N2/0095—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing combined linear and rotary motion, e.g. multi-direction positioners
-
- 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
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
- H02N2/123—Mechanical transmission means, e.g. for gearing
- H02N2/126—Mechanical transmission means, e.g. for gearing for conversion into linear motion
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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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
Definitions
- the present invention relates to an actuator that rotates an object to be rotated, and particularly to an actuator that rotates an object to be rotated using ultrasonic vibration.
- an ultrasonic motor using a piezoelectric element such as a piezo element has a high power-to-weight ratio and has been put to practical use for driving a camera lens.
- various proposals have been made regarding the configuration in which the ultrasonic vibrator is built in the rotor, in order to be suitable for downsizing the apparatus.
- JP 2009-153283 A released on July 9, 2009
- the ultrasonic motor of Patent Document 1 has a problem that a reaction force from the rotor affects the vibration mode of the vibrator because a preload adjusting mechanism such as a compression spring is provided in the main body of the vibrating body.
- a preload adjusting mechanism such as a compression spring is provided in the main body of the vibrating body.
- the resonance mode of the vibrating body changes. In other words, there is a concern that the vibration characteristics are deteriorated by tuning for optimizing the vibration of the vibrator.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide an ultrasonic actuator that can perform tuning with little influence on the vibration characteristics of a vibrator.
- an ultrasonic actuator includes an ultrasonic vibrator, a rotor that is rotated by the vibration of the ultrasonic vibrator, and the ultrasonic vibrator that is a node of the vibration. And a preload mechanism for generating pressure for pressing the ultrasonic transducer against the rotor.
- an ultrasonic actuator that can perform tuning with little influence on the vibration characteristics of an ultrasonic transducer.
- (A), (b) is a schematic diagram which shows the rotor conveyance principle of the ultrasonic transducer
- (A), (b) is a figure which shows the synthetic vector of the frictional force by a conveyance roller. It is a schematic diagram which shows schematic structure of the insertion part conveyance unit used for the medical device which concerns on 3rd embodiment of this invention.
- (A), (b) is a figure which shows the synthetic
- FIG. 1 is a schematic diagram illustrating an example of a usage pattern of a medical device 1 according to an embodiment of the present invention.
- the medical device 1 is a device that adjusts the position of the rigid endoscope 200.
- the insertion portion (sheath tube) 201 of the rigid endoscope 200 is inserted into the body cavity of the abdomen 511 of the patient 510 sleeping on the operating table 400, and the insertion portion 201 is inserted. It is assumed that the practitioner 500 performs a procedure based on an image obtained from an image sensor located at the tip of the patient.
- the medical device 1 includes an insertion portion transport unit 100, a flexible arm (actuator fixing portion) 101, a stand (actuator fixing portion) 102, a surgical port 103, a controller unit (control device) 130, and a rigid endoscope. 200. Details of the insertion section transport unit 100 and the controller unit 130 will be described later.
- the flexible arm 101 supports and fixes the insertion section conveyance unit 100 at one end thereof, and can be formed into a desired shape by bending it by hand. That is, the flexible arm 101 arranges and fixes the insertion portion transport unit 100 at a position desired by the practitioner 500.
- the stand 102 fixes the flexible arm 101 to the side of the patient 510 sleeping on the operating table 400 by fixing the other end of the flexible arm 101.
- the stand 102 is installed (fixed) on the operating table 400.
- the surgical port 103 is a medical instrument having a through-hole for inserting the medical instrument into the body cavity of the patient 510, and is disposed on the surface of the abdomen 511 of the patient 510. Note that the use of the surgical port 103 is not essential depending on the surgical method, and is not an essential component of the present embodiment.
- a rigid endoscope 200 having a cylindrical (bar-shaped) insertion portion 201 is used as an example of a medical instrument, but the present invention is not limited to this.
- a medical instrument having a rod-like (columnar) insertion portion for inserting the medical instrument into the body of the patient 510 can be used.
- a columnar insertion portion provided with a surgical instrument such as forceps at the tip thereof, or a columnar catheter that also serves as the insertion portion can be used as a medical instrument. In the present invention, these are collectively referred to as an actuator.
- FIG. 2 is a perspective view showing a schematic configuration of the insertion section transport unit 100.
- the insertion section transport unit 100 includes an actuator holding section (actuator fixing section) 109 and a differential drive mechanism (actuator, friction drive actuator) 110.
- the differential drive mechanism 110 includes a plurality of transport rollers (front transport rollers) capable of transporting the rod-shaped insertion portion (operator) 201 in the major axis direction and rotating the insertion portion 201 around the major axis. 1112 and a rear conveyance roller 1113).
- the actuator holding portion 109 is a hollow casing that holds the differential drive mechanism 110, and one end of the flexible arm 101 (see FIG. 1) is fixed to the side surface thereof.
- the actuator holding portion 109, the flexible arm 101, and the stand 102 constitute an actuator fixing portion for fixing the differential drive mechanism 110 in the vicinity of the surgical site.
- FIG. 3 is a perspective view showing a schematic configuration of the differential drive mechanism 110.
- the differential drive mechanism 110 includes an upper housing unit 111, a lower housing unit 112, a connecting portion 117, and a preload spring (restoring portion) 116.
- the upper housing unit 111 includes a front arm 1110 and a rear arm 1111.
- the front arm 1110 includes a front conveyance roller 1112, a front in-wheel motor (ultrasonic actuator, ultrasonic motor) 1114 that drives the front conveyance roller 1112, and a rubber roller 1116.
- the rear arm 1111 includes a rear conveyance roller 1113, a rear in-wheel motor (ultrasonic actuator, ultrasonic motor) 1115 that drives the rear conveyance roller 1113, and a rubber roller 1117.
- the rubber rollers 1116 and 1117 are elastic friction materials disposed on the surfaces of the front conveyance roller 1112 and the rear conveyance roller 1113. For this reason, the frictional force between the insertion portion 201 and the transport roller is increased, and the transport roller can be prevented from idling.
- the rubber rollers 1116 and 1117 are arranged to be removable from the front conveyance roller 1112 and the rear conveyance roller 1113. For this reason, when the rubber rollers 1116 and 1117 are damaged or dirty, they can be easily replaced.
- the rubber rollers 1116 and 1117 may have a cut substantially parallel to the long axis of the insertion portion 201.
