JP2003070270A - Wire actuator - Google Patents

Abstract

(57) Abstract: Provided is a wire actuator which has a simple structure and is advantageous for miniaturization, particularly for thinning. A wire actuator (1) includes a wire (2).
And an actuator unit 10 including a wire 2 and an actuator body 3 movably attached in the longitudinal direction. Actuator body 3
Is a plate-shaped base 4, a vibrating body 6 that moves the wire 2 to form a substantially rectangular plate, two large-diameter guide rollers 51 and 52, and four small-diameter guide rollers 53,
54, 55 and 56, and a movement amount detecting means 7 for detecting the movement amount of the wire 2. Wire 2 has
When the projection 66 of the vibrating body 6 is in contact with the vibrating body 6 and the vibrating body 6 vibrates, the wire 2 repeatedly receives a frictional force (pressing force) from the vibrating body 6 and moves in the longitudinal direction. In this case, the vibration pattern of the vibrating body 6 is changed by selecting an energizing pattern to each electrode of the vibrating body 6 so that the wire 2 can be moved in either the forward direction or the reverse direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire actuator.

[0002]

2. Description of the Related Art A wire actuator that moves a wire in its longitudinal direction is used, for example, to drive a finger joint in a robot hand or the like.

This wire actuator comprises a wire, a reel on which the wire is wound, a motor (rotary actuator), and a decelerator for decelerating the rotational driving force of the motor and transmitting it to the reel. By rotating the reel, the wire is moved in its longitudinal direction.

However, the conventional wire actuator requires a reel and a speed reducer, and
Since the motor is large, there is a problem that it is difficult to reduce the size and weight, especially the thickness. Therefore, for example, a large space is required to mount a plurality of wire actuators for moving joints, five fingers, and the like, and the weight increases, which makes further miniaturization more difficult.

Further, in the motor, it is necessary for the rotor and the slider to have special magnetic characteristics, which makes it difficult to reduce the translation mechanism of a long stroke, which is disadvantageous in reducing the size and weight.

Further, since the rotary motion is converted into the linear motion, the energy loss accompanying this conversion is large.

There is also a problem that electromagnetic noise of the motor may affect other devices.

[0008]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wire actuator which has a simple structure and is advantageous in downsizing, particularly thinning.

[0009]

The above objects are achieved by the present invention described in (1) to (25) below.

(1) A wire and a vibrating body provided in contact with the wire and provided with a piezoelectric element and a plurality of divided electrodes, the vibrating body including the piezoelectric element via the electrode. The wire is vibrated by applying an AC voltage to the wire, and by this vibration, a force is repeatedly applied to the wire to move the wire in the longitudinal direction of the wire, and the vibration is generated by selecting an energization pattern to each electrode. A wire actuator, characterized in that a vibration pattern of a body is changed so that the wire can be moved in either a forward direction or a reverse direction.

(2) The wire actuator according to (1), further comprising an energizing circuit for energizing the electrodes while selecting an energizing pattern for the electrodes.

(3) The wire actuator according to (1) or (2) above, which has a vibration detecting means for detecting the vibration of the vibrating body.

(4) The wire actuator according to the above (3), wherein, of the electrodes, a non-energized electrode is used to detect the vibration of the vibrating body.

(5) The wire actuator according to any one of (1) to (4), wherein the vibrating body has a plate shape.

(6) The wire actuator according to (5), wherein the vibrating body has a substantially rectangular shape.

(7) The vibrating body has two electrodes located on one diagonal line and two electrodes located on the other diagonal line, and when the wire is moved in the positive direction, The above-mentioned (6), which is configured to energize two electrodes located on one diagonal and energize two electrodes located on the other diagonal when the wire is moved in the opposite direction. Wire actuator.

(8) The wire actuator according to (6) or (7), wherein the vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel to each other.

(9) The wire actuator according to (6) or (7), wherein the vibrating body is installed such that a long side of the vibrating body and the wire are substantially parallel to each other.

(10) A wire and a vibrating body provided in contact with the wire and provided with a piezoelectric element and a plurality of divided electrodes, the vibrating body including the piezoelectric element via the electrode. A wire actuator that vibrates by applying an AC voltage to the wire, and repeatedly applies a force to the wire by the vibration to move the wire in the longitudinal direction of the wire, the wire actuator maintaining the wire in a stopped state. , A second mode that allows the wire to move, a third mode that moves the wire in the forward direction, and a fourth mode that moves the wire in the reverse direction, The vibration pattern of the vibrating body is changed by selecting an energization pattern for each electrode to change the first mode, the second mode, the third mode, and the third mode. The wire actuator is configured to be able to select any one of the four modes.

(11) The wire actuator according to (10) above, which has an energizing circuit for energizing the electrodes while selecting an energizing pattern for the electrodes.

(12) The wire actuator according to the above (10) or (11), which has a vibration detecting means for detecting the vibration of the vibrating body.

(13) The wire actuator according to the above (12), which detects the vibration of the vibrating body using an electrode which is not energized among the electrodes.

(14) A wire and a vibrating body provided in contact with the wire and provided with a piezoelectric element and an electrode, wherein the vibrating body applies an AC voltage to the piezoelectric element via the electrode. A wire actuator that moves the wire in the longitudinal direction of the wire by repeatedly applying a force to the wire by the vibration, and a first mode in which the vibrator is not excited; A second mode for exciting vibration in a direction substantially perpendicular to the moving direction of the wire, a third mode for exciting vibration having a vibration displacement component at least in the positive direction of the moving direction of the wire, and at least the wire And a fourth mode for exciting a vibration having a vibration displacement component in a direction opposite to the moving direction.

(15) The wire actuator according to any one of (11) to (14), wherein the vibrating body has a plate shape.

(16) The wire actuator according to the above (15), wherein the vibrating body has a substantially rectangular shape.

(17) The vibrating body has two electrodes located on one diagonal line and two electrodes located on the other diagonal line.
In the first mode, none of the four electrodes is energized, and in the second mode, all of the four electrodes are energized. In the third mode, the two electrodes located on one diagonal line are energized, and in the fourth mode, the two electrodes located on the other diagonal line are energized. ) Wire actuator.

(18) The vibrating body is
The wire actuator according to (17) above, including a detection electrode that detects a voltage induced in the piezoelectric element.

(19) The wire actuator according to (18), wherein the detection electrode is used in the second mode.

(20) The wire actuator according to any one of (16) to (19), wherein the vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel to each other.

(21) In the second mode, the vibrating body vibrates in the direction of its long side, and the wire does not substantially move due to this vibration.

(22) The vibrating body has at least one arm portion provided so as to project from the vibrating body, and the vibrating body is supported by the arm portion. Wire actuator.

(23) The vibrating body is contacted with the wire to bend the wire, and the restoring force of the wire presses the vibrating body. The wire actuator according to any one of the above.

(24) The wire actuator according to any one of (1) to (23), which has a movement amount detecting means for detecting the movement amount of the wire.

(25) The wire actuator according to the above (24), which controls energization to the electrodes based on the detection value of the movement amount detecting means.

[0035]

BEST MODE FOR CARRYING OUT THE INVENTION The wire actuator of the present invention will be described below in detail with reference to the preferred embodiments shown in the accompanying drawings.

FIG. 1 is a plan view showing a first embodiment of the wire actuator of the present invention, FIG. 2 is a side view of the wire actuator shown in FIG. 1, and FIG. 3 is a vibration body of the wire actuator shown in FIG. Perspective view, FIG.
A side view of the vibrating body in the wire actuator shown in FIG. 1 (a view seen from the direction of arrow A in FIG. 3), FIG. 5 and FIG. 6 respectively show how the vibrating body in the wire actuator shown in FIG. 1 vibrates. FIG. 7 is a plan view and FIG. 7 is a block diagram showing a circuit configuration of the wire actuator shown in FIG. In the following description, the upper side in FIG. 1 is referred to as “upper”, the lower side is referred to as “lower”, the right side is referred to as “right”, and the left side is referred to as “left”.

The wire actuator 1 shown in these figures is an actuator that directly drives (moves) the wire 2, and is composed of the wire 2 and an actuator body 3 to which the wire 2 is attached so as to be movable in the longitudinal direction thereof. It has a plate-shaped actuator unit 10.

Here, the wire is a flexible long linear body or band, and the cross-sectional shape thereof is not particularly limited, and in addition to circular shape, for example, semicircle, ellipse, semiellipse. ,
It may be a polygon such as a square or a rectangle. Also,
The wire is preferably elastic.

The longitudinal direction of the wire is not limited to the axial direction when the wire is straight, but is a concept including the direction along the wire pattern when the wire is curved or bent. .

