WO2019082420A1

WO2019082420A1 - Movable device

Info

Publication number: WO2019082420A1
Application number: PCT/JP2018/016387
Authority: WO
Inventors: 誠一郎鷲野; 栄太郎田中; 拓磨山内; 高木　賢太郎; 寿平入澤
Original assignee: 株式会社デンソー; 国立大学法人名古屋大学
Priority date: 2017-10-25
Filing date: 2018-04-23
Publication date: 2019-05-02
Also published as: JP2019080439A; CN111344940A

Abstract

A movable device (1) is provided with an actuator element (43). The actuator element has a resin polymer member (44) that is disposed so as to extend in a peripheral direction, and that expands and contracts in the peripheral direction depending on a change in the energy state. The movable device is provided with a fixed part and a movable part. The fixed part is connected to a fixed end (43a) of the actuator element, and fixes the actuator element. The movable part is connected to a movable end (43b), of the actuator element, located apart from the fixed end in the peripheral direction. The polymer member is disposed so as to extend in the peripheral direction, and therefore the polymer member can provide a sufficient length in the peripheral direction. Thus, the movable end of the actuator element can provide a larger displacement amount with respect to the fixed end.

Description

Mobile

Cross-reference to related applications

This application is based on patent application No. 2017-206256 filed in Japan on October 25, 2017, and the contents of the application on the basis are incorporated by reference in its entirety.

The disclosure in this specification relates to mobile devices.

Patent Document 1 discloses a movable device. In this technique, the driven body is mechanically moved by directly or indirectly utilizing deformation of the member. One example of an actuator element is an elongated synthetic fiber.

JP, 2016-42783, A

In the configuration of Patent Document 1, the displacement amount of the actuator element may be insufficient. In the above aspects, or in other aspects not mentioned, there is a need for further improvements in mobile devices.

One object disclosed is to provide a movable device capable of obtaining a large amount of displacement from an actuator element.

Another object disclosed is to provide a movable device in which a large pivoting movement can be obtained by displacement of an actuator element.

The movable device disclosed herein is disposed so as to extend in the circumferential direction, and is an actuator element (43) having a polymer member (44, 244, 444, 544) made of resin that expands and contracts in the circumferential direction due to a change in energy state. And a fixed part (21, 45) connected to the fixed end of the actuator element and fixing the actuator element, and a movable part (46) connected to the movable end of the actuator element separated from the fixed end along the circumferential direction And

The disclosed movable device comprises an actuator element having a polymeric member. The movable end of the actuator element is displaced by the expansion and contraction of the polymer member. Since the polymer member is arranged to extend in the circumferential direction, the polymer member can provide sufficient length along the circumferential direction. As a result, the movable end of the actuator element can provide a large amount of displacement relative to the fixed end.

The disclosed aspects in this specification employ different technical means in order to achieve their respective goals. The claims and the reference numerals in parentheses described in this section exemplarily show the correspondence with parts of the embodiments described later, and are not intended to limit the technical scope. The objects, features and advantages disclosed in the present specification will become more apparent by reference to the following detailed description and the accompanying drawings.

It is a perspective view of a movable device concerning a 1st embodiment. It is sectional drawing of a movable apparatus. FIG. 3 is a cross-sectional view taken along line III-III in FIG. It is a top view which shows the orientation of a polymer. It is a top view which shows orientation of polymer | macromolecule of 2nd Embodiment. It is sectional drawing of the actuator element of 3rd Embodiment. It is a perspective view of the actuator element of 4th Embodiment. It is a fragmentary sectional view of the actuator element of 5th Embodiment. It is a perspective view of the actuator element of 5th Embodiment.

Several embodiments will be described with reference to the drawings. In embodiments, functionally and / or structurally corresponding portions and / or associated portions may be provided with the same reference symbols, or reference symbols with different places of one hundred or more places. The description of the other embodiments can be referred to for the corresponding parts and / or parts to be associated.

First Embodiment <Mobile Device>
In FIG. 1, the movable device 1 has a base 2 and a movable mechanism 3. The base 2 is fixed to an appropriate base portion depending on the application. The base 2 can be fixed to, for example, the body of a vehicle. The movable mechanism 3 can mechanically move relative to the base 2. The movable mechanism 3 can pivot about a pivot axis AXR extending along the height direction HD. The movable mechanism 3 reciprocates in a predetermined angular range around the rotation axis AXR. The movable mechanism 3 has a driven body 31. The movement of the movable mechanism 3 is also called rocking. The moving direction of the movable mechanism 3 is not limited to rotation. The moving direction of the movable mechanism 3 can be adapted to various movements such as parallel movement along the height direction HD, parallel movement along the width direction WD, and rotational movement around the depth direction DD, for example.