- the rubber rollers 1116 and 1117 may be pulled out with the front in-wheel motor 1114 and the rear in-wheel motor 1115 removed from the front conveyance roller 1112 and the rear conveyance roller 1113.
- the lower housing unit 112 includes four ball bearings (holding part, sliding body) 115.
- the ball bearing 115 holds the insertion unit 201 between the front conveyance roller 1112 and the rear conveyance roller 1113.
- the connecting portion 117 is a member having a function as a hinge that connects the upper housing unit 111 and the lower housing unit 112 so as to be openable and closable.
- the distance between the upper housing unit 111 and the lower housing unit 112 that are connected by the connecting portion 117 changes according to the thickness of the insertion portion 201. That is, the connecting portion 117 changes the distance between the front conveyance roller 1112 and the rear conveyance roller 1113 and the ball bearing 115 according to the thickness of the insertion portion 201.
- the preload spring 116 exerts a restoring force in the direction in which the upper casing unit 111 and the lower casing unit 112 are closed.
- the upper casing unit 111 and the lower casing unit 112 are closed to each other, they constitute an annular casing.
- the restoring force of the preload spring 116 causes the rubber roller 1116 in the front conveyance roller 1112, the rubber roller 1117 in the rear conveyance roller 1113, and four
- the ball bearing 115 is pressed against the side surface of the insertion portion 201.
- the following description will be referred to as a conveyance roller including a rubber roller portion unless otherwise specified.
- the transport roller is arranged on each arm so as to be rotatable via a bearing (not shown).
- the upper housing unit 111 and the lower housing unit 112 are coupled so as to be openable and closable.
- the differential drive mechanism 110 conveys the insertion part 201 of the rigid endoscope 200 in the translational and rotational directions in a state where the position relative to the surgical site in the body cavity is fixed by the actuator holding part 109.
- the translation direction is a direction parallel to the major axis direction of the insertion portion 201, and the rotation direction is a rotation direction around the major axis of the insertion portion 201.
- the rigid endoscope 200 includes a grip portion and an insertion portion 201, and the insertion portion 201 has a cylindrical shape.
- the insertion unit 201 of the rigid endoscope 200 is restrained in the direction perpendicular to the axial direction of the insertion unit 201 by the front conveyance roller 1112, the rear conveyance roller 1113, and the two ball bearings 115 (FIG. 2).
- the ball bearings 115 are in point contact with the side surfaces of the insertion portion 201, respectively. Accordingly, it is sufficient to use two ball bearings 115 in addition to the front conveyance roller 1112 and the rear conveyance roller 1113, but here, considering the positional adjustment of the operation of the insertion unit 201, four ball bearings are used. . Alternatively, more ball bearings may be used.
- (Driving principle of the insertion part 201) 4 and 5 are diagrams showing one mode of operation of the insertion section transport unit 100, respectively.
- the translation and rotation operations of the insertion portion 201 are realized by differential driving, as in the invention of Patent Document 1. That is, as shown in FIG. 4, when both transport rollers rotate in the same direction, the resultant force of the frictional force applied to the insertion portion 201 transports the insertion portion 201 in the translation direction. Also, as shown in FIG. 5, when both transport rollers rotate in the opposite direction, the resultant force of the frictional force applied to the insertion portion 201 transports the insertion portion 201 in the rotational direction.
- the crossing angle ⁇ can be changed because the front arm 1110 and the rear arm 1111 are movable as shown in FIG. 3, but is not essential.
- the angle is fixed at a predetermined angle by adjustment before treatment. Note that the value of the angle itself is a design matter that depends on many factors such as the outer diameter, mass, friction coefficient, and transport speed desired by the practitioner, and the applicability of the present invention. It does not influence.
- FIG. 6 is a diagram illustrating a configuration of the front in-wheel motor 1114.
- the configuration of the rear in-wheel motor 1115 is the same as that of the front in-wheel motor 1114, and therefore will not be described with reference to the drawings.
- the front in-wheel motor 1114 includes an ultrasonic transducer 12, a pantograph type preload mechanism 150/151, a housing 16, and a motor cover 1118.
- the rear in-wheel motor 1115 includes a motor cover 1119 instead of the motor cover 1118.
- the front in-wheel motor 1114 and the rear in-wheel motor 1115 have two pairs of pantograph type preload mechanisms 150. 151 is configured to be pressed against the housing 16.
- pantograph type preload mechanisms 150 and 151 hold the ultrasonic transducer 12 at the node of the vibration and generate pressure for pressing the ultrasonic transducer 12 against the housing 16.
- These pantograph type preload mechanisms 150 and 151 are fixed to a motor cover 1118 (or motor cover 1119), and the motor cover 1118 (or motor cover 1119) is fixed to a front arm 1110 (or rear arm 1111). .
- the housing 16 Since the housing 16 is held rotatably with respect to the front arm 1110 (or the rear arm 1111), the friction force exerted on the housing 16 by the ultrasonic transducer 12 causes the front arm 1110 and the rear arm 1111 to move. The housing 16 rotates.
- FIG. 7 is a schematic diagram showing a schematic configuration of the ultrasonic transducer 12.
- FIG. 8 and FIG. 9 are schematic diagrams showing vibration modes of the ultrasonic transducer 12.
- FIG. 10 is a schematic diagram showing the principle by which the ultrasonic transducer 12 rotates the housing (also called the rotor) 16.
- the ultrasonic transducer 12 includes a diaphragm 1211, an upper PZT (Lead Zirconate Titanate) element 1212, a lower PZT element 1213, an upper electrode 1216, and a lower electrode. 1217.
- PZT Lead Zirconate Titanate
- the ultrasonic transducer 12 is formed by arranging a rectangular upper PZT element 1212 and a rectangular lower PZT element 1213 on both sides of a substantially rectangular diaphragm 1211.
- the upper PZT element 1212 has an upper electrode 1216 divided into four on the opposite surface of the diaphragm 1211
- the lower PZT element 1213 has the lower electrode 1217 divided into four on the opposite surface of the diaphragm 1211.
- the upper PZT element 1212 and the lower PZT element 1213 are each polarized in parallel to the direction toward the diaphragm 1211, and the electric field in this direction is deformed by the piezoelectric effect.
- a contact portion (tip portion) 1215 that comes into contact with the housing 16 is provided on one of the short sides of the substantially rectangular diaphragm 1211.
- the ultrasonic vibrator 12 has a holding portion 1214 which is a protrusion formed at a node of standing wave vibration excited by the ultrasonic vibrator 12.