As shown in FIGS. 1, 2 and 7, the actuator body 3 includes a plate-shaped base 4, a vibrating body 6 for moving the wire 2, and two large-diameter guide rollers (guide means) 51. And 52, four small-diameter guide rollers (guide means) 53, 54, 55 and 56, a movement amount detection means 7 for detecting the movement amount of the wire 2, and an energization pattern for each electrode of the vibrating body 6 described later. And an energizing circuit 20 for energizing the electrodes. The guide roller 53 and the guide roller 54 form a pair, and the guide roller 55 and the guide roller 56 form a pair.

The vibrating body 6 is installed on one surface (upper side in FIG. 2) of the base 4 in a posture parallel to the base 4, and
The two guide rollers 51 and 52 and the two pairs of guide rollers 53, 54, and 55, 56 are rotatable on one surface (upper side in FIG. 2) of the base 4 in a posture parallel to the base 4. It is installed in. The vibrating body 6 will be described in detail later.

Grooves (disengagement preventing means) 511 and 521 having a concave cross section, for example, in an arc shape are formed on the peripheral surfaces (outer peripheral surfaces) of the guide rollers 51 and 52 along the outer circumferences.

Further, the guide rollers 53, 54, 55 and 56 have grooves (separation preventing means) 531, 541, 55 having V-shaped cross sections on the peripheral surfaces (outer peripheral surfaces), respectively.
1 and 561 are formed along the outer circumference.

Guide roller 51 and guide roller 52
Are arranged in parallel in the left-right direction (the guide roller 51 is on the left side and the guide roller 52 is on the right side) with a predetermined distance therebetween. The groove 511 of the guide roller 51 and the guide roller 5 are
The wire 2 is arranged in each of the two grooves 521.

Further, as shown in FIG. 1, the pair of guide rollers 53, 54 are arranged side by side in the vertical direction (the guide roller 53 is on the lower side and the guide roller 54 is on the upper side), that is, between them, that is, the guide roller 53. Groove 531 and guide roller 5
The wire 2 is arranged between the four grooves 541.

Similarly, a pair of guide rollers 55, 56
Are arranged side by side in the vertical direction (the guide roller 55 is on the lower side and the guide roller 56 is on the upper side), and the wire 2 is disposed between them, that is, between the groove 551 of the guide roller 55 and the groove 561 of the guide roller 56. ing.

These two pairs of guide rollers 53, 54 and 55, 56 are arranged outside the guide rollers 51 and 52, respectively. That is, one pair of guide rollers 53, 54 is arranged on the left side of the guide roller 51, and the other pair of guide rollers 55, 56 is arranged on the right side of the guide roller 52.

The vibrating body 6 is arranged above the guide rollers 51 and 52 so that the convex portion 66 is located between the guide rollers 51 and 52. In this vibrating body 6, the short side 601 of the vibrating body 6 and the wire 2 are substantially parallel to each other, that is, the long side 602 of the vibrating body 6 and the wire 2 are substantially vertical, and the convex portion 66 of the vibrating body 6 is the wire. It is installed so as to abut on 2.

As shown in FIG. 2, the vibrator 6 and the guide rollers 51, 52, 53, 54, 55 and 56 are all substantially on the same straight line when viewed from the lower side in FIG. , And as shown in FIG. 1, all the upper ends of the guide rollers 51, 52, 53 and 55 are
They are arranged so as to be located on substantially the same straight line.

As shown in FIG. 1, the wire 2 is in contact with the convex portion 66 of the vibrating body 6, and the wire 2 is pressed against the guide rollers 51 and 52 by the convex portion 66 and is bent. . Then, the convex portion 66 of the vibrating body 6 is
The wire 2 receives a restoring force (elastic force), that is, a reaction force, and is pressed upward.

When the vibrating body 6 vibrates, the wire 2 repeatedly receives frictional force (pressing force) from the vibrating body 6 and moves in the longitudinal direction.

This vibrating body 6 is
It is small (thin). In the present invention, by moving the wire 2 by using the vibrating body 6, it is possible to reduce the size of the wire actuator 1 as a whole, in particular, to reduce the thickness (the size in the vertical direction in FIG. 2).

In this wire actuator 1, the electrodes of the vibrating body 6 are divided into a plurality of electrodes, and a voltage is selectively applied to the electrodes to partially drive the piezoelectric elements, whereby the in-plane longitudinal / bending is achieved. The vibration of can be selected arbitrarily. That is, the vibration pattern (vibration state) of the vibrating body 6 is changed by selecting the energizing pattern (energizing state) to each electrode of the vibrating body 6 to change the direction of vibration (vibration displacement) of the convex portion 66 of the vibrating body 6. In this way, the wire 2 can be moved in either the right direction or the left direction (the positive direction and the reverse direction) (the moving direction of the wire 2 can be switched). Hereinafter, description will be given based on a specific example.

As shown in FIG. 3 and FIG.
Has a rectangular plate shape. The vibrating body 6 includes four electrodes 61a, 61b, 61c and 61d from the upper side in FIG. 3, a plate-shaped piezoelectric element 62, a reinforcing plate 63, a plate-shaped piezoelectric element 64, and four plate-shaped electrodes. 65a, 65
b, 65c and 65d (in FIG. 3, electrodes 65a, 65d
b, 65c, and 65d are laminated in this order with not shown and only the respective reference numerals shown in parentheses). 3 and 4, the thickness direction is exaggerated.

Each of the piezoelectric elements 62 and 64 has a rectangular shape and expands / contracts in its longitudinal direction (long-side direction) by applying an AC voltage. Piezoelectric elements 62, 6
The constituent material of 4 is not particularly limited, and lead zirconate titanate (PZT), crystal, lithium niobate, barium titanate, lead titanate, lead metaniobate, polyvinylidene fluoride, lead zinc niobate, scandium niobium. Various substances such as lead acid can be used.

These piezoelectric elements 62 and 64 are the reinforcing plate 6
It is fixed to both sides of No. 3 respectively.

In this vibrating body 6, the piezoelectric element 6 is used.
Divide (partition) 2 into four rectangular areas approximately equally,
A rectangular electrode 6 is formed in each of the divided regions.
1a, 61b, 61c and 61d are installed, and similarly, the piezoelectric element 64 is divided (divided) into four regions,
A rectangular electrode 6 is formed in each of the divided regions.
5a, 65b, 65c and 65d are installed.
The electrodes 65a, 65b, 65c and 65 are provided on the back sides of the electrodes 61a, 61b, 61c and 61d, respectively.
d is arranged.

One diagonal electrode 61a and 61c
And the electrodes 65a and 65c located on the back side thereof are all electrically connected, and similarly, the electrodes 61b and 61d on the other diagonal line and the electrodes 65b and 65d located on the back side thereof are all It is electrically connected (hereinafter, simply referred to as "connection").

The reinforcing plate 63 has a function of reinforcing the entire vibrating body 6 and prevents the vibrating body 6 from being damaged by excessive amplitude, external force, or the like. The constituent material of the reinforcing plate 63 is not particularly limited, but various metal materials such as stainless steel, aluminum or an aluminum alloy, titanium or a titanium alloy, copper or a copper alloy are preferable.

The reinforcing plate 63 is preferably thinner (smaller) than the piezoelectric elements 62, 64.
Thereby, the vibrating body 6 can be vibrated with high efficiency.

The reinforcing plate 63 also has a function as a common electrode for the piezoelectric elements 62 and 64. That is,
An alternating voltage is applied to the piezoelectric element 62 by a predetermined electrode among the electrodes 61a, 61b, 61c and 61d and the reinforcing plate 63, and the piezoelectric element 64 is provided with the electrodes 65a, 65.
Predetermined electrode of b, 65c and 65d and reinforcing plate 6
An alternating voltage is applied by means of 3.

The piezoelectric elements 62 and 64 repeatedly expand and contract in the longitudinal direction when an AC voltage is applied to substantially the entire area thereof, and the reinforcing plate 63 also repeatedly expands and contracts in the longitudinal direction accordingly. That is, when an AC voltage is applied to almost all of the piezoelectric elements 62 and 64, the vibrating body 6 moves in the longitudinal direction (long side direction).
Then, it vibrates with a very small amplitude (longitudinal vibration), and the convex portion 66 vibrates vertically (reciprocating motion). At the right end portion of the reinforcing plate 63 in FIG. 3,
The convex portion 66 is integrally formed.

As shown in FIGS. 2, 3 and 4, in the present embodiment, a groove (concave) 661 is formed along the longitudinal direction of the wire 2 at the tip of the convex portion 66 of the vibrating body 6. The wire 2 is in contact with the inner surface (concave surface) 662 of the groove 661. Thereby, it is possible to prevent the convex portion 66 of the vibrating body 6 from coming off from the wire 2.