The movable device 1 is also a sensor device. The movable device 1 has a sensor element 32 mounted on a driven body 31. The sensor element 32 has a detection axis VR32 that indicates a detection range. The sensor element 32 detects a physical quantity in the direction of the detection axis VR32. The sensor element 32 is provided by various elements such as, for example, an image sensor, an infrared sensor, an ultrasonic sensor, a radar antenna, an electromagnetic wave sensor, and a radiation sensor. In this embodiment, the sensor element 32 is an infrared sensor installed indoors. The detection signal of the sensor element 32 is supplied to a device using infrared information by wire or wirelessly. Infrared information is supplied to, for example, an air conditioner and used. The mobile device 1 is installed in a room such as a residence, an office, a vehicle, a ship, an aircraft, etc., and is used to collect information related to people in the room.

The movable device 1 moves the detection axis VR32 so as to swing. The movable device 1 provides a sensor device for moving the detection axis VR32. The movement of the detection axis VR32 makes it possible to provide various sensor devices such as a variable pointing direction type, a tracking type, or a scanning type. In this embodiment, since the driven body 31 periodically oscillates, a scanning sensor device is provided. The detection axis VR32 rotates around the rotation axis AXR. The detection axis VR32 is movable within a range of a predetermined rotation angle VRS along a plane extending in the width direction WD and the depth direction DD. In this embodiment, the pivot angle VRS is a scanning range.

<Actuator mechanism>
The movable device 1 includes an actuator mechanism 4. The actuator mechanism 4 provides a rotational force for rotating the movable mechanism 3. The actuator mechanism 4 is also a power source. The actuator mechanism 4 provides a turning force to reciprocally displace the movable mechanism 3. The actuator mechanism 4 has a first drive mechanism 41 and a second drive mechanism 42. The first drive mechanism 41 actively rotates the movable mechanism 3. The second drive mechanism 42 rotates the movable mechanism 3 passively. The second drive mechanism 42 is also referred to as a return mechanism that applies a force to return the displacement of the movable mechanism 3.

The first drive mechanism 41 rotates the movable mechanism 3 in the direction of the displacement amount MD41. The second drive mechanism 42 rotates the movable mechanism 3 in the direction of the displacement amount MD42. The second drive mechanism 42 returns the movable mechanism 3 in the direction opposite to the displacement amount MD41. The second drive mechanism 42 allows the displacement amount MD41 while the first drive mechanism 41 is activated. The second drive mechanism 42 functions to return the displacement amount MD41 while the first drive mechanism 41 is inactivated. The first drive mechanism 41 transitions from the high energy state to the low energy state while being deactivated. As a result, the movable mechanism 3 is displaced over the rotation angle VRS. The first drive mechanism 41 is alternately controlled to the activated state and the deactivated state. Thereby, the movable mechanism 3 is repeatedly displaced over the rotation angle VRS.

The first drive mechanism 41 has an actuator element 43. The actuator element 43 has a fixed end 43a and a movable end 43b. The actuator element 43 has a polymer member 44 made of resin. The polymeric member 44 can be provided by a synthetic resin or a material of natural origin. The polymeric member 44 is provided by a thin film. In this embodiment, the actuator element 43 is provided entirely by the polymer member 44 alone.

The actuator element 43 is a member that reversibly deforms in response to its own energy state. The actuator element 43 is, for example, a member that reversibly displaces the position of the movable end 43b relative to the fixed end 43a in response to its own temperature. The term "reversible" means that at least in the activated state, it can be actively displaced from the base position in one direction by a predetermined displacement amount, and can be restored to the base position in the inactive state. The restoration in the inactive state may be realized by the active function of the actuator element 43 or may be realized passively by the external force.