- the holding portion 1214 is provided at the center of two long sides of the diaphragm 1211.
- the holding portion 1214 is provided with a hole 1214a.
- the size of the rectangular portion of the diaphragm 1211 of the ultrasonic transducer 12 is 9 mm in length and 2 mm in width, and the size of the upper and lower PZT elements is 8 mm in length and 2 mm in width. Each thickness is 0.2 mm.
- the diaphragm 1211 is made of stainless steel, and the PZT element is a material generally called hard lead zirconate titanate (Pb (Ti ⁇ Zr) O 3 ).
- Pb (Ti ⁇ Zr) O 3 hard lead zirconate titanate
- the ultrasonic transducer 12 has two types of vibration modes: a longitudinal primary vibration mode (hereinafter referred to as stretching vibration) and a deflection (bending) tertiary vibration mode (hereinafter referred to as bending vibration).
- stretching vibration a longitudinal primary vibration mode
- bending vibration a deflection (bending) tertiary vibration mode
- the resonance frequency in the stretching vibration and bending vibration is 240 kHz.
- these numerical values are in the above-mentioned shape, and change depending on design matters, but do not affect the applicability of the present invention.
- the vibration excited in the above two vibration modes is standing wave vibration in which the position of the node does not change.
- the holding unit 1214 is located at a position corresponding to the node of the standing wave vibration excited by the ultrasonic transducer 12.
- the bending vibration applies the same voltage to the electrodes on the diagonal line of the above-mentioned four-divided electrodes, and the voltage obtained by reversing the polarity of the adjacent electrodes.
- the electrodes on the diagonal are short-circuited with each other, and the adjacent electrodes are insulated.
- voltages applied to the insulated electrodes are denoted as ⁇ A and ⁇ B.
- ⁇ A and ⁇ B are sine waves
- the present invention is not limited to this, and a square wave or a sawtooth wave may be used.
- the phase shift is set to ⁇ 90 ° for the convenience of waveform generation, the phase shift is not limited to this because the conveyance is possible essentially when the elliptical motion occurs.
- the motor covers 1118 and 1119 are a base that supports the pantograph type preload mechanisms 150 and 151 and have a role of protecting the ultrasonic transducer 12 from contaminants such as blood.
- the motor covers 1118 and 1119 are provided with adjustment holes (not shown) for inserting adjustment screws 1514 for adjusting the expansion and contraction of the pantograph type preload mechanisms 150 and 151.
- the housing 16 itself is a rotor and has a role of protecting the ultrasonic transducer 12 from contaminants such as blood.
- the housing 16 receives frictional force from the ultrasonic vibrator 12, and is preferably made of a material with little wear. In the study by the present inventors, it is effective to employ, for example, induction-hardened steel or dry carbon.
- the housing 16 is provided with a guide groove 1605 (see FIG. 11) for limiting the position where the contact portion 1215 of the ultrasonic transducer 12 contacts. For this reason, the ultrasonic transducer
- FIGS. 11A and 11B are schematic views showing an outline of the pantograph type preload mechanism 150.
- the pantograph-type preload mechanism 150 includes substantially U-shaped fittings 1501 and 1502, an adjustment screw (adjustment member) 1514, and a guide roller (slip receiving portion) 1516.
- the metal fittings 1501 and 1502 have arms 1501a and 1501b and arms 1502a and 1502b, respectively.
- the arm 1501a and the arm 1502a are paired, and the arm 1501b and the arm 1502b are also paired.
- the pantograph-type preload mechanisms 150 and 151 include two pairs of arms. One end of each of the arm 1501a and the arm 1502a forming a pair is connected to the ultrasonic transducer 12 at an angle, and the pantograph-type preload mechanism 150 has an angle formed by the arm 1501a and the arm 1502a at the end.
- ⁇ the pressure for pressing the ultrasonic transducer 12 against the housing 16 is adjusted.
- the ends of the arm 1501b and the arm 1502b are connected to a guide roller 1516 by a guide pin 1517 (see FIG. 6).
- pantograph type preload mechanism 151 The configuration of the pantograph type preload mechanism 151 is the same as that of the pantograph type preload mechanism 150. Note that the pantograph type preload mechanisms 150 and 151 may be single arm type pantographs having a pair of arms.
- a mechanism for expanding and contracting the pantographs of the pantograph type preload mechanisms 150 and 151 by tightening the facing metal fittings 1501 and 1502 with the adjusting screw 1514 is employed.
- the adjustment screw 1514 is inserted into an adjustment hole formed in the motor covers 1118 and 1119, and the head of the adjustment screw 1514 (a part of the adjustment screw 1514) is connected to the motor.
- the covers 1118 and 1119 are exposed on the outer surface.
- pantograph type preload mechanisms 150 and 151 are connected to a holding portion 1214 formed at a vibration node of the ultrasonic vibrator 12.
- the holding portion 1214 is provided with a hole 1214a (see FIG. 7).
- the hole 1214a is connected to a hole (not shown) provided at one end of the pantograph type preload mechanism 150/151 by a guide pin 1518 (see FIG. 6).
- the guide pin 1518 is a pin for connecting the ultrasonic transducer 12 to the holding unit 1214.
- the holding portion 1214 is provided at the center of the two long sides of the diaphragm 1211. That is, the holding part 1214 is formed in a symmetrical position with respect to the long axis of the ultrasonic transducer 12, and the pantograph type preload mechanisms 150 and 151 are connected to each of the pair of holding parts 1214.
- pantograph type preload mechanisms 150 and 151 can stably hold the ultrasonic transducer 12.
- one end of the pantograph type preload mechanism 150 is connected to the hole portion of the holding portion 1214 of the ultrasonic transducer 12 by the guide pin 1518. Further, a guide roller 1516 that comes into contact with the inner surface of the housing 16 is provided at the other end of the pantograph type preload mechanism 150 to hold the housing 16 smoothly.
- pantograph type preload mechanisms 150 and 151 hold the housing 16 with the holding portion 1214 of the ultrasonic vibrator 12 at one end and the guide roller at the other end.
- the housing 16 is held and rotated from the inside by a total of three points including the two guide rollers and the contact portion 1215 of the ultrasonic transducer 12.
- the holding unit 1214 is located at a position corresponding to the node of the standing wave vibration excited by the ultrasonic transducer 12. Therefore, the pantograph type preload mechanisms 150 and 151 can be held without inhibiting the vibration of the ultrasonic transducer 12.