As shown in FIGS. 3 and 4, the groove 6
The cross-sectional shape of 61 (inner surface 662) is arcuate. As a result, the wire 2 is located at the center of the convex portion 66, so that the wire 2 can be driven more smoothly and efficiently.

The convex portion 66 is formed by the short side 60 on the lower side in FIG.
It is provided on the first side and in the widthwise center of the reinforcing plate 63.

The groove 661 of the convex portion 66 can be formed by, for example, etching (overetching) or the like. By using the etching method, the groove 661 can be formed easily and accurately with a small size.

Further, the two arms 68 project from the substantially center of the reinforcing plate 63 in the longitudinal direction so as to project in the directions substantially perpendicular to the longitudinal direction and in the opposite directions via the vibrating body 6 ( (Symmetrically in FIG. 1). Each arm 6
Holes 6 into which the bolts 13 are inserted are provided at the tips of the holes 6.
81 is formed.

As shown in FIGS. 1 and 2, the vibrating body 6 is installed such that the inner surface 662 of the convex portion 66 contacts the wire 2 from above.

The vibrating body 6 is installed in a posture substantially parallel to the base 4. This is particularly advantageous in reducing the thickness of the wire actuator 1 as a whole.

The vibrating body 6 is fixed to the screw holes (not shown) provided in the base 4 by the bolts 13 near the holes 681 of the respective arm portions 68. That is, the vibrating body 6 is supported by the arm portion 68. As a result, the vibrating body 6 can freely vibrate, and vibrates with a relatively large amplitude. In addition, the vibrating body 6 has an arm portion 68.
And the restoring force of the wire 2, the inner surface 662 of the convex portion 66 is installed in a state of being pressed against the wire 2.

With the convex portion 66 in contact with the wire 2,
Electrodes 61a, 61c, 6 located on the diagonal of the vibrating body 6
5a and 65c are energized, and these electrodes 61a, 61
When an AC voltage is applied between the reinforcing plates 63 and c, 65a and 65c, as shown in FIG. 5, the portions of the vibrating body 6 corresponding to the electrodes 61a, 61c, 65a and 65c are respectively indicated by arrows a. Repeatedly expands and contracts in the direction,
The convex portion 66 of the vibrating body 6 is displaced in an oblique direction indicated by an arrow b, that is, vibrates (reciprocating motion), or is displaced substantially along an ellipse, that is, an elliptic vibration (elliptic motion) as indicated by an arrow c. . The wire 2 is an electrode 61 a of the vibrating body 6,
When the portions corresponding to 61c, 65a, and 65c extend, a frictional force (pressing force) is received from the convex portion 66, and the repeated frictional force (pressing force) moves to the left side (reverse direction) in FIG.

At this time, the non-energized electrodes 61b, 61d, 65b and 65 located on the diagonal line of the vibrating body 6 are provided.
d is used as a vibration detecting means for detecting the vibration of the vibrating body 6.

Contrary to the above, the electrodes 61b, 61d, 65b and 65d located on the diagonal line of the vibrating body 6 are energized,
These electrodes 61b, 61d, 65b and 65d,
When an AC voltage is applied between the reinforcing plate 63 and the reinforcing plate 63, as shown in FIG. 6, the portions of the vibrating body 6 corresponding to the electrodes 61b, 61d, 65b and 65d repeatedly expand and contract in the direction of arrow a, respectively. Thus, the convex portion 66 of the vibrating body 6 is displaced in an oblique direction indicated by an arrow b, that is, vibration (reciprocating motion), or is displaced substantially along an ellipse as indicated by an arrow c, that is, an elliptic vibration (elliptic motion). ) Do. Wire 2
Are electrodes 61b, 61d, 65b and 65 of the vibrating body 6.
When the portion corresponding to d expands, a frictional force (pressing force) is received from the convex portion 66, and the repeated frictional force (pressing force) moves to the right side (positive direction) in FIG. 6.

At this time, the non-energized electrodes 61a, 61c, 65a and 65 located on the diagonal line of the vibrating body 6 are used.
c is used as a vibration detecting means for detecting the vibration of the vibrating body 6.

5 and 6, the deformation of the vibrating body 6 is exaggerated and the arm portion 68 is not shown.

Here, the shape and size of the vibrating body 6, the position of the convex portion 66, and the like are appropriately selected, and the resonance frequency of flexural vibration (horizontal vibration in FIGS. 5 and 6) is set to the longitudinal vibration frequency. By the same degree, the longitudinal vibration and the bending vibration of the vibrating body 6 occur at the same time, and the convex portion 66 is displaced substantially along an ellipse (elliptic vibration) as indicated by an arrow c in FIGS. 5 and 6. It can be done. Further, as is conventionally known, the longitudinal vibration and the bending vibration are separately driven with their phases shifted, whereby the ratio of the major axis to the minor axis of the elliptic vibration (major axis / minor axis) can be changed.

The wire 2 has guide rollers 51, 5
The moving directions are regulated (guided) by 2, 53, 54, 55 and 56, and the grooves prevent the guide rollers from being separated from the guide rollers.

When the wire 2 moves, the guide rollers 51 and 52 rotate without slipping with respect to the wire 2.

Moreover, since the wire 2 is directly driven (moved) by the vibrating body 6, it is particularly advantageous for weight reduction and size reduction (thinning). Also, the structure can be extremely simplified,
The manufacturing cost can be reduced.

Further, in the present embodiment, since the in-plane vibration of the vibrating body 6 is directly converted into the linear movement (movement) of the wire 2, the energy loss accompanying this conversion is small and the wire 2 is driven with high efficiency. can do.

Further, the vibrating body 6 drives the wire 2 by the frictional force (pressing force) as described above, unlike the case where the vibrating body 6 is driven by magnetic force like an ordinary motor, so that the driving force is high. Therefore, unlike the present embodiment, the wire 2 can be driven with a sufficient force without using the speed change mechanism (reduction mechanism).

The frequency of the AC voltage applied to the piezoelectric elements 62 and 64 is not particularly limited, but it is preferable that it is approximately the same as the resonance frequency of the vibration (longitudinal vibration) of the vibrating body 6. Thereby, the amplitude of the vibrating body 6 is increased, and the wire 2 can be driven with high efficiency.

Next, the energizing circuit 20 will be described. As shown in FIG. 7, the energization circuit 20 includes a drive circuit 8 including an oscillation circuit 81, an amplification circuit 82, and a movement amount control circuit 83.
And a switch 9.

The switch 9 is a switching means for switching between the electrode to be energized and the electrode used as the vibration detecting means. By switching the switch 9, the moving direction of the wire 2 is switched.

The switch 9 has two interlocking switch portions 91 and 92, and the electrode 61 of the vibrating body 6 is provided.
d is connected to the terminal 97 of the switch unit 91 and is connected to the electrode 61.
a is connected to the terminal 98 of the switch unit 92.

The terminal 93 of the switch section 91 and the terminal 96 of the switch section 92 are connected to the output side of the amplifier circuit 82 of the drive circuit 8, respectively, and the amplifier circuit 82.
Therefore, an alternating voltage is applied to each of the terminals 93 and 96.

Further, the reinforcing plate 63 of the vibrating body 6 is grounded. In addition, the terminal 94 of the switch unit 91
The terminals 95 of the switch section 92 and the switch section 92 are connected to the input side of the oscillation circuit 81 of the drive circuit 8.

Next, the movement amount detecting means 7 will be described. As shown in FIGS. 1 and 2, the movement amount detecting means 7
Is composed of a slit plate 71 having a plurality of slits formed at regular intervals on the outer peripheral portion thereof, and a sensor 72 having a light emitting portion and a light receiving portion.

In this embodiment, as the sensor 72, a light emitting element that irradiates the outer peripheral portion of the slit plate 71 (a portion where the slit is formed) with light, and a light emitted from this light emitting element and reflected by the slit plate 71. Although a photoreflector having a light receiving element that receives (photoelectrically converts) the generated light (reflected light) is used, the invention is not limited to this, and for example, a light emitting element that irradiates light toward the outer peripheral portion of the slit plate 71, A photo interrupter or the like having a light receiving element that receives (photoelectrically converts) the light (transmitted light) emitted from this light emitting element and passing through (transmitting) the slit of the slit plate 71 may be used.

The slit plate 71 is fixed to the side surface of the guide roller 51 and rotates integrally with the guide roller 51.