In this embodiment, the actuator element 43 has a predetermined base shape in the first temperature state, which is the low energy state. The actuator element 43 has a contracted shape contracted from the base shape along the circumferential direction in the second temperature state. The second temperature state is a high energy state higher than the first temperature state. When the actuator element 43 is switched from the non-activated state to the activated state, the actuator element 43 actively and contractively displaces from the base shape in the circumferential direction by a predetermined displacement amount. When the actuator element 43 is switched from the activated state to the activated state, it can be restored from the contracted shape to the base position by an external force.

The actuator element 43 is disposed on an extension of the rotation axis AXR. The actuator element 43 is disposed beside the driven body 31. The driven body 31 and the actuator element 43 are arranged in series. In the drawing, the entire movable device 1 is illustrated as being emphasized a little longer along the direction of the pivot axis AXR.

The actuator element 43 is connected to the fixed rod 45 at the fixed end 43 a. The actuator element 43 is coupled to the movable rod 46 at the movable end 43 b. The actuator element 43 is disposed between the fixed rod 45 and the movable rod 46. The fixing rod 45 is fixed to the base 2 by the anchor 21. The movable rod 46 is connected to the driven body 31. The fixed rod 45 and the anchor 21 provide a support member that supports the actuator element 43. The fixed rod 45 and the anchor 21 are coupled to the fixed end 43 a of the actuator element 43 to provide a fixed portion for fixing the actuator element 43. The movable rod 46 is displaced along with the deformation of the actuator element 43. The movable rod 46 provides a movable portion coupled to the movable end 43 b of the actuator element 43 which is separated from the fixed end 43 a along the circumferential direction.

The actuator element 43 has a polymer member 44 arranged to extend in the circumferential direction. The polymer member 44 is made of synthetic resin. The polymer member 44 expands and contracts in the circumferential direction due to the change of the energy state. One end of the polymer member 44 in the circumferential direction is a fixed end 43a. The other end in the circumferential direction of the polymer member 44 is a movable end 43 b. The fixed end 43a and the movable end 43b are separated by a predetermined distance in the circumferential direction. The polymeric member 44 is provided as a film. The polymer member 44 is a roll body in which a ribbon-like film is disposed in a spiral shape. The polymer member 44 is wound to form multiple layers along the radial direction. The polymer member 44 is wound around the fixing rod 45. The polymer member 44 is a cylindrical member extending along an actuator axis AX43 defined by the fixed rod 45. The actuator axis AX43 is also an axis of the actuator element 43. The actuator axis AX43 is located on the extension of the pivot axis AXR. The actuator axis AX43 and the rotation axis AXR are coaxial.

The available polymer members 44 and the available energy regulators 71 include those described in JP-A-2016-42783. The contents of Japanese Patent Application Laid-Open No. 2016-42783 are incorporated by reference as a description of technical elements in this specification. The polymeric member 44 can be provided by a variety of materials called artificial muscles.

One example of the polymer member 44 is a roll of resin film. One typical example of a resin is a monofilament resin. Monofilament resin contains polyamide resin and polyethylene resin. For example, a polymer fiber called nylon or polyethylene may have a torsional deformation amount with respect to a temperature change, and can be used as an actuator element 43. The polymer is oriented to extend along the circumferential direction around the actuator axis AX43. The orientation of the polymer is achieved by a manufacturing method that stretches the film.

The second drive mechanism 42 has a return element 47. The return element 47 can be provided by various elastic members such as a spring, an air spring, and a rubber. In this embodiment, the return element is a metal or resin tension spring. The return element 47 is connected between the fixed rod 48 and the movable rod 49. The fixing rod 48 is fixed to the base 2 by the anchor 22. The movable rod 49 is connected to the driven body 31. When the driven element 31 is displaced in the direction of the displacement amount MD41, the return element 47 is stretched and generates a restoring force. As a result, the second drive mechanism 42 applies a return force to the driven body 31.

<Guide mechanism>
The movable device 1 has a guide mechanism 5 for guiding the movement of the movable mechanism 3. The guide mechanism 5 is provided between the anchor 23 provided on the base 2 and the driven body 31. The anchors 23 are fixed to the base 2. The guide mechanism 5 allows rotational movement of the driven body 31 around the height direction HD. The guiding mechanism 5 suppresses the rotational movement around the depth direction DD and the rotational movement around the width direction WD. The guide mechanism 5 suppresses the vertical movement in the depth direction DD and the horizontal movement in the width direction WD among the movement of the driven member 31. The guide mechanism 5 may suppress back and forth movement in the height direction HD. The guide mechanism 5 may allow back and forth movement in the height direction HD.