- the metal fitting 1501 is bonded to the motor cover 1118 with an adhesive or a screw and screw hole (not shown). Further, the motor cover 1118 and the metal fitting 1501 are provided with through holes, and the metal fitting 1502 is provided with a screw hole. The portion where the adjustment screw 1514 is cut is meshed and semi-fixed only at the metal fitting 1502. .
- the pantograph type preload mechanism 150 As shown in the change from (a) to (b) in FIG. 11, by tightening the adjustment screw 1514, the pantograph type preload mechanism 150 is deformed so as to spread left and right. That is, the pantograph type preload mechanism 150 is deformed so as to separate the ultrasonic transducer 12 and the guide roller 1516 from each other. Actually, since this distance is substantially fixed, when the adjustment screw 1514 is tightened, the contact portion 1215 of the ultrasonic transducer 12 is pressed against the housing 16 through elastic deformation of the metal fittings 1501 and 1502.
- pantograph type preload mechanisms 150 and 151 generate ultrasonic waves by generating a force in a direction in which the distance between the vibration node (holding portion 1214) of the ultrasonic vibrator 12 and the guide roller 1516 is increased. The pressure for pressing the vibrator 12 against the housing 16 is adjusted.
- the contact portion 1215 is pressed against the housing 16 by making the distance between the vibration node of the ultrasonic transducer 12 and the guide roller 1516 different between the pantograph type preload mechanism 150 and the pantograph type preload mechanism 151.
- the contact angle can also be adjusted.
- the shape of the pantograph type preload mechanism 150, 151 is not limited as long as it does not deviate from the purpose of preload adjustment, but it is desirable to consider the ease of manufacturing and adjustment.
- the controller unit 130 includes an instruction input unit 131, a drive signal generation unit (voltage supply unit, operation instruction unit) 132, and a battery 133 that supplies electric power thereto.
- the controller unit 130 is detachably connected to the insertion section transport unit 100 by a cable passing through the stand 102 and the flexible arm 101.
- the instruction input unit 131 is an input device for inputting an instruction of an operator (user), for example, an input device such as a joystick.
- an input device such as a joystick.
- the operator inputs an instruction to convey (translate or rotate) the insertion unit 201 of the rigid endoscope 200 by manually tilting the joystick back and forth and right and left.
- the instruction input unit 131 outputs the input operator instruction to the drive signal generation unit 132.
- the inputted operator instruction specifies, for example, the moving direction and moving speed of the insertion unit 201.
- the drive signal generator 132 generates a drive signal for exciting a desired vibration in the upper PZT element 1212 and the lower PZT element 1213 based on the input operator's instruction, and applies the drive signal to the piezoelectric element. is there.
- the drive signal is an alternating voltage.
- the drive signal generation unit 132 determines the phase difference between the two drive signals according to the moving direction.
- the drive signal generation unit 132 determines the amplitude of the voltage of the drive signal or the duty ratio of the drive signal according to the moving speed.
- stretching vibration occurs when the same voltage is applied to all four-divided electrodes
- bending vibration occurs when the same voltage is applied to the electrodes on the diagonal line of the four-divided electrodes and the adjacent electrodes are reversed.
- the direction of rotation of the front in-wheel motor 1114 and the rear in-wheel motor 1115 is changed by changing the direction of the elliptical motion of the contact portion 1215 generated by the combination of the stretching vibration and the bending vibration in accordance with the input instruction from the operator. Changes.
- the drive signal generation unit 132 changes the rotation direction of each in-wheel motor by changing the drive signal supplied to the four-divided electrode of each in-wheel motor based on the operator's instruction, and responds to the operator's instruction.
- the translation and rotation of the corresponding insertion part 201 are realized.
- the differential drive mechanism 110A using such an in-wheel motor, a gear or the like is unnecessary, and the insertion unit conveyance unit is small, quiet, and highly reliable. It will be.
- the differential drive mechanism 110A includes an angle changing mechanism that changes the intersection angle of the front conveyance roller 1112 and the rear conveyance roller 1113 with respect to the insertion unit 201. .
- the crossing angle ⁇ (see FIG. 5) between the insertion portion 201 and the front conveyance roller 1112 and the rear conveyance roller 1113 can be adjusted.
- FIG. 12 is a diagram schematically illustrating the differential drive mechanism 110A according to the present embodiment.
- the differential drive mechanism 110A includes an upper housing unit 111, a lower housing unit 112, a connecting portion 117, and a preload spring (restoring portion) 116.
- the upper housing unit 111 includes a front arm 1110, a rear arm 1111 and a spring 111a.
- the front arm 1110 and the rear arm 1111 in the present embodiment are configured to be rotatable about the connection portions 1110a and 1111a to the lower housing unit 112.
- the spring 111a is a spring having both ends connected to the front arm 1110 and the rear arm 1111 respectively, and is configured to keep the front arm 1110 and the rear arm 1111 away from each other.
- the lower housing unit 112 includes four ball bearings 115 and guides 1130 and 1131.
- the guides 1130 and 1131 are a pair of members that guide the front in-wheel motor 1114 and the rear in-wheel motor 1115 in the process in which the upper housing unit 111 and the lower housing unit 112 are closed. These guides 1130 and 1131 are arranged on the end surface 112a of the lower casing unit 112 with which the front in-wheel motor 1114 and the rear in-wheel motor 1115 abut in a state where the upper casing unit 111 and the lower casing unit 112 are closed. Has been.
- the guides 1130 and 1131 have inclined surfaces 1130a and 1131a that come into contact with the front in-wheel motor 1114 and the rear in-wheel motor 1115 in the process in which the upper housing unit 111 and the lower housing unit 112 are closed.
- the inclined surfaces 1130a and 1131a are arranged at positions facing each other, and the distance between the inclined surface 1130a and the inclined surface 1131a decreases as the end surface 112a is approached. Therefore, as the distance between the upper housing unit 111 and the lower housing unit 112 becomes closer, the front in-wheel motor 1114 and the rear in-wheel motor 1115 are guided by the inclined surfaces 1130a and 1131a, thereby the front in-wheel.
- the distance between the motor 1114 and the rear in-wheel motor 1115 is reduced, and as a result, the angle formed by the front conveyance roller 1112 and the rear conveyance roller 1113 is reduced.
- the angle changing mechanism in the differential drive mechanism 110A is such that the front conveyance roller 1112 and the rear portion are arranged such that the distance between one front end portion of the front conveyance roller 1112 and the rear conveyance roller 1113 is increased.