On the other hand, as described above, when the wire 2 moves, the guide roller 51 rotates without slipping with respect to the wire 2. Therefore, the movement amount of the wire 2 is the rotation amount of the guide roller 51, that is, the slit. Corresponding to the rotation amount of the plate 71, the moving speed of the wire 2 depends on the guide roller 5
It corresponds to one rotation speed (rotation speed), that is, the rotation speed (rotation speed) of the slit plate 71.

The sensor 72 is installed on the upper surface of the base 4 in FIG. 2 and near the slit plate 71.

When the wire 2 moves and the slit plate 71 rotates, a pulse (pulse signal) is output from the sensor 72 accordingly. This pulse is supplied (input) to the movement amount control circuit 83 of the drive circuit 8, and the movement amount control circuit 83 counts the pulse and obtains the movement amount of the wire 2 based on the count value (pulse number). . In addition,
The moving speed of the wire 2 can be obtained based on the pulse cycle or the number of pulses within a predetermined time. Information on the moving amount and moving speed of the wire 2 is used for predetermined control and processing.

The movement amount detecting means 7 is not limited to the optical detecting means, but may be the magnetic detecting means.

Next, the operation of the wire actuator 1 will be described with reference to FIG. When the moving direction and the moving amount of the wire 2 are instructed while the power switch is on, the switch 9 and the drive circuit 8 are based on the instruction.
The movement amount control circuit 83 is activated.

In the case of an instruction to move the wire 2 to the upper side (forward direction) in FIG. 7, the terminals 93 and 97 of the switch 9 are connected and the terminals 95 and 9 are connected as shown in FIG.
The switch 9 is switched so that 8 is connected. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are electrically connected,
Electrodes 61a, 61c, 65a and 65c of the vibrating body 6
And the input side of the oscillation circuit 81 of the drive circuit 8 are conducted.

The oscillation circuit 81 and the amplification circuit 82 of the drive circuit 8 are controlled by the movement amount control circuit 83, respectively.

The alternating voltage output from the oscillation circuit 81 is
The electrodes 61b, 61d, and 65b are amplified by the amplifier circuit 82.
And 65d and the reinforcing plate 63. Thereby, as described above, the electrodes 61b, 61b of the vibrating body 6 are
The portions corresponding to d, 65b, and 65d repeatedly expand and contract, and the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the oblique direction shown by the arrow b in FIG. 6, or as shown by the arrow c, Elliptical vibration (elliptical motion) occurs, and the wire 2 receives a frictional force (pressing force) from the convex portion 66 when the portions of the vibrating body 6 corresponding to the electrodes 61b, 61d, 65b, and 65d extend, and the repeated friction occurs. The force (pressing force) moves to the upper side (positive direction) in FIG. 7.

At this time, the electrodes 61a, 61c, 65a, and 65c that are not energized (not driven) serve as detection electrodes, and the electrodes 61a, 61c, and 65a.
And 65c and the reinforcing plate 63 are used to detect a voltage (induced voltage).

The detected induced voltage (detection voltage) is
Based on the detected voltage, the oscillator circuit 81 outputs an AC voltage having a frequency (resonance frequency) at which the amplitude of the vibrating body 6 is maximum, that is, the detected voltage is maximum, based on the detected voltage. Thereby, the wire 2 can be moved efficiently.

Further, the movement amount control circuit 83 controls energization to each electrode based on the detected value of the movement amount detecting means 7 and the instructed movement amount (target value) of the wire 2.

That is, the sensor 7 of the movement amount detecting means 7
From 2 to the movement amount control circuit 83, pulse (pulse signal)
Is entered. The movement amount control circuit 83 counts the pulses, obtains the movement amount (actual value) of the wire 2 based on the count value (the number of pulses), and calculates the value and the instructed movement amount of the wire 2 (target value). Value), and the oscillation circuit 81 and the amplification circuit 82 are operated to drive the vibrating body 6 and move the wire 2 until the actual movement amount of the wire 2 reaches the instructed movement amount.

Conversely, in the case of an instruction to move the wire 2 to the lower side (reverse direction) in FIG. 7, the terminals 94 and 97 of the switch 9 are connected and the terminals 96 and 98 are connected. The switch 9 is switched so as to do so. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrode 6 of the vibrating body 6 are
1a, 61c, 65a and 65c are electrically connected, and the electrodes 61b, 61d, 65b and 65d of the vibrating body 6 are electrically connected to the input side of the oscillation circuit 81 of the drive circuit 8. Since the subsequent operation is the same as the case of the instruction to move the wire 2 to the upper side in FIG. 7, the description thereof will be omitted.

According to the wire actuator 1 of the first embodiment, in addition to the advantage that the wire actuator 1 can be made smaller (thinner), an ordinary motor is not used to move the wire 2. Therefore, there is also an advantage that it does not affect the peripheral devices, because there is no or little electromagnetic noise as in a normal motor.

When the wire 2 is not driven (stopped state), that is, when no current is applied to any of the electrodes, the convex portion 66 is pressed against the wire 2 and the convex portion 6
The wire 2 can be maintained in a stopped state by the frictional force between the wire 6 and the wire 2. That is, the wire 2 can be prevented from moving and the wire 2 can be held at a predetermined position.

Further, the moving amount and moving speed of the wire 2 can be detected, and the information can be used to control various kinds.

Further, since the wire 2 can be moved in both forward and reverse directions (left and right directions), the versatility is wide.

Further, since the wire 2 can be moved in both directions by the single vibrating body 6, the number of parts can be reduced and manufacturing is easy as compared with the case where a dedicated vibrating body is provided for each moving direction. In addition, it is advantageous for reducing the size and weight of the wire actuator 1 as a whole.

Further, as shown in FIG. 2, at the time of assembly, there are no parts to be assembled from the lower side to the base 4 in FIG. 2, and the parts can be assembled from one direction (the upper side in FIG. 2) to be assembled. There is also an advantage that can be performed easily and quickly.

Further, the arrangement pattern of the wires 2 can be freely set by the guide means such as the guide roller.

Next, a second embodiment of the wire actuator of the present invention will be described. FIG. 8 is a perspective view of a vibrating body according to a second embodiment of the wire actuator of the invention, and FIG. 9 is a second view of the wire actuator of the invention.
It is a block diagram which shows the circuit structure in embodiment.

Hereinafter, the wire actuator 1 of the second embodiment will be described focusing on the differences from the above-described first embodiment, and the description of the same matters will be omitted.

Wire actuator 1 of the second embodiment
Is a first mode of keeping the wire 2 in a stopped state,
A second mode in which the wire 2 can be moved (the wire 2 is in a free state), a third mode in which the wire 2 is moved in the forward direction, and a fourth mode in which the wire 2 is moved in the reverse direction.
And the vibration pattern of the vibrating body 6 is changed by selecting the energization pattern for each electrode to change the first mode, the second mode, the third mode, and the fourth mode. It is configured so that either of the modes and can be selected. The details will be described below.

As shown in FIG. 8, the vibrating body 6 includes five plate-shaped electrodes 61a, 61 on the upper side of the piezoelectric element 62 in FIG.
b, 61c, 61d, and 61e are installed, and five plate-shaped electrodes 65a, 65 are provided on the lower side of the piezoelectric element 64 in FIG.
b, 65c, 65d and 65e (in FIG. 8, the electrode 65
a, 65b, 65c, 65d, and 65e are not shown in the figure, and only the reference numerals are shown in parentheses).

That is, the piezoelectric element 62 is divided (sectioned) into four rectangular regions substantially equally, and rectangular electrodes 61a, 61b, 6 are formed in the respective divided regions.
1c and 61d are installed, similarly, the piezoelectric element 64 is divided (divided) into four regions, and rectangular electrodes 65a, 65b, 65c, and 65d are installed in each of the divided regions. .

A rectangular electrode 61e is provided in the center of the piezoelectric element 62, and a rectangular electrode 65e is similarly provided in the center of the piezoelectric element 64.
Each of the electrodes 61e and 65e is arranged so that the longitudinal direction (long side direction) thereof and the longitudinal direction (long side direction) of the vibrating body 6 substantially coincide with each other. These electrodes 61e
And 65e are detection electrodes, respectively.
e and 65e and the reinforcing plate 63 and induced voltage (induced voltage), that is, the voltage (induced voltage) induced by the longitudinal component of the vibration of the vibrating body 6 (longitudinal vibration component).
It is used to detect. In addition, the electrodes 61e and 65
Each of e is used in the second mode.

The electrodes 61a, 61b, 61c, 61
The electrodes 65a and 65e are provided on the back sides of d and 61e, respectively.
b, 65c, 65d and 65e are arranged.