The height direction HD can be defined as a roll axis, the width direction WD as a pitching axis, and the depth direction DD as a yaw axis. In this case, the guide mechanism 5 permits the roll movement of the driven body 31. The guide mechanism 5 may suppress excessive roll movement beyond the available range. For example, a direct collision between the driven body 31 and the anchor 23 or an indirect collision via an elastic member limits the range of roll movement. The guide mechanism 5 suppresses the yawing motion and the pitching motion of the driven body 31. Further, the guide mechanism 5 suppresses the vertical movement and the horizontal movement of the driven body 31. The guide mechanism 5 may suppress the back and forth movement of the driven body 31. The guide mechanism 5 may allow the back and forth movement of the driven body 31.

<Control system>
The mobile device 1 comprises a control system 7. The control system 7 has an energy regulator 71, a driver circuit 72 (DVC), and a controller 73 (CNT). The energy regulator 71 regulates the energy state of the actuator element 43 in order to extract mechanical motion from the actuator element 43. The energy regulator 71 changes the energy state of the actuator element 43 into at least two stages of high and low. The driver circuit 72 adjusts the power supplied to the energy regulator 71 in accordance with an instruction from the controller 73.

The energy regulator 71 changes the energy state of the actuator element 43 in both directions between the high energy state and the low energy state. The energy regulator 71 can apply and remove energy electrically, optically, magnetically, electromagnetically, or radiation. The application and removal of electrical energy includes increase and decrease of electrical heat, increase and decrease of current, increase and decrease of electric field, and increase and decrease of charge. For example, when the energy state of the actuator element 43 is indicated by temperature, the light application can increase the temperature and the light interruption can decrease the temperature.

The application and removal of energy can be done directly or indirectly. For example, energy may be provided by an energy transfer component that is in direct contact with the actuator element 43, or energy may be applied indirectly by an energy transfer component located remotely from the actuator element 43. The energy transfer component can be provided, for example, by an electrical heating element.

For example, in order to actively displace the actuator element 43, the energy regulator 71 increases the thermal energy of the actuator element 43. The increase of the thermal energy is realized, for example, by supplying the current to the heat generating member of the energy regulator 71. In order to restore the actuator element 43, for example, the energy regulator 71 reduces the thermal energy of the actuator element 43. The reduction of the thermal energy is realized, for example, by interrupting the current supply to the heat generating member of the energy regulator 71 and dissipating the heat from the actuator element 43.

The energy regulator 71 is cylindrical, providing a cavity for receiving the actuator element 43. In other words, the actuator element 43 is housed in the energy regulator 71. The energy regulator 71 is provided by a heater which can adjust the amount of heat generation electrically. Thus, the energy regulator 71 regulates the temperature of the actuator element 43.

The control device 73 has at least one arithmetic processing unit (CPU) and at least one memory device as a storage medium for storing programs and data. The controller 73 is provided by a microcomputer provided with a computer readable storage medium. A storage medium is a non-transitory tangible storage medium which non-temporarily stores a computer readable program. The storage medium may be provided by semiconductor memory or a magnetic disk or the like. The controller 73 may be provided by one computer or a set of computer resources linked by a data communication device. The program is executed by the controller 73 to cause the controller to function as the device described in this specification and causes the controller 73 to perform the method described in this specification.

The control system 7 includes, as input devices, a plurality of signal sources that supply signals indicating information input to the control device 73. The control system 7 acquires information by the control device 73 storing the information in the memory device. The control system 7 has a plurality of controlled objects whose behavior is controlled by the controller 73 as output devices. The control system 7 controls the behavior of the controlled object by converting the information stored in the memory device into a signal and supplying the signal to the controlled object. For example, the control device 73 acquires the operation signal and the stop signal from the outside, and activates the energy regulator 71 intermittently to move the movable device 1 in an oscillating manner.

The controller 73, the signal source and the controlled object included in the control system 7 provide various elements. At least some of these elements can be referred to as blocks for performing the function. In another aspect, at least some of those elements can be referred to as modules or sections that are interpreted as a configuration. Furthermore, the elements included in the control system 7 can also be referred to as means for realizing their functions only when intended.