- Guides 1130 and 1131 that limit the distance between the spring 111a urging the conveying roller 1113 and the tip portion according to the distance between the front conveying roller 1112 and the rear conveying roller 1113 and the ball bearing 115.
- the angle changing mechanism changes the crossing angle ⁇ in conjunction with the distances between the ball bearings 115 and the front conveyance rollers 1112 and the rear conveyance rollers 1113, which are changed by the connecting portion 117. Further, the angle changing mechanism changes the intersection angle so that the intersection angle ⁇ by the front conveyance roller 1112 and the intersection angle ⁇ by the rear conveyance roller 1113 are the same.
- FIG. 13 is a diagram illustrating positions of the front conveyance roller 1112 and the rear conveyance roller 1113 on the guides 1130 and 1131.
- the upper housing unit 111 and the lower housing unit 112 are separated from each other.
- the front in-wheel motor 1114 and the rear in-wheel motor 1115 are moved away from the end surface 112a, and a space is provided for both to move away from each other.
- the front in-wheel motor 1114 and the rear in-wheel motor 1115 are urged away from each other, and the angle formed by the front transport roller 1112 and the rear transport roller 1113 is increased.
- the crossing angle ⁇ (see FIG. 5) between the long axis normal line of the insertion portion 201 and the front conveyance roller 1112 and the rear conveyance roller 1113 increases.
- 14 (a) and 14 (b) are diagrams showing a combined vector of the frictional force generated by the rotation of the front conveyance roller 1112 and the rear conveyance roller 1113 in the direction in which the insertion unit 201 is rotated.
- the crossing angle ⁇ is automatically set large. Therefore, when the outer diameter of the insertion portion 201 is large, the rotation speed of the insertion portion 201 is increased.
- the crossing angle ⁇ is automatically set small. Therefore, when the outer diameter of the insertion part 201 is small, the rotational speed of the insertion part 201 becomes slow.
- the relationship between the outer diameter of the insertion portion 201 and the crossing angle ⁇ can be set as appropriate depending on the shape of the guides 1130 and 1131, particularly the inclination angle of the inclined surface with respect to the end surface 112 a.
- an appropriate intersection angle corresponding to the outer diameter of the insertion portion 201 is automatically set by setting the appropriate shape of the guides 1130 and 1131. Thereby, an appropriate rotation speed according to the outer diameter of the insertion portion 201 is automatically set.
- the crossing angle by the front conveyance roller 1112 and the crossing angle by the rear conveyance roller 1113 are equal. Any desired movement can be performed alternatively.
- the differential drive mechanism 110A it is possible to realize driving with an appropriate combination of the rotational speed and torque of the motor regardless of the translational and rotational driving directions.
- the rotational speed of the motor and the torque are inversely correlated, and especially in a DC motor or stepping motor in which this is linear, it is driven by a combination of rotational speed and torque that produces the most power or is most power efficient. It is desirable to do.
- the crossing angle ⁇ can be adjusted by adjusting the distance between the guides 1130 and 1131 or the angle of the inclined surfaces 1130a and 1131a, and driving with such a preferable combination can be realized.
- the force by the spring 111a is larger than the force by the preload spring 116, the front arm 1110 and the rear arm 1111 may be guided by the guides 1130 and 1131 and may be lifted from the insertion portion 201. For this reason, the force by the spring 111a is preferably smaller than the force by the preload spring 116.
- the differential drive mechanism 110B includes a lane 1132 in addition to the configuration of the differential drive mechanism 110A described above.
- the guides 1130 and 1131 are configured to be movable on the lane 1132. With this configuration, the crossing angle ⁇ can be made different between the front conveyance roller 1112 and the rear conveyance roller 1113.
- FIG. 15 is a diagram schematically illustrating the differential drive mechanism 110B according to the present embodiment.
- the differential drive mechanism 110B includes an upper casing unit 111, a lower casing unit 112, a connecting portion 117, and a preload spring (restoring portion) 116.
- the lower housing unit 112 includes four ball bearings (sliding bodies) 115, guides 1130 and 1131, and a lane 1132.
- the lane 1132 is a groove for changing the distance between the guides 1130 and 1131.
- the lane 1132 is formed on the end surface 112a, and is formed to be parallel to the long axis of the insertion portion 201 when the insertion portion 201 is attached to the differential drive mechanism 110B.
- the guides 1130 and 1131 and the lane 1132 constitute the main part of the angle changing mechanism that changes the crossing angle. By moving the guides 1130 and 1131 along the lane 1132, the crossing angle of the front conveyance roller 1112 and the crossing angle of the rear conveyance roller 1113 can be changed.
- FIGS. 16A and 16B are diagrams showing a resultant vector of frictional force when the front conveyance roller 1112 and the rear conveyance roller 1113 rotate as shown in FIG.
- FIG. 16A is a diagram in the case where the intersection angle ⁇ 1 of the front conveyance roller 1112 is the same as the intersection angle ⁇ 2 of the rear conveyance roller 1113
- FIG. It is a figure in case intersection angle (theta) 2 differs from each other.
- crossing angle ⁇ 1 and the crossing angle ⁇ 2 are the same is referred to as a crossing angle being symmetric, and a case where the crossing angle ⁇ 1 and the crossing angle ⁇ 2 are different from each other is referred to as an asymmetrical crossing angle.
- the combined vector of the frictional forces generated between the partial conveyance roller 1112 and the rear conveyance roller 1113 is a direction perpendicular to the long axis of the insertion portion 201, that is, a direction in which the insertion portion 201 is rotated. Rotate around.
- the combined vector translates the insertion portion 201 in a direction parallel to the long axis of the insertion portion 201.
- the insertion portion 201 translates in a direction parallel to the long axis.
- the insertion unit 201 performs only one of rotation and translation according to the rotation direction of the front conveyance roller 1112 and the rear conveyance roller 1113.
- the guides 1130 and 1131 can be individually moved along the lane 1132 to make the crossing angle asymmetric.
- the resultant vector of the frictional force generated between the roller 1112 and the rear conveyance roller 1113 is an oblique direction with respect to both the long axis of the insertion portion 201 and its normal line. That is, the composite vector has both a component perpendicular to the major axis and a component horizontal.
- the insertion unit 201 performs both rotational and translational movements simultaneously.
