JP3609770B2 - Swing actuator device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a swing actuator device that can be used, for example, in a steering mechanism that controls the airflow by changing the attitude of a wing in a flying object, or a mirror drive mechanism that changes the optical axis direction of an optical system.
[0002]
[Prior art]
Conventionally, there has been no oscillating actuator device that can be used for, for example, a flying body steering mechanism or an optical mirror driving mechanism.
[0003]
By the way, there is Japanese Patent No. 2605696 as a prior example of an actuator device related to a steering mechanism of a flying object. As shown in FIG. 5, the structure of the steering blade 101 in this prior example is such that the upper and lower front edge members 105U and 105L mounted on the upper and lower surfaces of the elastically deformable plate-shaped blade core 103 and the rear upper and lower A plurality of piezoelectric bodies 109U, 109L are arranged vertically between the upper and lower rear edge members 107U, 107L mounted on both sides, and the entire surface of the steering blade 101 is covered with a stretchable film 111. It is.
[0004]
In the above configuration, for example, the curved shape of the steering blade 101 is controlled by controlling the displacement of the upper and lower piezoelectric bodies 109U and 109L to be opposite to each other.
[0005]
[Problems to be solved by the invention]
In the conventional steering mechanism as described above, since the deformation of the curved shape accompanying the displacement of the piezoelectric bodies 109U and 109L is used, the deformation amount is excellent although it is excellent in terms of simplification of the structure and reduction in size and weight. There is a problem that a small and sufficient steering force cannot be obtained. Incidentally, for example, the displacement amount of the multilayer piezoelectric actuator “NLA-5 × 5 × 18” manufactured by Tokin Corporation is about 15 μm in length with a length of 18 mm (when 100 V is applied, there is no external load that restrains the displacement) ).
[0006]
The present invention has been made in view of the conventional problems as described above. For example, when it is adopted as a steering mechanism of a steering blade, the steering mechanism can be configured by being housed inside the steering blade, and a large deformation amount can be obtained. In addition, when employed as a mirror drive mechanism of an optical system, an object of the present invention is to provide a swing actuator device capable of finely adjusting the mirror angle.
[0007]
[Means for Solving the Problems]
In view of the above-described problems, the invention according to claim 1 is configured so that the respective pivot shaft portions of the first and second swing members provided so as to be swingable with respect to the rotation reference member are parallel or coaxial. And the first and second oscillating members are overlapped in the oscillating direction, and the reaction force of the actuator for causing the first oscillating member to oscillate about the oscillating shaft center portion, The configuration is such that it is received by the second oscillating member, and the position of the operating point of the actuator acting on the first and second oscillating members is the oscillating direction with respect to each oscillating shaft center portion. The configuration is unevenly distributed.
[0008]
According to a second aspect of the present invention, in the swing actuator device according to the first aspect, the actuator is an actuator that is extendable or movable, and a movable portion is movable relative to the fixed portion, and the first and second swing actuator devices. It is the structure accommodated in the opposing surface of a moving member.
[0009]
According to a third aspect of the present invention, in the oscillating actuator device according to the first or second aspect, the first and second oscillating members and the rotation reference member are rigid bodies, and the first and second oscillating members are rigid bodies. The swing shaft center portion of the swing member is provided integrally and elastically deformable with the rotation reference member.
[0010]
The invention according to claim 4 is the swing actuator device according to claim 1, 2, or 3, wherein the rotation reference member and the first and second swing members are integrally formed of the same material. is there.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the swing actuator device according to the embodiment of the present invention will be described in detail with reference to the drawings. The swing actuator device is provided, for example, on the main wing 3 of the flying object 1 as shown in FIG. It can be used as the flap mechanism 5 and can be used for, for example, a mirror drive mechanism of an optical system.
[0012]
As shown in FIG. 1 (B), the swing actuator device 7 according to the embodiment of the present invention is capable of swinging with respect to a rotation reference member 9 made of a rigid body. Members 11A and 11B are provided. The first and second oscillating members 11A and 11B are formed of a rigid body like the rotation reference member 9, and the rotation reference member 9 and the first and second oscillating members 11A and 11B are They are integrally provided via elastically deformable thin plate-like hinge portions 13A and 13B.
[0013]
More specifically, the first and second swinging members 11A and 11B have a relatively thick structure, and stepped portions or recesses 15A and 15B are formed between the first and second swinging members 11A and 11B. The hinge portions 13A and 13B that are thin and elastically deformable are formed, and the rotation reference member 9 and the first and second swinging members 11A and 11B are integrally formed of the same material. Therefore, the number of parts is reduced, and the overall configuration can be simplified.
[0014]
The first and second swinging members 11A and 11B can swing in the vertical direction in FIG. 1B, with the hinges 13A and 13B serving as swinging center portions. That is, the swing axis portions of the first and second swing members 11A and 11B are parallel to each other, and at least a part of the first and second swing members 11A and 11B overlap each other in the swing direction. It is an aspect.