One diagonal electrode 61a and 61c
And the electrodes 65a and 65c located on the back side thereof are all electrically connected, and similarly, the electrodes 61b and 61d on the other diagonal line and the electrodes 65b and 65d located on the back side thereof are all It is electrically connected. Similarly, the electrode 61e in the central portion and the electrode 65e located on the back side thereof are electrically connected (hereinafter, simply referred to as "connection").

As shown in FIG. 9, the energizing circuit 20 of the wire actuator 1 of the second embodiment includes an oscillating circuit 81,
It has a drive circuit 8 having an amplifier circuit 82 and a movement amount control circuit 83, a switch 9, and a switch 16.

The switch 9 is a switching means for switching between an electrode to be energized and an electrode used as a vibration detecting means. Switching the switch 9 switches the moving direction of the wire 2.

This switch 9 has two interlocking switch parts 91 and 92, and the electrode 61 of the vibrating body 6 is provided.
d is connected to the terminal 97 of the switch unit 91 and is connected to the electrode 61.
a is connected to the terminal 98 of the switch unit 92.

The terminal 93 of the switch section 91 and the terminal 96 of the switch section 92 are respectively connected to the output side of the amplifier circuit 82 of the drive circuit 8, and the amplifier circuit 82.
Therefore, an alternating voltage is applied to each of the terminals 93 and 96.

The reinforcing plate 63 of the vibrating body 6 is grounded. In addition, the terminal 94 of the switch unit 91
The terminals 95 of the switch section 92 and the switch section 92 are connected to the input side of the oscillation circuit 81 of the drive circuit 8.

The switch 16 has two interlocking switch parts 161 and 162.

The terminal 163 of the switch section 161 is connected to the terminals 94 and 95 of the switch 9, and the terminal 16
4 is connected to the electrode 61e of the vibrating body 6.

Then, the terminal 163 of the switch section 161.
Is connected to the input side of the oscillation circuit 81 of the drive circuit 8.

The terminal 166 of the switch section 162 is
The terminal 98 of the switch 9 is connected to the electrode 61 a of the vibrating body 6, and the terminal 168 is connected to the terminal 97 of the switch 9 and the electrode 61 d of the vibrating body 6.

The drive circuit 8 and the movement amount detecting means 7
Is the same as in the first embodiment described above,
The description is omitted.

Next, each mode will be described. In the first mode, the vibrating body 6 is not excited. That is,
No current is applied to any of the electrodes of the vibrating body 6. in this case,
The convex portion 66 of the vibrating body 6 is pressed against the wire 2, and the frictional force between the convex portion 66 and the wire 2 can maintain the wire 2 in a stopped state. That is, the wire 2 can be prevented from moving and the wire 2 can be held at a predetermined position.

In the second mode, vibration in a direction substantially perpendicular to the moving direction of the wire 2 is excited. That is, the electrodes 61 a, 61 b, 61 on both diagonal lines of the vibrating body 6
c, 61d, 65a, 65b, 65c and 65d are energized, and these electrodes 61a, 61b, 61c, 61d,
An alternating voltage is applied between the reinforcing plate 63 and 65a, 65b, 65c and 65d. Thereby, the vibrating body 6
Repeatedly expands and contracts in the longitudinal direction (long-side direction), that is, vibrates with a small amplitude in the longitudinal direction (longitudinal vibration). In other words, the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the longitudinal direction (long side direction).

When the vibrating body 6 contracts, the wire 2 is separated from the convex portion 66 and the frictional force between the wire 2 and the convex portion 66 disappears, or the frictional force decreases, and the wire 2 becomes free. It can move freely in either the upper or lower direction in FIG. On the other hand, when the vibrating body 6 extends, the wire 2 receives a pressing force from the convex portion 66, but since the direction is substantially perpendicular to the longitudinal direction of the wire 2, the wire 2 is elastic. It only deforms, that is, bends or bends, and does not move in either the upper or lower direction in FIG.

Therefore, the vibration of the vibrating body 6 brings the wire 2 into a free state and can freely move in either the upper or lower direction in FIG.

In the third mode, vibration having at least a vibration displacement component in the positive direction of movement of the wire 2 is excited. That is, the electrodes 61b, 61d, 65b and 65d located on the diagonal line of the vibrating body 6 are energized, and an AC voltage is applied between these electrodes 61b, 61d, 65b and 65d and the reinforcing plate 63. As a result, as described in the first embodiment, the wire 2 moves upward (forward direction) in FIG. At this time, the non-energized electrodes 61a, 61c, 65a located on the diagonal line of the vibrating body 6
And 65c are used as vibration detecting means for detecting the vibration of the vibrating body 6.

In the fourth mode, vibration having at least a vibration displacement component in the opposite direction to the moving direction of the wire 2 is excited. That is, the electrodes 61 a, 61 c, 65 a and 65 c located on the diagonal line of the vibrating body 6 are energized, and an AC voltage is applied between these electrodes 61 a, 61 c, 65 a and 65 c and the reinforcing plate 63. As a result, the wire 2 moves to the lower side (reverse direction) in FIG. 9 as described in the first embodiment. At this time, the non-energized electrodes 61b, 61d, 65b located on the diagonal line of the vibrating body 6
And 65d are used as vibration detecting means for detecting the vibration of the vibrating body 6.

Next, the operation of the wire actuator 1 will be described with reference to FIG. When there is an instruction to stop / free the wire 2 or an instruction of the moving direction and the moving amount of the wire 2 while the power switch is on, the moving amount control circuit 83 of the switches 9 and 16 and the drive circuit 8 is based on the instruction. Works. That is, the first mode,
It is set to any of the second mode, the third mode, and the fourth mode.

In the case of an instruction (third mode) to move the wire 2 to the upper side (forward direction) in FIG. 9, the terminals 163 and 167 of the switch 16 are connected as shown in FIG. , The switch 16 is switched so that the terminal 165 and the terminal 168 are connected, and the terminal 9 of the switch 9 is connected.
3 is connected to the terminal 97, and the switch 9 is switched so that the terminal 95 and the terminal 98 are connected. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrode 61b of the vibrating body 6,
61d, 65b and 65d are electrically connected to each other, and the electrodes 61a, 61c, 65a and 65c of the vibrating body 6 and the drive circuit 8 are connected.
The oscillator circuit 81 is electrically connected to the input side.

The oscillator circuit 81 and the amplifier circuit 82 of the drive circuit 8 are controlled by the movement amount control circuit 83, respectively.

The AC voltage output from the oscillation circuit 81 is
The electrodes 61b, 61d, and 65b are amplified by the amplifier circuit 82.
And 65d and the reinforcing plate 63. Thereby, as described above, the electrodes 61b, 61b of the vibrating body 6 are
The portions corresponding to d, 65b, and 65d repeatedly expand and contract, and the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the oblique direction shown by the arrow b in FIG. 6, or as shown by the arrow c, Elliptical vibration (elliptical motion) occurs, and the wire 2 receives a frictional force (pressing force) from the convex portion 66 when the portions of the vibrating body 6 corresponding to the electrodes 61b, 61d, 65b, and 65d extend, and the repeated friction occurs. The force (pressing force) moves to the upper side (forward direction) in FIG. 9.

At this time, the electrodes 61a, 61c, 65a and 65c that are not energized (not driven) serve as detection electrodes, and the electrodes 61a, 61c and 65a.
And 65c and the reinforcing plate 63 are used to detect a voltage (induced voltage).

The detected induced voltage (detection voltage) is
Based on the detected voltage, the oscillator circuit 81 outputs an AC voltage having a frequency (resonance frequency) at which the amplitude of the vibrating body 6 is maximum, that is, the detected voltage is maximum, based on the detected voltage. Thereby, the wire 2 can be moved efficiently.

Further, the movement amount control circuit 83 controls energization to each electrode based on the detected value of the movement amount detecting means 7 and the instructed movement amount (target value) of the wire 2.

That is, the sensor 7 of the movement amount detecting means 7
From 2 to the movement amount control circuit 83, pulse (pulse signal)
Is entered. The movement amount control circuit 83 counts the pulses, obtains the movement amount (actual value) of the wire 2 based on the count value (the number of pulses), and calculates the value and the instructed movement amount of the wire 2 (target value). Value), and the oscillation circuit 81 and the amplification circuit 82 are operated to drive the vibrating body 6 and move the wire 2 until the actual movement amount of the wire 2 reaches the instructed movement amount.