The means and / or function provided by the control system 7 may be provided by software stored in a tangible memory device and a computer that executes the software, only software, only hardware, or a combination thereof. For example, if the controller 73 is provided by an electronic circuit that is hardware, it can be provided by a digital circuit or analog circuit that includes a number of logic circuits.

In FIG. 2, the

anchors

21, 22, 23 are fixed to the base 2. The anchor 21 has an inner hole for receiving the fixing rod 45. The anchor 21 has a set screw 21a. The set screw 21a is provided radially toward the inner hole. The set screw 21a connects the anchor 21 and the fixing rod 45 in the axial direction and the circumferential direction by tightening the fixing rod 45 in the radial direction. The set screw 21a is used to set the initial position of the fixed rod 45 in the axial and circumferential directions.

The driven body 31 is rotatably supported by the guide mechanism 5. The guide mechanism 5 has a shaft 51 and a guide bore 52. The shaft 51 is provided by a cylindrical member coaxial with the rotation axis AXR. The shaft 51 is fixed to the driven body 31. Both ends of the shaft 51 are fixed to the driven body 31. The driven body 31 has a shaft 51. The guide bore 52 is provided in the anchor 23. The anchor 23 has a guide bore 52. The anchor 23 is a member for supporting the driven body 31. The guide bores 52 are provided by through holes through the anchors 23. The guide bore 52 receives the shaft 51. The guide bores 52 allow rotation of the shaft 51. As a result, the anchor 23 rotatably supports the driven body 31.

The outer surface of the shaft 51 and the inner surface of the guide bore 52 are in partial contact with each other. The outer surface of the shaft 51 and the inner surface of the guide bore 52 slide on each other when the driven body 31 rotates. The driven body 31 is guided around the shaft 51. The members providing the shaft 51 and the guide bore 52 are made of a low friction material. The shaft 51 or the member providing the guide bore 52 may be made of a low friction material. The friction between the shaft 51 and the guide bore 52 is suppressed.

The anchors 23 face the driven body 31 at both end faces. The anchors 23 partially contact the driven body 31 at both end faces. The anchor 23 and the driven body 31 slide relative to each other when the driven body 31 rotates.

In FIG. 3, the actuator element 43, that is, the polymer member 44 is arranged to extend in the circumferential direction CD. The circumferential direction CD is a direction around the actuator axis AX43. The circumferential direction CD is also a direction perpendicular to the actuator axis AX43. The polymer member 44 is disposed in a spiral manner over a plurality of turns. The actuator element 43 has a number of turns that exceeds one turn along the circumferential direction. The fixed end 43a is located at the innermost side of the spiral. The movable end 43 b is located at the outermost side of the spiral. Since the movable rod 46 is connected to the driven body 31, the movable rod 46 can move so as to draw a circular orbit illustrated by the guide mechanism 5.

The polymer member 44 has a predetermined first shape illustrated by a solid line at a first temperature. The first shape is also referred to as a base shape or an initial shape. The polymer member 44 positions the movable rod 46 at a first position P1 illustrated by a solid line in the first shape. The polymer member 44 has a second shape at a second temperature. The second shape is also referred to as a contracted or deformed shape. The second temperature is a temperature different from the first temperature. The second shape is a shape deformed in the circumferential direction more than the first shape. The polymer member 44 positions the movable rod 46 at a second position P2 illustrated by a broken line in the second shape.

In one example of this embodiment, the second temperature is higher than the first temperature. The second shape is a shape that is shrunk from the first shape along the circumferential direction. The polymer member 44 is actively deformable from the first shape to the second shape. The polymer member 44 can be actively or passively restored from the second shape to the first shape. The second shape may be a shape that extends from the first shape along the circumferential direction.

FIG. 4 is a plan view showing the orientation of the polymer in the polymer member 44. As shown in FIG. The base material BMT made of a synthetic resin is manufactured such that the polymer is oriented in the orientation direction ORP. The method of manufacturing the base material BMT includes a stretching step for orienting the polymer along the orientation direction ORP. The polymer member 44 is cut out from the base material BMT. The orientation direction ORP is also referred to as an orientation axis direction.