- the positions of the guides 1130 and 1131 are determined in advance so that a desired ratio between the rotation speed and the translation speed can be obtained. Good. By doing so, the practitioner can easily perform the insertion operation of the insertion unit 201 without instructing and adjusting both the rotation and translational motions when inserting the insertion unit 201.
- An example of such an insertion part 201 is a thrombus removal catheter.
- FIG. 17 is a diagram showing a differential drive mechanism 110C according to the present embodiment.
- the differential drive mechanism 110 ⁇ / b> C according to the present embodiment includes an insertion portion motion detection sensor 3001 that detects the speed at which the insertion portion 201 translates and rotates in addition to the configuration of the differential drive mechanism 110. ing.
- a difference occurs in the coefficient of friction between each conveyance roller and the insertion portion 201, and the rotation speed of the conveyance roller is corrected when the translation speed and the rotation speed of the insertion portion 201 are different from the assumed speed.
- unintended movement of the insertion unit 201 can be reduced.
- the insertion portion motion detection sensor 3001 uses an optical movement detection means that has already been established with an optical mouse for controlling a personal computer, or a non-contact measurement method such as a magnetic detection method. Is.
- the insertion portion motion detection sensor 3001 When using an optical movement detection means, for example, the insertion portion motion detection sensor 3001 includes an imaging device, and acquires an image of the surface of the insertion portion 201 with a sufficiently short predetermined cycle. The insertion portion motion detection sensor 3001 reads the movement amount of the insertion portion 201 between the images from the matching region in the continuous images, and calculates the movement speed of the insertion portion 201 from the movement amount and the period. .
- these rotational speeds are set on the assumption that the friction coefficients of the two transport rollers are the same.
- a difference in the coefficient of friction between the two transport rollers is caused by dirt such as blood adhering to the insertion portion.
- the controller unit 104 of the differential drive mechanism 110C monitors the translation speed and the rotational speed of the insertion section 201 by the insertion section motion detection sensor 3001, and the planned movement and the actual state of the insertion section 201 are monitored. When the movement of the roller is different, the roller rotation speed is corrected. Therefore, safer treatment is possible.
- FIG. 18 is a diagram showing a differential drive mechanism 110D according to the present embodiment.
- the differential drive mechanism 110D according to the present embodiment has a pressing mechanism that adjusts the force with which the front arm 1110 and the rear arm 1111 are pressed against the insertion unit 201 in addition to the configuration of the differential drive mechanism 110C.
- Force adjustment mechanisms 3002 and 3003 are provided. With this configuration, a difference occurs in the coefficient of friction between each conveyance roller and the insertion unit 201, and when the translation speed and the rotation speed of the insertion unit 201 are different from the assumed speeds, The pressing force of the transport roller can be corrected, and unintended movement of the insertion unit 201 can be reduced.
- these rotational speeds are set on the assumption that the friction coefficients of the two transport rollers are the same.
- a difference in the coefficient of friction between the two transport rollers is caused by dirt such as blood adhering to the insertion portion.
- the controller unit 104 of the differential drive mechanism 110D monitors the translation speed and the rotational speed of the insertion portion 201 by the insertion portion motion detection sensor 3001, and the planned motion and the actual state of the insertion portion 201 are detected.
- the pressing force adjusting mechanisms 3002 and 3003 correct the pressing forces of the front arm 1110 and the rear arm 1111 to enable safer treatment.
- the pressing force adjusting mechanisms 3002 and 3003 are control mechanisms that control the pressing force of the front conveyance roller 1112 and the rear conveyance roller 1113 to the insertion unit 201.
- the pressing force adjusting mechanisms 3002 and 3003 include a spring and a motor.
- a motor is connected to the center end of the mainspring, and the front arm 1110 or the rear arm 1111 is connected to the outer peripheral end.
- the force with which the front conveyance roller 1112 or the rear conveyance roller 1113 is pressed against the insertion unit 201 can be adjusted by rotating the motors included in the pressing force adjustment mechanisms 3002 and 3003.
- An ultrasonic actuator includes an ultrasonic transducer (12), a rotor (housing 16) that rotates by vibration of the ultrasonic transducer, and the ultrasonic transducer held at a node of the vibration. And a preload mechanism (pantograph type preload mechanism 150/151) for generating pressure for pressing the ultrasonic transducer against the rotor.
- the ultrasonic actuator includes the ultrasonic vibrator, the rotor, and the preload mechanism.
- the rotor is rotated by the vibration of the ultrasonic vibrator.
- the preload mechanism holds the ultrasonic vibrator at its vibration node and generates a pressure for pressing the ultrasonic vibrator against the rotor.
- the preload mechanism holds the ultrasonic vibrator at its vibration node, even if the pressure for pressing the ultrasonic vibrator against the rotor changes, the influence on the vibration characteristics of the ultrasonic vibrator is small.
- the ultrasonic actuator according to Aspect 2 of the present invention is the ultrasonic actuator according to Aspect 1, wherein the preload mechanism has a slide receiving portion (guide roller 1516) that contacts the inner surface of the rotor, and the rotor includes the ultrasonic transducer. Is held from the inner side of the rotor by the tip portion (contact portion 1215) and the slip receiving portion, and the preload mechanism applies a force in a direction to increase the distance between the vibration node and the slip receiving portion. It may be generated.
- the preload mechanism has the slip receiving portion that contacts the inner surface of the rotor.
- the rotor is held from the inside of the rotor by the tip portion and the slip receiving portion of the ultrasonic transducer.
- the preload mechanism adjusts the pressure for pressing the ultrasonic transducer against the rotor by generating a force in a direction that increases the distance between the vibration node of the ultrasonic transducer and the slip receiving portion.
- the ultrasonic actuator according to aspect 3 of the present invention is the ultrasonic actuator according to aspect 1 or 2, wherein the ultrasonic vibrator has a holding portion (1214) that is a protrusion formed at the node of the vibration, and the preload mechanism is , And may be connected to the holding unit.
- the preload mechanism is connected to the holding portion which is a protrusion formed at the vibration node of the ultrasonic vibrator.
- the ultrasonic actuator according to aspect 4 of the present invention is the ultrasonic actuator according to aspect 3, wherein the holding portion is formed at a symmetrical position with the long axis of the ultrasonic transducer as a symmetrical axis, and the preload mechanism includes: You may connect with each of a pair of said holding
- the preload mechanism is connected to each of the pair of holding portions that are formed at symmetrical positions with the long axis of the ultrasonic transducer as a symmetric axis.