On the contrary, in the case of the instruction to move the wire 2 to the lower side (reverse direction) in FIG. 9 (fourth mode), the terminals 163 and 167 of the switch 16 are connected, The switch 16 is switched so as to connect the terminal 165 and the terminal 168, and the switch 9 is switched so that the terminal 94 and the terminal 97 of the switch 9 are connected and the terminal 96 and the terminal 98 are connected. As a result, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61a, 61 of the vibrating body 6 are formed.
c, 65a and 65c are electrically connected to each other, and the electrode 6 of the vibrating body 6 is
1b, 61d, 65b and 65d are electrically connected to the input side of the oscillation circuit 81 of the drive circuit 8. Since the subsequent operation is the same as the case of the instruction to move the wire 2 to the upper side in FIG. 9, the description thereof will be omitted.

In the case of the instruction to maintain the wire 2 in the stopped state (first mode), the terminals 163 and 167 of the switch 16 are connected and the terminals 165 and 168 are connected, as shown in FIG. The switch 16 is switched so that and are connected.

The movement amount control circuit 83 does not operate the oscillation circuit 81 and the amplification circuit 82. That is, no AC voltage is applied to any of the electrodes of the vibrating body 6.

The convex portion 66 of the vibrating body 6 is pressed (contacted) to the wire 2, and the frictional force between the convex portion 66 and the wire 2 maintains the wire 2 in a stopped state. That is, the wire 2 is prevented from moving, and the wire 2 is held at a predetermined position.

In the case of the first mode, the vibrating body 6
If an AC voltage is not applied to any of the electrodes, the switches 9 and 16 may be switched in any manner.

In the case of an instruction to set the wire 2 in the free state (second mode), the terminal 16 of the switch 16
4 is connected to the terminal 167, and the switch 16 is switched so that the terminal 166 and the terminal 168 are connected. Thereby, the output side of the amplifier circuit 82 of the drive circuit 8 and the electrodes 61a, 61b, 61c, 61d, 65a, 65 of the vibrating body 6 are formed.
The electrodes 6 of the vibrating body 6 are electrically connected to the electrodes 6b, 65c and 65d.
1e and 65e are electrically connected to the input side of the oscillation circuit 81 of the drive circuit 8.

The AC voltage output from the oscillation circuit 81 is
Amplified by the amplifier circuit 82, 61a, 61b, 61c, 6
It is applied between 1d, 65a, 65b, 65c and 65d and the reinforcing plate 63. As a result, as described above, the convex portion 66 of the vibrating body 6 vibrates (reciprocates) in the longitudinal direction, the wire 2 is in a free state, and can freely move in either the upper side or the lower side in FIG. 9. You can move.

At this time, the electrodes 61e and 65e are connected to the electrodes 61e and 65e and the reinforcing plate 63, respectively.
The voltage (induced voltage) induced between and is detected. The detected induced voltage (detection voltage) is input to the oscillation circuit 81, and the oscillation circuit 81
The amplitude of the longitudinal vibration of the vibrating body 6 is maximum, that is, an AC voltage having a frequency that maximizes the detection voltage is output. Thereby, the wire 2 can be moved more smoothly.

In the case of the second mode, the switch 9 may be switched in any way.

According to the wire actuator 1 of the second embodiment, the same effect as that of the above-described first embodiment can be obtained.

In this wire actuator 1, a state in which the wire 2 is maintained in a stopped state, that is, a high friction state, a state in which the wire 2 can be moved (the wire 2 is in a free state), that is, a low friction state, Since the arbitrary state can be selected from the four states of the state in which the wire 2 is moved in the forward direction and the state in which the wire 2 is moved in the reverse direction, versatility is wide.

According to the present invention, the vibrating body 6 is provided with a portion contacting the wire 2, that is, the convex portion 66 is provided at two or more places, and the plural convex portions 66 form the wire 2.
A frictional force (pressing force) may be applied to move the wire 2.

Here, in the above-mentioned vibrating body 6, the case where the driving electrodes are divided into four and driven has been described, but it shows an example for selectively exciting longitudinal vibration and bending vibration. Therefore, the present invention is not limited to the structure and driving method of the vibrating body 6 described above.

When such a wire actuator 1 is used to drive a joint of a robot hand, for example,
In the second mode, the position of the joint can be moved, and at the same time, the movement amount detecting means 7 can detect the movement amount for teaching. Further, in the third mode and the fourth mode, the joint can be moved in the forward and reverse directions, and in the first mode, the joint can be fixed at a desired position.

Next, a third embodiment of the wire actuator of the present invention will be described. FIG. 10: is a top view which shows 3rd Embodiment of the wire actuator of this invention. In addition, in the following description, the upper side in FIG.
The lower side is called "lower", the right side is called "right", and the left side is called "left".

Hereinafter, the wire actuator 1 of the third embodiment will be described focusing on the differences from the first embodiment described above, and the description of the same matters will be omitted.

As shown in the figure, in the wire actuator 1 of the third embodiment, in the vibrating body 6, the long side 602 of the vibrating body 6 and the wire 2 are substantially parallel to each other, that is, the short side 601 of the vibrating body 6. The wire 2 is installed so as to be substantially vertical.

This makes it possible to make the wire actuator 1 more compact (smaller in the vertical direction).

Further, the arm portion 68 is provided on the upper side of the reinforcing plate 63.
The vibrating body 6 is provided with a hole 68 in the arm portion 68 thereof.
In the vicinity of 1, a bolt 13 is fixed to a screw hole (not shown) provided in the base 4.

The convex portion 66 is provided at the right end of the long side 602 below the reinforcing plate 63.

According to the wire actuator 1 of the third embodiment, the same effect as that of the above-described first embodiment can be obtained.

Although not shown and described, the third
Also in the embodiment, it is preferable to have the movement amount detecting means 7 in the above-described first embodiment.

Next, a fourth embodiment of the wire actuator of the present invention will be described. FIG. 11: is a top view which shows 4th Embodiment of the wire actuator of this invention. In the following description, the upper side in FIG.
The lower side is called "lower", the right side is called "right", and the left side is called "left".

Hereinafter, the wire actuator 1 of the fourth embodiment will be described focusing on the differences from the third embodiment described above, and the description of the same matters will be omitted.

As shown in the figure, in the wire actuator 1 of the fourth embodiment, the convex portions 66 of the vibrating body 6 are provided at a plurality of locations (two locations in the illustrated configuration) of the reinforcing plate 63. The one convex portion 66 is provided at the right end of the lower long side 602 of the reinforcing plate 63, and the other convex portion 66.
Is provided at the left end of the long side 602 below the reinforcing plate 63.

In this vibrating member 6, the right convex portion 66 is located between the guide roller 51 and the guide rollers 55 and 56, and the left convex portion 66 is located between the guide roller 51 and the guide rollers 53 and 54. Are arranged as follows.

Further, the guide roller 51 is located at the center of the vibrating body 6 in the longitudinal direction, and the guide rollers 53 and 54,
The guide rollers 55 and 56 are arranged at substantially the same distance from the guide roller 51.

The convex portions 66 of the vibrating body 6 are brought into contact with the wire 2, and the wire 2 is pressed against the guide rollers 51, 53 and 55 by the convex portions 66 and bent. And each convex part 66 of the vibrating body 6 is respectively
The wire 2 receives a restoring force (elastic force), that is, a reaction force, and is pressed upward.

When the vibrating body 6 vibrates, the wire 2 alternately receives the frictional force (pressing force) from each convex portion 66 of the vibrating body 6 repeatedly and moves to the right or left side.

According to the wire actuator 1 of the fourth embodiment, the same effect as that of the third embodiment described above can be obtained.

In the wire actuator 1, the two protruding portions 66 of the vibrating body 6 alternately apply frictional force (pressing force) to the wire 2 to move the wire 2, so that one protruding portion 66 is provided. The wire 2 can be moved with a strong force as compared with the case where the wire 2 is moved by.

Although illustration and description are omitted, the fourth
Also in the embodiment, it is preferable to have the movement amount detecting means 7 in the above-described first embodiment.

Next, a fifth embodiment of the wire actuator of the present invention will be described. FIG. 12 is a plan view showing a fifth embodiment of the wire actuator of the present invention, showing a state in which one of the bases is removed, and FIG.
12 is a side view of the wire actuator shown in FIG. 12, and FIG. 14 is a sectional view taken along line BB in FIG. In addition,
In the following description, the upper side in FIG. 15 is referred to as “upper”, the lower side is referred to as “lower”, the right side is referred to as “right”, and the left side is referred to as “left”.

The wire actuator 1 according to the fifth embodiment will be described below with a focus on the differences from the above-described first or second embodiment, and the description of the same matters will be omitted.

As shown in these figures, the wire actuator 1 of the fifth embodiment has a plurality of plate-shaped actuator units (three actuator units 10a, 10b and 10c in the illustrated configuration).