The polymer member 44 is cut out so that its longitudinal direction LD 44, that is, the circumferential direction CD makes a predetermined inclination angle AC with respect to the orientation direction ORP. The inclination angle AC between the alignment direction ORP and the longitudinal direction LD 44 may promote the deformation of the polymer member 44 from the first shape to the second shape. The inclination angle AC is an acute angle (less than 45 degrees). The inclination angle AC is preferably an angle of 10 degrees or less. Furthermore, it is desirable that the inclination angle AC be set such that a series of linearly extending alignment directions ORP reach both ends of the polymer member 244, that is, both the fixed end 43a and the movable end 43b. Furthermore, it is desirable that the tilt angle AC be set such that a plurality of orientation directions ORP extend between the two ends. The longitudinal direction LD 44 is also referred to as the longitudinal axis direction of the polymer member 44.

According to the embodiment described above, the polymer member 44 is arranged to extend in the circumferential direction. Thus, the polymer member 44 can provide a sufficient length along the circumferential direction. As a result, the actuator element 43 can provide a large displacement at the movable end 43 b by the expansion and contraction of the polymer member 44. Moreover, the polymer member 44 is disposed in a spiral shape. Therefore, the movable device 1 can be provided without excessively increasing the length along the actuator axis AX43. As a result, a small and / or high-power movable device 1 is provided.

Second Embodiment This embodiment is a modification based on the preceding embodiment. In the above embodiment, the alignment direction ORP and the longitudinal direction LD 44 define the inclination angle AC. Alternatively, the alignment direction ORP and the longitudinal direction LD 244 may extend in parallel.

In FIG. 5, in the polymer member 244, the longitudinal direction LD 244, that is, the circumferential direction CD coincides with the orientation direction ORP. Therefore, the alignment direction ORP and the longitudinal direction LD 244 are parallel. However, the alignment direction ORP and the longitudinal direction LD 244 may have a minute inclination angle. The alignment direction ORP and the longitudinal direction LD 244 may be microscopically inclined in the polymer member 244. When the width of the base material BMT matches the width of the polymer member 244, the polymer member 244 may be provided only by cutting the base material BMT into the length of the polymer member 244.

Third Embodiment This embodiment is a modification based on the preceding embodiment. In the above embodiment, the polymer member 44 has an air gap between the layers. Instead of this, the polymer member 44 may have an elastic member 361 disposed between the layers.

As illustrated in FIG. 6, the actuator element 43 has a spiral polymer member 44 and an elastic member 361 that fills the inside in the radial direction of the polymer member 44. The elastic member 361 is bonded to the polymer member 44. The elastic member 361 allows deformation of the polymer member 244 by its own elasticity. The elastic member 361 can be provided by an elastic member such as rubber or an elastomer. According to this embodiment, the shape of the actuator element 43 can be stabilized.

Fourth Embodiment This embodiment is a modification based on the preceding embodiment. In the above embodiment, the polymer member 44 is a spiral roll body. Alternatively, the polymeric member 44 may be provided by a helical roll.

In FIG. 7, the first drive mechanism 41 has an actuator element 43. The actuator element 43 has a polymer member 444. The polymer member 444 is a spirally wound roll body. The helical polymer member 444 is displaced not only in the circumferential direction but also in the axial direction. The fixed end 43 a of the polymer member 444 is fixed to the outer peripheral surface of the fixed rod 445. The fixing rod 445 is disposed radially inward of the polymer member 444. The fixing rod 445 is also a winding core of the polymer member 444. The fixing rod 445 is also a support member that supports the polymer member 444. Further, the fixed rod 445 is also a guide member for guiding the movable rod 46 along the outer peripheral surface thereof.

The movable end 43 b of the polymer member 444 is connected to the movable rod 46. The first drive mechanism 41 has an energy regulator 472. The energy regulator 472 is disposed radially outward of the polymer member 444. Furthermore, the first drive mechanism 41 has an energy regulator 474. The energy regulator 474 is disposed radially inward of the polymer member 444. The energy regulator 474 can be supported by a fixed rod 445. The first drive mechanism 41 may include only one of the energy regulator 472 and the energy regulator 474.

Also in this embodiment, the actuator element 43 can be miniaturized in the axial direction. In addition, since the fixing rod 445 is positioned close to the inner side in the radial direction of the polymer member 444, the deformation of the polymer member 444 is stabilized.

Fifth Embodiment This embodiment is a modification based on the preceding embodiment. In the above embodiment, the actuator element 43 is provided by the

polymer members

44, 244, 444. Alternatively, the actuator element 43 can be provided by a multilayer member having at least a first layer and a second layer.