[0015]
An appropriate actuator 17 is provided to swing the first and second swinging members 11A and 11B using the hinge portions 13A and 13B as swinging shaft centers. The actuator 17 is housed in recesses 19A and 19B formed on the opposing surfaces of the first and second swinging members 11A and 11B.
[0016]
As the actuator 17, for example, a shape memory alloy that can expand and contract, a small fluid pressure cylinder, or the like can be used, but it is desirable to use a surface acoustic wave type linear motor (ultrasonic motor). As this ultrasonic motor, the Japan Society of Mechanical Engineers No. It is possible to employ the one described in the 01-251 13th “Electromagnetic Force-Related Dynamics” Symposium Proceedings P741. In addition, since the said ultrasonic motor is already well-known, the description about the detail is abbreviate | omitted.
[0017]
When adopting the ultrasonic motor, as schematically illustrated schematically, the stator vibrator as the fixing portion 21 in the ultrasonic motor is housed and fixed, for example, in the recess 19B in the second swing member 11B. The slider as the movable portion 23 in the ultrasonic motor is configured to be housed and fixed in the recess 19A in the first swing member 11A. That is, the fixed portion of the actuator 17 is appropriately housed and fixed in the recess in one of the swing members, and the movable portion is stored and fixed in the recess in the other swing member.
[0018]
The operating point at which the movable portion 23 acts on the first swing member 11A in the actuator 17 is a position that is appropriately offset from the position of the hinge portion 13A (in FIG. 1B, the inner side below the hinge portion 13A). ), That is, in the vicinity of the opposing surface that faces the second swinging member 11B. Further, the reaction force when the movable portion 23 acts on the first swing member 11A is received by the second swing member 11B via the fixed portion 21, and the point at which this reaction acts is that the hinge portion 13B. From the position (in FIG. 1B, a position above the hinge portion 13B), that is, in the vicinity of the facing surface that faces the first swing member 11A. In other words, the position of the operating point of the actuator 17 with respect to the first and second swinging members 11A and 11B is the swinging direction with respect to the hinge portions 13A and 13B as the swinging shaft center portions (FIG. 1B). Is unevenly distributed in the vertical direction).
[0019]
In the configuration as described above, when the movable portion 23 of the actuator 17 acts to move leftward (arrow FA direction) in FIG. 1B and presses the first swing member 11A, the reaction force is It acts on the 2nd rocking | swiveling member 11B via the fixing | fixed part 21, and the direction turns into the arrow FB direction.
[0020]
Therefore, the rotational driving force in the direction of the arrow MA acts on the hinge portion 13A of the first swing member 11A, and the rotational driving force in the direction of the arrow MB acts on the hinge portion 13B. Both of the moving members 11A and 11B are swung in the direction of the arrow A to be in a state as shown in FIG. FIG. 1C is an analysis example (analysis diagram after deformation) showing the deformation of the swing actuator device 7.
[0021]
As already understood, the swing angle of the first and second swinging members 11A and 11B can be controlled by controlling the driving force in the actuator 17, and the actuator 17 is the same as described above. By operating in the reverse direction, the first and second swing members 11A and 11B can swing in the reverse direction.
[0022]
Here, the mirror can be used as a mirror driving mechanism that changes the optical axis direction of the optical system by attaching a reflecting mirror to one of the outer surfaces of the first and second swinging members 11A and 11B.
[0023]
That is, the swing actuator device 7 can be used as a steering mechanism in the flying object 1 and also as a mirror drive mechanism in the optical system.
[0024]
FIG. 2 shows a second embodiment, in which the first and second swing members 11A and 11B can be swung more easily and larger. That is, by forming a hollow portion 25 in the rotation reference member 9 adjacent to the concave portions 15A and 15B, the second hinge portions 27A and 27B that are elastically deformable to the hinge portions 13A and 13B are provided. The first and second swinging members 11A, 11B are swung in the swinging direction of the first and second swinging members 11A, 11B at portions formed adjacent to each other and connecting the first hinge portions 13A, 13B and the second hinge portions 27A, 27B. In contrast, the third hinge portion 29 having a thin plate shape that is thin in an orthogonal direction is formed.
[0025]
In addition, since the other structure is the same as the structure mentioned above, the overlapping description is abbreviate | omitted as attaching | subjecting the same code | symbol to the component which show | plays the same function.
[0026]
In the above configuration, as described above, when the rotational driving force in the directions of the arrows MA and MB acts on the first hinge portions 13A and 13B, the first and second swinging members 11A and 11B swing in the arrow A direction. To do. At this time, the first hinge parts 13A and 13B are elastically deformed and curved, and the reaction force acts on the second hinge parts 27A and 27B and the third hinge part 29.