In this case, the wire actuator 1 is
It has a pair of plate-shaped bases 41 and 42 which are arranged so as to be parallel to each other, and these bases 41 and 42 are used for the respective actuator units 10a, 10b and 10c.
It is shared by. The base 41 is arranged at the left end in FIG. 14, and the base 42 is arranged at the right end in FIG.

As shown in FIGS. 13 and 14, in the actuator units 10a, 10b and 10c, the arrangement directions of the wires 2 are substantially the same, and the thickness of the vibrating body 6 (actuator units 10a, 10b and 10c) is large. It is arranged so as to overlap in the vertical direction. The actuator units 10a, 10b and 10c are shown in FIG.
4, the actuator units 10a, 10b, and 10c are arranged in this order from left to right. Further, as shown in FIG. 14, the wires 2 are arranged in a row in the horizontal direction in FIG.

In this way, each actuator unit 10
By stacking a, 10b, and 10c, each wire 2 can be concentrated (integrated).

As shown in FIG. 14, at a position corresponding to the hole 681 of the arm 68 on the right side of FIG. 12 of the vibrating body 6, between the base 41 and the vibrating body 6 of the actuator unit 10a, the actuator unit 10a is provided. A hole 145 is provided between the vibrating body 6 and the vibrating body 6 of the actuator unit 10b, between the vibrating body 6 of the actuator unit 10b and the vibrating body 6 of the actuator unit 10c, and between the actuator unit 10c and the base 42. Spacers 141, 142, 143 and 144
Is installed. Similarly, four spacers (not shown) having holes are provided at positions corresponding to the holes 681 of the arm portion 68 on the left side in FIG. 12 of the vibrating body 6.

Two bolts 15 (one bolt not shown) are inserted into the hole 411 provided in the base 41, the hole 145 of each spacer 141 to 144 and the hole 681 of each arm 68, respectively. , The screw 6 is screwed into a screw hole 421 provided in the base 42, and each of the vibrating bodies 6 is fixed by the two bolts 15.

Incidentally, each actuator unit 10a-
Since the structure and operation of 10c are almost the same as those of the above-described first or second embodiment, description thereof will be omitted.

According to the wire actuator 1 of the fifth embodiment, the same effect as that of the above-described first or second embodiment can be obtained.

In the wire actuator 1, since the actuator units 10a to 10c overlap in the thickness direction of the vibrating body 6, the wire actuator 1 can be made smaller.

Further, in this wire actuator 1, since the respective actuator units 10a to 10c are plate-shaped (planar), they can be easily stacked (laminated) and assembled easily. it can.

Though not shown and described, the fifth
Also in the embodiment, each actuator unit 10
It is preferable that a, 10b and 10c have the movement amount detecting means 7 in the first embodiment described above.

Next, a sixth embodiment of the wire actuator of the present invention will be described. FIG. 15 is a cross-sectional view showing a sixth embodiment of the wire actuator of the present invention (a view corresponding to FIG. 14 of the fifth embodiment).

The wire actuator 1 according to the sixth embodiment will be described below, focusing on the differences from the first or second embodiment described above, and the description of the same matters will be omitted.

As shown in the figure, the wire actuator 1 of the sixth embodiment has a plurality of plate-shaped (four in the illustrated configuration) actuator units 10.

In each actuator unit 10, the arrangement directions of the wires 2 are substantially the same, and the wires 2 are gathered at the center, that is, the convex portions 66 of the vibrating body 6.
They are radially (90 ° apart in the illustrated configuration) centered on the (wire 2) side.

Since the structure and operation of each actuator unit 10 are almost the same as those of the above-described first or second embodiment, the description thereof will be omitted.

According to the wire actuator 1 of the sixth embodiment, the same effect as that of the above-described first or second embodiment can be obtained.

In this wire actuator 1, the wires 2 can be concentrated by arranging the actuator units 10 radially.

Although not shown and described, the sixth
Also in the embodiment, each actuator unit 10
Preferably has the movement amount detecting means 7 in the first embodiment described above.

Further, in this embodiment, the angles (center angles) between the actuator units 10 are equal angles,
In the present invention, the angles need not be equal.

Next, a seventh embodiment of the wire actuator of the present invention will be described. FIG. 16: is a top view which shows 7th Embodiment of the wire actuator of this invention.

Hereinafter, the wire actuator 1 according to the seventh embodiment will be described focusing on the differences from the above-described first or second embodiment, and the description of the same matters will be omitted.

As shown in the figure, the wire actuator 1 of the seventh embodiment is an actuator for directly driving (moving) the annular wire 2, and the annular wire 2
And an actuator body 3 to which the wire 2 is attached so as to be movable in the direction along the pattern.

The actuator body 3 is composed of a plate-shaped base 4
It has a vibrating body 6 for moving the wire 2, guide rollers (guide means) 51, 52, 57, 58, 59, 111 and 112, and a driven roller 12.

The vibrating body 6 is installed on one surface of the base 4 in a posture parallel to the base 4, and each guide roller 5
1, 52, 57, 58, 59, 111 and 112 are
Each of them is rotatably installed on the one surface of the base 4 in a posture parallel to the base 4.

On the other hand, the driven roller 12 is rotatably installed in a position parallel to the base 4, the vibrating body 6 and each guide roller at a position separated from the vibrating body 6 (base 4) by a predetermined distance. That is, the vibrating body 6 (base 4) is
The driven roller 12 is located on one end side, and the driven roller 12 is located on the other end side.

The wire 2 is hung on the driven roller 12 and the driven roller 12 and the guide rollers 51, 5
2, 57, 58, 59, 111 and 112,
It is movably held in the illustrated pattern (shape), and its moving direction is regulated (guided). That is, the vibration of the vibrating body 6 causes the wire 2 to circulate while holding the illustrated pattern.

Further, the guide rollers 51, 52, 57, 5
8, 59 and the peripheral surface (outer peripheral surface) of the driven roller 12,
Grooves (disengagement prevention means) 511, 521, 57, respectively
1, 581, 591 and 121 are formed along the outer circumference, and the wire 2 has the grooves 511, 521, 57.
1, 581, 591 and 121. This prevents the wire 2 from being separated from the driven roller 12 and each guide roller.

The vibrating body 6 is located inside the wire 2, and the convex portion 66 of the vibrating body 6 is in contact with the inner side of the wire 2. Thereby, the wire actuator 1 can be downsized as compared with the case where the vibrating body 6 is provided outside the wire 2.

When the wire 2 moves (circulates) in the direction of the arrow d due to the vibration of the vibrating body 6, the driven roller 12 rotates counterclockwise in FIG. 16, and the driven roller 12 (via the driven roller 12 Driving force (output) can be taken out.

On the contrary, the vibration of the vibrating body 6 causes the wire 2
Moves (circulates) in the direction of arrow e, the driven roller 12
16 rotates clockwise in FIG. 16, and similarly, the driving force (output) from the driven roller 12 (via the driven roller 12).
Can be taken out.

According to the wire actuator 1 of the seventh embodiment, the same effect as that of the above-described first or second embodiment can be obtained.

Although illustration and description are omitted, the seventh
Also in the embodiment, it is preferable to have the movement amount detecting means 7 in the above-described first embodiment.

Further, in the present embodiment, the vibrating body 6 includes the short side 601 of the vibrating body 6 and the wire 2 (the convex portion 66 of the wire 2).
Of the vibrating body 6 and the wire 2 (the tangent line of the portion where the convex portion 66 of the wire 2 is in contact) are substantially perpendicular to each other. The vibrator 6 is installed, but is not limited to this.
May be installed substantially parallel to each other, that is, the short side 601 of the vibrating body 6 and the wire 2 (a tangent line at a portion where the convex portion 66 of the wire 2 is in contact) are substantially vertical.

Further, as in the above-described fourth embodiment, the vibrating body 6 may be provided with a portion contacting the wire 2, that is, a convex portion 66, at two or more locations.

Further, as in the fifth and sixth embodiments described above, a plurality of actuator units may be provided and, for example, they may be arranged so as to overlap each other in the thickness direction or be arranged radially. Good.

The wire actuator of the present invention has been described above based on the illustrated embodiments. However, the present invention is not limited to these, and the structure of each part may be any structure having the same function. Can be replaced with one.

Further, the wire actuator of the present invention may be a combination of any two or more configurations (features) of the above embodiments.

Further, in the present invention, the shape and structure of the vibrating body are not limited to those shown in the drawings. For example, the vibrating body may have one piezoelectric element, one without a reinforcing plate, or a portion contacting with a wire. The shape may be such that the width gradually decreases toward the end.

In the above embodiment, the vibrating body 6 is 1
One actuator unit 10 is provided with one, but in the present invention, one actuator unit 10 may be provided with a plurality of vibrators 6.