FIG. 8 shows a partial cross section of the actuator element 43 of this embodiment. The actuator element 43 is arranged to be curved along the circumferential direction. The actuator element 43 is a multilayer member having a first layer and a second layer. In this embodiment, the first layer is disposed on the radially inner side of the second layer. The first layer may be disposed on the radially outer surface of the second layer.

The first layer is a polymer member 544. The polymer member 544 has an orientation direction ORP extending along the circumferential direction of the actuator element 43 as shown. The second layer is a low expansion and contraction member 562. The low expansion and contraction member 562 has a lower expansion and contraction rate than the polymer member 544. The low expansion and contraction member 562 can be provided by, for example, a metal, a resin, or a biological material. The low expansion member 562 can be provided, for example, by a spring material that provides a spring. The polymer member 544 and the low expansion and contraction member 562 are bonded to each other.

The overall curvature of the actuator element 43 changes due to the expansion and contraction of the polymer member 544. When the polymer member 544 contracts, the low expansion and contraction member 562 winds up to further increase the curvature. The behavior of the actuator element 43 is such that the spring automatically winds up when the energy state changes. The actuator element 43 which is a multi-layered member can also be called a unimorph.

In FIG. 9, the behavior of the polymer member 544 is controlled by the energy regulator 71. When the energy regulator 71 is activated, the polymer member 544 is activated to a high energy state. The polymer member 544 contracts from the first temperature to the second temperature. The contraction of the polymer member 544 causes the actuator element 43 to be wound radially inward. The actuator element 43 deforms so that the spiral spring automatically winds up. As a result, the movable rod 46 moves from the first position illustrated by the solid line to the second position illustrated by the broken line. When the energy regulator 71 is deactivated, the polymer member 544 is deactivated to the low energy state. The polymer member 544 gradually dissipates heat from the second temperature. In the process of heat dissipation, the low expansion and contraction member 562 functions like a spiral spring and loosens circumferential entrapment. At the same time, the low expansion and contraction member 562 elongates the polymer member 544. As a result, the movable rod 46 moves from the second position illustrated by the broken line to the first position illustrated by the solid line.

Other Embodiments The disclosure in this specification is not limited to the illustrated embodiments. The disclosure includes the illustrated embodiments and variations based on them by those skilled in the art. For example, the disclosure is not limited to the combination of parts and / or elements shown in the embodiments. The disclosure can be implemented in various combinations. The disclosure can have additional parts that can be added to the embodiments. The disclosure includes those in which parts and / or elements of the embodiments have been omitted. The disclosure includes replacements or combinations of parts and / or elements between one embodiment and another embodiment. The disclosed technical scope is not limited to the description of the embodiments. It is to be understood that the technical scopes disclosed herein are indicated by the description of the scope of the claims, and further include all modifications within the meaning and scope equivalent to the descriptions of the scope of the claims.

In the above embodiment, the movable device 1 provides a power source for displacing the detection axis of the sensor device. Alternatively, the mobile device 1 can provide a source of power for a variety of devices. The movable device 1 is, for example, a motive power source for displacing the optical axis of the light source device, a motive power source for displacing the projection axis of the projection device, or a motive power for displacing the blowing direction of the air conditioner It can be used as a source.

In the above embodiment, the actuator element 43 is provided in the first drive mechanism 41, and the second drive mechanism 42 is a return mechanism. Instead of this, the second drive mechanism 42 may also be provided with an actuator element. The actuator element provided in the second drive mechanism 42 outputs a displacement amount MD42. In this case, the actuator element 43 and the actuator element of the second drive mechanism are alternately driven. In other words, the two actuator elements are complementarily controlled to the activated state and the deactivated state.

In the above embodiment, the energy regulator 71 is cylindrical. Alternatively, the energy regulator 71 can be provided by various shapes. For example, the energy regulator 71 may be provided by a heater disposed along the polymer member 44 of the actuator element 43. Also, the energy regulator 71 may be disposed between the two layers of the polymer member 44. The energy regulator 71 may be provided, for example, by a plurality of heater elements arranged parallel to the actuator axis AX43.