- the ultrasonic vibrator can be stably held, and the contact angle at which the ultrasonic vibrator contacts the rotor can be adjusted by changing the pressure generated by each preload mechanism.
- the ultrasonic actuator according to aspect 5 of the present invention is the ultrasonic actuator according to any one of the aspects 1 to 4, wherein the preload mechanism includes a pair of arms, and one end of the pair of arms forms an angle with each other. It is connected to an ultrasonic transducer, and the preload mechanism may adjust the pressure by adjusting an angle formed by the one end.
- one end of the pair of arms included in the preload mechanism is connected to the ultrasonic transducer at an angle.
- the preload mechanism adjusts the pressure for pressing the ultrasonic transducer against the rotor by adjusting the angle.
- the ultrasonic actuator according to aspect 6 of the present invention further includes an adjustment member (adjustment screw 1514) for adjusting the angle in the aspect 5, wherein a part of the adjustment member is provided on the casing of the ultrasonic actuator. It may be exposed on the outer surface.
- the ultrasonic actuator includes the adjustment member that adjusts the angle formed by the ends of the pair of arms. A part of the adjustment member is exposed on the outer surface of the casing of the ultrasonic actuator.
- the angle can be adjusted without opening the casing of the ultrasonic actuator, the pressure for pressing the ultrasonic transducer against the rotor can be easily adjusted after manufacturing the ultrasonic actuator.
- the rotor in any of the above aspects 1 to 6, may be provided with a guide groove that restricts a position where the ultrasonic transducer contacts.
- the rotor is provided with the guide groove that limits the position where the ultrasonic transducer contacts.
- the ultrasonic vibrator can stably rotate the rotor.
- the present invention can be used as a small motor, and can be suitably used particularly in medical devices and small robots.
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Abstract
Description
以下、本発明の実施の形態について、図1~11に基づいて詳細に説明する。
図1は、本発明の実施の形態に係る医療装置1の使用形態の一例を示す模式図である。医療装置1は、硬性内視鏡200の位置を調整する装置である。本実施形態は、本発明適用の一例として、手術台400の上に寝ている患者510の腹部511の体腔内に硬性内視鏡200の挿入部(シースチューブ)201が挿入され、挿入部201の先端に位置する撮像素子から得られた画像に基づき施術者500が施術を施す状況を想定している。
図2は、挿入部搬送ユニット100の概略構成を示す斜視図である。図2に示すように、挿入部搬送ユニット100は、アクチュエータ保持部(アクチュエータ固定部)109および差動駆動機構(アクチュエータ、摩擦駆動アクチュエータ)110を備える。差動駆動機構110は、棒状の挿入部(作動子)201をその長軸方向に搬送すること、および挿入部201を長軸周りに回転させることが可能な複数の搬送ローラ(前部搬送ローラ1112、後部搬送ローラ1113)を備える。
図4および図5は、それぞれ挿入部搬送ユニット100の動作の一形態を示す図である。本実施形態において、挿入部201の並進および回転動作は、特許文献1の発明と同様に、差動駆動により実現する。すなわち図4に示されるように、双方の搬送ローラが同一方向に回転すると、挿入部201に加わる摩擦力の合力は挿入部201を並進方向に搬送する。また、図5に示されるように双方の搬送ローラが逆方向に回転すると、挿入部201に加わる摩擦力の合力は挿入部201を回転方向に搬送する。
同一方向回転の際の送り速度
vtrans=π*φ*ω*cos(θ)
逆方向回転の際の回転速度
vrot=φ*ω*sin(θ)/D
である。交差角θとは、搬送ローラの回転軸と、挿入部201の長軸の法線との間の角度である。
(全体構成)
図6は、前部インホイールモータ1114の構成を示す図である。なお、後部インホイールモータ1115の構成については、前部インホイールモータ1114と同様の構成であるため、図面を用いた説明はしない。
本実施形態に係る挿入部搬送ユニット100において用いられる超音波振動子12の代表的な構成と機能について、図7~図10を用いて説明する。図7は、超音波振動子12の概略構成を示す模式図である。図8および図9は、超音波振動子12の振動モードを示す模式図である。図10は、超音波振動子12がハウジング(兼ローター)16を回転させる原理を示す模式図である。
超音波振動子12は、縦方向1次振動モード(以下、伸縮振動と称する)と、たわみ(屈曲)3次振動モード(以下、屈曲振動と称する)との2種類の振動モードを有する。本実施の形態では伸縮振動および屈曲振動における共振周波数は240kHzと一致している。もちろんこれらの数値は上記の形状におけるものであり、設計事項により変化するが本発明の適用の是非を左右するものではない点に留意すべきである。
モーターカバー1118・1119は、パンタグラフ型予圧機構150・151を支える土台であるとともに、血液などの汚染物質から超音波振動子12を保護する役割を有する。
ハウジング16は、それ自体がローターであるとともに、血液などの汚染物質から超音波振動子12を保護する役割を有する。
図11の(a)および(b)は、パンタグラフ型予圧機構150の概略を示す模式図である。これらの図に示すように、パンタグラフ型予圧機構150は、略への字型の金具1501・1502、調整用ネジ(調整部材)1514およびガイドローラー(滑り受け部)1516を備える。
図1に示すように、コントローラユニット130は、指示入力部131、駆動信号生成部(電圧供給部、動作指示部)132、およびこれらに電力を供給するバッテリー133を備える。コントローラユニット130は、スタンド102およびフレキシブルアーム101を経由するケーブルによって、挿入部搬送ユニット100と着脱可能に接続されている。
上述した構成により、本実施形態に係るインホイールモータでは、パンタグラフ型予圧機構150、151が超音波振動子12をハウジング16に押し付ける圧力を、容易に調整することができる。