The use of the wire actuator of the present invention is not particularly limited. For example, when the wire actuator is provided with a plurality of actuator units, it may be used for pulling (driving) a finger of a robot.

[0218]

As described above, according to the present invention, the wire is moved by using the vibrating body, and in particular, the wire is directly driven by using the vibrating body, whereby the size of the wire actuator as a whole is reduced, and particularly, the wire actuator is made thin. Can be realized.

Further, the structure can be simplified and the manufacturing cost can be reduced. You can also move the wire in either the forward or reverse direction,
In particular, the first mode of maintaining the wire in a stopped state,
Since it has a second mode in which the wire can be moved, a third mode in which the wire is moved in the forward direction, and a fourth mode in which the wire is moved in the reverse direction, it has wide versatility.

By using a vibrating body having a plurality of divided electrodes, it is possible to move the wire in both forward and reverse directions with a single vibrating body. Since the above modes, the second mode, the third mode, and the fourth mode can be adopted, the number of components can be reduced, which is advantageous for downsizing the entire wire actuator.

Since no ordinary motor is used,
Since there is no electromagnetic noise or there is little electromagnetic noise, it is possible to prevent the influence on peripheral devices.

[Brief description of drawings]

FIG. 1 is a plan view showing a first embodiment of a wire actuator of the present invention.

FIG. 2 is a side view of the wire actuator shown in FIG.

FIG. 3 is a perspective view of a vibrating body in the wire actuator shown in FIG.

4 is a side view of a vibrating body in the wire actuator shown in FIG. 1 (a view seen from the direction of arrow A in FIG. 3).

5 is a plan view showing how the vibrating body of the wire actuator shown in FIG. 1 vibrates. FIG.

FIG. 6 is a plan view showing how a vibrating body of the wire actuator shown in FIG. 1 vibrates.

7 is a block diagram showing a circuit configuration of the wire actuator shown in FIG.

FIG. 8 is a perspective view of a vibrating body according to a second embodiment of the wire actuator of the present invention.

FIG. 9 is a block diagram showing a circuit configuration in a second embodiment of the wire actuator of the present invention.

FIG. 10 is a plan view showing a third embodiment of the wire actuator of the present invention.

FIG. 11 is a plan view showing a fourth embodiment of the wire actuator of the present invention.

FIG. 12 is a plan view showing a fifth embodiment of the wire actuator of the present invention, showing a state in which one base is removed.

13 is a side view of the wire actuator shown in FIG.

14 is a cross-sectional view taken along the line BB in FIG.

FIG. 15 is a cross-sectional view showing a sixth embodiment of the wire actuator of the present invention (a view corresponding to FIG. 14 of the fifth embodiment).

FIG. 16 is a plan view showing a seventh embodiment of the wire actuator of the present invention.

[Explanation of symbols]

1 wire actuator 10, 10a-10c actuator unit 2 wires 3 Actuator body 4, 41 base 411 holes 42 base 421 screw hole 51-59 Guide roller 511-591 groove 6 vibrating body 601 short side 602 long side 61, 65 electrodes 61a to 61e electrodes 65a to 65e electrodes 62, 64 Piezoelectric element 63 Reinforcement plate 66 convex 661 groove 662 inner surface 68 Arms 681 hole 7 Moving amount detection means 71 slit plate 72 sensor 8 drive circuit 81 oscillator circuit 82 amplifier circuit 83 Movement amount control circuit 9 switch 91, 92 switch 93 to 98 terminals 111, 112 Guide roller 12 Driven roller 121 groove 13 volt 141-144 spacer 145 holes 15 volts 16 switch 161, 162 switch section 163-168 terminals 20 energizing circuit

Claims (25)

[Claims] 1. A vibrating body comprising a wire and a piezoelectric element and an electrode divided into a plurality of pieces, the vibrating body being in contact with the wire, wherein the vibrating body is connected to the piezoelectric element via the electrode. It vibrates by applying an AC voltage, and by this vibration, a force is repeatedly applied to the wire to move the wire in the longitudinal direction of the wire, and the vibrating body is selected by selecting an energization pattern to each electrode. The wire actuator is characterized in that the wire can be moved in either the forward direction or the reverse direction by changing the vibration pattern of the wire actuator. 2. The wire actuator according to claim 1, further comprising an energizing circuit for energizing the electrodes while selecting an energizing pattern for the electrodes. 3. The wire actuator according to claim 1, further comprising a vibration detecting unit that detects vibration of the vibrating body. 4. The wire actuator according to claim 3, wherein among the electrodes, an electrode that is not energized is used to detect the vibration of the vibrating body. 5. The wire actuator according to claim 1, wherein the vibrating body has a plate shape. 6. The wire actuator according to claim 5, wherein the vibrating body has a substantially rectangular shape. 7. The vibrating body has two electrodes located on one diagonal line and two electrodes located on the other diagonal line, and when moving the wire in the positive direction, one of 7. The wire according to claim 6, which is configured to energize two electrodes located on the diagonal of the line and energize two electrodes located on the other diagonal when the wire is moved in the opposite direction. Actuator. 8. The vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel to each other.
Or the wire actuator according to 7. 9. The vibrating body is installed such that a long side of the vibrating body and the wire are substantially parallel to each other.
Or the wire actuator according to 7. 10. A vibrating body comprising a wire and a piezoelectric element and an electrode that is provided in contact with the wire and that is divided into a plurality of electrodes. The vibrating body is connected to the piezoelectric element via the electrode. A wire actuator that vibrates by applying an AC voltage, and by this vibration, repeatedly applies a force to the wire to move the wire in the longitudinal direction of the wire, the first actuator maintaining the wire in a stopped state. A mode, a second mode that allows movement of the wire, a third mode that moves the wire in a forward direction, and a fourth mode that moves the wire in a reverse direction, The vibration pattern of the vibrating body is changed by selecting an energization pattern for the electrodes, and the first mode, the second mode, the third mode, and the fourth mode. A wire actuator characterized in that it is configured to be able to select one of the modes. 11. The wire actuator according to claim 10, further comprising an energizing circuit that energizes the electrodes while selecting an energizing pattern for each of the electrodes. 12. The wire actuator according to claim 10, further comprising a vibration detecting unit that detects vibration of the vibrating body. 13. The wire actuator according to claim 12, wherein among the electrodes, an electrode that is not energized is used to detect vibration of the vibrating body. 14. A wire and a vibrating body provided in contact with the wire and provided with a piezoelectric element and an electrode, wherein the vibrating body applies an alternating voltage to the piezoelectric element via the electrode. A wire actuator that vibrates by virtue of this vibration and repeatedly applies a force to the wire to move the wire in the longitudinal direction of the wire, wherein a first mode in which the vibrating body is not excited; and the wire Second mode of exciting vibration in a direction substantially perpendicular to the moving direction of the wire, at least a third mode of exciting vibration having a vibration displacement component in the positive direction of the moving direction of the wire, and at least moving of the wire And a fourth mode for exciting vibration having a vibration displacement component in the opposite direction. 15. The wire actuator according to claim 11, wherein the vibrating body has a plate shape. 16. The wire actuator according to claim 15, wherein the vibrating body has a substantially rectangular shape. 17. The vibrating body has two electrodes positioned on one diagonal line and two electrodes positioned on the other diagonal line, and in the first mode, the four electrodes of the four electrodes are arranged. No current is applied to any of the electrodes, and in the second mode, all of the four electrodes are energized, and in the third mode, two electrodes located on one diagonal line are energized. The wire actuator according to claim 16, wherein in the fourth mode, the two electrodes located on the other diagonal line are energized. 18. The wire actuator according to claim 17, wherein the vibrating body has a detection electrode for detecting a voltage induced in the piezoelectric element in a central portion thereof. 19. The wire actuator according to claim 18, wherein the detection electrode is used in the second mode. 20. The wire actuator according to claim 16, wherein the vibrating body is installed such that a short side of the vibrating body and the wire are substantially parallel to each other. 21. The wire actuator according to claim 20, wherein in the second mode, the vibrating body vibrates in the direction of its long side, and the wire does not substantially move in this vibration. 22. The wire actuator according to claim 1, further comprising at least one arm provided so as to project from the vibrating body, and the vibrating body being supported by the arm. 23. The vibrating body according to claim 1, wherein the vibrating body is in contact with the wire to bend the wire, and the restoring force of the wire presses the vibrating body. Wire actuator. 24. The wire actuator according to claim 1, further comprising a moving amount detecting means for detecting a moving amount of the wire. 25. The wire actuator according to claim 24, wherein energization to the electrodes is controlled based on a detection value of the movement amount detection means.