In the above embodiment, the multilayer member includes the polymer member 544 and the low expansion and contraction member 562. Alternatively, the multilayer member may comprise two layers of polymeric members. Bilayer polymeric members can be provided, for example, by members that produce opposite displacements in response to changes in temperature. The polymer member of the first layer is, for example, a member that contracts due to a change from the first temperature to the second temperature. The polymer member of the second layer is, for example, a member which elongates upon change from the second temperature to the first temperature. The polymer member having such reverse stretch characteristics can provide the actuator element 43 that is actively deformed in both directions.

In the above embodiment, the polymer members are arranged in a spiral or spiral shape. Alternatively, the polymeric members may be arranged spirally and spirally. The polymer member may have, for example, a helical first layer and a helical second layer, and the helix of the first layer and the helix of the second layer may be connected. The polymeric members may also be arranged conically and spirally. Such an arrangement allows the energy adjuster 71 to adjust the energy state of the polymer members in each layer because the plurality of layers are exposed in the radial direction.

In the above embodiment, the

polymeric members

44, 244, 444, 544 are provided by a film whose polymeric orientation has been adjusted by stretching. Alternatively, the polymeric member may be provided by a member of a shape called linear or rod-like. Furthermore, the polymer member may have a plurality of portions connected along the circumferential direction.

In the above embodiment, the movable device 1 includes the energy regulator 71. Alternatively, a device without the energy regulator 71 can also be provided. The actuator element 43 may be displaced in response to conditions of the environment in which the movable device 1 is installed, for example, temperature or humidity. The actuator element 43 may be displaced in response to the sunlight of the environment in which the movable device 1 is installed.

In the above embodiment, the actuator element 43 has the inner end of the spiral as the fixed end 43a and the outer end of the spiral as the movable end 43b. Alternatively, the actuator element 43 may have the outer end of the spiral as the fixed end 43a and the inner end of the spiral as the movable end 43b. When the inner end of the spiral is the movable end 43b, the member itself connected to the movable end 43b may rotate. When the inner end of the spiral is the movable end 43b, the member itself connected to the movable end 43b may be displaced.

In the above embodiment, the actuator element 43 is provided as a roll of film. The film can be provided by a roll wound into a plurality of layers. The actuator element 43 can comprise a gap between the films providing the plurality of layers. The actuator element 43 can comprise an elastic member that allows displacement of the film between the films providing the plurality of layers. The actuator element 43 can be provided by a shape-retained film or can be provided with a shape-retaining member for retaining the shape of the film in order to maintain the shape as a roll body. For example, the film may be formed by a heat treated material that has been heat treated after being wound as a roll. Conditions such as the temperature and time of the heat treatment which can extract the amount of reversible displacement from the film are set.

Claims

An actuator element (43) having a polymer member (44, 244, 444, 544) made of resin, which is arranged to extend in the circumferential direction (CD) and expands or contracts in the circumferential direction according to a change in energy state
A fixing portion (21, 45) connected to the fixed end of the actuator element for fixing the actuator element;
A movable portion (46) coupled to the movable end of the actuator element spaced apart from the fixed end along the circumferential direction.
The mobile device according to claim 1, further comprising an energy regulator (71) for adjusting the energy state of the actuator element.
The actuator element is a multilayer member having at least a first layer and a second layer,
The first layer is the polymer member,
The second layer is a low expansion and contraction member (562) having a lower expansion ratio than the polymer member,
The movable device according to claim 1, wherein a curvature of the actuator element is changed by expansion and contraction of the first layer.
The movable device according to any one of claims 1 to 3, wherein the actuator element has a number of turns that exceeds one turn along the circumferential direction.
The movable device according to claim 4, wherein the actuator element is disposed in a spiral shape.
The movable device according to claim 5, wherein the actuator element is arranged in a spiral shape.
Furthermore, a movable mechanism (3) coupled to the movable portion and pivoted around a pivot shaft (AXR) is provided.
The movable device according to any one of claims 1 to 6, wherein the actuator element has an actuator shaft (AX43) extending along the extension of the pivot shaft.
The movable device according to any one of claims 1 to 7, wherein the polymer member is a film (44, 244, 444, 544).
The movable device according to claim 8, wherein the alignment direction of the polymer in the polymer member is identical to the circumferential direction or forms an acute angle with the circumferential direction.
The polymer member is
A first predetermined shape at a first temperature,
The movable device according to any one of claims 1 to 9, wherein at a second temperature higher than the first temperature, the second shape is deformed in the circumferential direction more than the first shape.