本発明の他の実施形態について、図12~図14に基づいて説明すれば、以下のとおりである。なお、説明の便宜上、前記実施形態にて説明した部材と同じ機能を有する部材については、同じ符号を付記し、その説明を省略する。
図12は、本実施形態に係る差動駆動機構110Aの概略を示す図である。
図13は、前部搬送ローラ1112および後部搬送ローラ1113の、ガイド1130・1131上での位置を示す図である。挿入部201の外径が大きい場合、上部筐体ユニット111と下部筐体ユニット112とが離隔する。このため、前部インホイールモータ1114および後部インホイールモータ1115は、端面112aから遠ざかることになり、両者が互いに遠ざかるための空間が与えられる。このとき、スプリング111aの作用により、前部インホイールモータ1114と後部インホイールモータ1115とは、互いに遠ざかる方向に付勢され、前部搬送ローラ1112と後部搬送ローラ1113とがなす角度が大きくなる。その結果、挿入部201の長軸の法線と、前部搬送ローラ1112および後部搬送ローラ1113との交差角θ(図5参照)は大きくなる。
本発明の他の実施形態について、図15および図16に基づいて説明すれば、以下のとおりである。なお、説明の便宜上、前記実施形態にて説明した部材と同じ機能を有する部材については、同じ符号を付記し、その説明を省略する。
図15は、本実施形態に係る差動駆動機構110Bの概略を示す図である。
図16の(a),(b)は、前部搬送ローラ1112および後部搬送ローラ1113が図5に示すように回転した場合の、摩擦力の合成ベクトルを示す図である。ここで、図16の(a)は、前部搬送ローラ1112の交差角θ1と後部搬送ローラ1113の交差角θ2とが同じ場合の図であり、図16の(b)は、交差角θ1と交差角θ2とが互いに異なっている場合の図である。
本発明の他の実施形態について、図17に基づいて説明すれば、以下のとおりである。なお、説明の便宜上、前記実施形態にて説明した部材と同じ機能を有する部材については、同じ符号を付記し、その説明を省略する。
本発明の他の実施形態について、図18に基づいて説明すれば、以下のとおりである。なお、説明の便宜上、前記実施形態にて説明した部材と同じ機能を有する部材については、同じ符号を付記し、その説明を省略する。
本発明の態様1に係る超音波アクチュエータは、超音波振動子(12)と、上記超音波振動子の振動によって回転するローター(ハウジング16)と、上記超音波振動子をその振動の節で保持し、当該超音波振動子を上記ローターに押し付けるための圧力を発生させる予圧機構(パンタグラフ型予圧機構150・151)とを備える。
130 コントローラユニット
111 上部筐体ユニット
112 下部筐体ユニット
1114 前部インホイールモータ(超音波アクチュエータ)
1115 後部インホイールモータ(超音波アクチュエータ)
12 超音波振動子
1214 保持部
150、151 パンタグラフ型予圧機構
1501a、1501b、1502a、1502b アーム
1514 調整用ネジ(調整部材)
1516 ガイドローラー(滑り受け部)
16 ハウジング(ローター)
1605 ガイド溝
201 挿入部
Claims (7)
- 超音波振動子と、
上記超音波振動子の振動によって回転するローターと、
上記超音波振動子をその振動の節で保持し、当該超音波振動子を上記ローターに押し付けるための圧力を発生させる予圧機構とを備えることを特徴とする超音波アクチュエータ。 - 上記予圧機構は、上記ローターの内面と接触する滑り受け部を有し、
上記ローターは、上記超音波振動子の先端部および上記滑り受け部によって当該ローターの内側から保持されており、
上記予圧機構は、上記振動の節と、上記滑り受け部との間の距離を広げる方向の力を発生させることを特徴とする請求項1に記載の超音波アクチュエータ。 - 上記超音波振動子は、上記振動の節に形成された突起である保持部を有し、
上記予圧機構は、上記保持部と接続されていることを特徴とする請求項1または2に記載の超音波アクチュエータ。 - 上記保持部は、上記超音波振動子の長軸を対称の軸として左右対称の位置に形成されており、
上記予圧機構は、一対の上記保持部のそれぞれと接続されていることを特徴とする請求項3に記載の超音波アクチュエータ。 - 上記予圧機構は、一対のアームを備え、
上記一対のアームの一方の端部は、互いに角度をなして上記超音波振動子に接続されており、
上記予圧機構は、上記一方の端部がなす角度を調整することによって上記圧力を調整することを特徴とする請求項1~4のいずれか1項に記載の超音波アクチュエータ。 - 上記角度を調整する調整部材をさらに備え、
当該調整部材の一部は、上記超音波アクチュエータの筐体の外側表面に露出していることを特徴とする請求項5に記載の超音波アクチュエータ。 - 上記ローターに、上記超音波振動子が接触する位置を制限するガイド溝が設けられていることを特徴とする請求項1~6のいずれか1項に記載の超音波アクチュエータ。
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CN201680029267.0A CN107615638A (zh) | 2015-05-21 | 2016-04-07 | 超声波致动器 |
JP2017519070A JP6386665B2 (ja) | 2015-05-21 | 2016-04-07 | 超音波アクチュエータ |
US15/574,974 US20180138834A1 (en) | 2015-05-21 | 2016-04-07 | Ultrasonic actuator |
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Citations (3)
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JP2005328697A (ja) * | 2002-06-14 | 2005-11-24 | Seiko Epson Corp | 駆動装置およびこれを備えた装置 |
JP2008283756A (ja) * | 2007-05-09 | 2008-11-20 | Sharp Corp | 超音波モータ |
JP2009278702A (ja) * | 2008-05-12 | 2009-11-26 | Sharp Corp | 超音波モータ |
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CN1241322A (zh) * | 1997-08-04 | 2000-01-12 | 精工爱普生株式会社 | 传动装置及使用它的钟表和通知装置 |
JP2002281772A (ja) * | 2001-03-19 | 2002-09-27 | Jiromaru Tsujino | 非線形特性を有する静圧力印加装置を用いた超音波モータ |
JP2004166479A (ja) * | 2002-06-14 | 2004-06-10 | Seiko Epson Corp | 回転型駆動装置およびこれを備えた装置 |
JP2006014512A (ja) * | 2004-06-25 | 2006-01-12 | Olympus Corp | 超音波モータ |
-
2016
- 2016-04-07 US US15/574,974 patent/US20180138834A1/en not_active Abandoned
- 2016-04-07 CN CN201680029267.0A patent/CN107615638A/zh active Pending
- 2016-04-07 WO PCT/JP2016/061422 patent/WO2016185824A1/ja active Application Filing
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JP2005328697A (ja) * | 2002-06-14 | 2005-11-24 | Seiko Epson Corp | 駆動装置およびこれを備えた装置 |
JP2008283756A (ja) * | 2007-05-09 | 2008-11-20 | Sharp Corp | 超音波モータ |
JP2009278702A (ja) * | 2008-05-12 | 2009-11-26 | Sharp Corp | 超音波モータ |
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CN107615638A (zh) | 2018-01-19 |
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