[0027]
Therefore, although not shown, the second hinge portion 27A is elastically deformed and curved so that the outer side has a convex shape, and the second hinge portion 27B has a concave shape on the outer side, and the third hinge The portion 29 is elastically deformed and curved so as to have an S shape. Therefore, the second hinge portions 27A and 27B and the third hinge portion 29 are elastically deformed as described above, so that the bending stress of the first hinge portions 13A and 13B is relieved and the deformation is easy. Accordingly, the swinging of the first and second swinging members 11A and 11B becomes easier, and the presence of a plurality of hinge portions increases the total deformation of the hinge portions, thereby increasing the first and second swinging members. The swinging of the moving members 11A and 11B can be performed more greatly.
[0028]
Note that FIG. 2B is an analysis example showing the deformation of the operation, and it was confirmed by this analysis that the swing displacement amount increased 1.3 times compared to the configuration shown in FIG.
[0029]
FIG. 3 shows a third embodiment of the present invention. In this embodiment, the shape corresponding to the cavity 25 in the second embodiment is centered on the left-right symmetrical shape in FIG. The components having the same functions are denoted by the same reference numerals, and redundant description is omitted.
[0030]
In the third embodiment, the central hinge portions 27A and 27B are the rotation reference for the left and right first and second swinging members 11A and 11B due to the symmetrical shape in FIG. It is the structure which serves as a reference member.
[0031]
In the above configuration, when the movable portion 23 of the left and right actuators 17 is operated in the same direction and a force in the direction of the arrow FA is applied to the left and right first swing members 11A, the left and right second swing members 11B are used as the reaction force. Since the force in the direction of the arrow FB acts on the left and right hinge portions 13A and 13B, the rotational driving force in the directions of the arrows MA and MB acts on the left and right hinge parts 13A and 13B, respectively. Similarly, the first and second swing members 11A and 11B on the left side swing in the direction of arrow A and swing in the direction of arrow B.
[0032]
As described above, when the left and right first and second swinging members 11A and 11B swing in the directions of arrows A and B, the hinge portions 27A and 27B and the left and right hinge portions 29 are elastically deformed in the same manner as described above. When the first and second swinging members 11A and 11B can be swung easily and can be swung more greatly, and the left and right first and second swinging members 11A and 11B are added together, The amount of change in oscillation is even greater.
[0033]
When swinging the left and right first and second swinging members 11A and 11B, even if the left and right actuators 17 are operated in the same direction as described above, depending on circumstances, the left and right actuators 17 may be individually moved. It is also possible to operate in the reverse direction. That is, the left and right actuators 17 may be individually operated in the same direction or in the opposite direction depending on the use mode.
[0034]
In the above description, the hinge portions 13A and 13B of the first and second swinging members 11A and 11B are provided apart from each other and the operating point of the actuator 17 is provided inside the hinge portions 13A and 13B. As shown in FIG. 4, the first and second swinging members 11A and 11B are provided close to each other and are provided in the recesses 19A and 19B of the first and second swinging members 11A and 11B. Even if the operating point of the actuator 17A is set on the outer side (near the outer surface) than the hinge parts 13A and 13B, the same effect as described above can be obtained. As an example of the actuator 17A, for example, a small fluid pressure cylinder is illustrated.
[0035]
In the above configuration, when the hinge portions 13A and 13B are arranged on the same plane (divided on the same plane) in the direction orthogonal to the paper surface in FIG. The swinging shaft centers of the members 11A and 11B are coaxial.
[0036]
【The invention's effect】
As can be understood from the above description, according to the present invention, an actuator housed between and interposed between the first and second swinging members swingable in the same direction swings one swinging member. The configuration in which the reaction force when acting as much as possible is received by the other swinging member is configured to swing the first and second swinging members in the same direction, so the overall configuration is simple. It is easy to reduce the size and size.
[0037]
Therefore, when the swing actuator device according to the present invention is applied to, for example, a steering mechanism in a flying object, a steering mechanism in which an actuator is housed in a wing can be provided. Can be used. Further, the wing can be swung greatly, so that it is possible to increase the steering force and improve the motion performance of the flying object.
[Brief description of the drawings]
FIG. 1 is a configuration explanatory view showing an application example of a swing actuator device according to an embodiment of the present invention and a configuration of a swing actuator.
FIG. 2 is an explanatory diagram showing a configuration of a swing actuator device according to a second embodiment of the present invention.
FIG. 3 is a configuration explanatory view showing a configuration of a swing actuator device according to a third embodiment.
FIG. 4 is a diagram illustrating the configuration of a swing actuator device according to a fourth embodiment.
FIG. 5 is an explanatory diagram of a steering blade as a conventional example.
[Explanation of symbols]
7 oscillating actuator device 9 rotation reference member 11A first oscillating member 11B second oscillating member 13A, 13B hinge part 17 actuator 21 fixed part 23 movable part 25 cavity part 27A, 27B second hinge part 29 first 3 hinges

Claims (4)

Each of the first and second swinging members provided swingably with respect to the rotation reference member is provided in parallel or coaxially with each other, and the first and second swinging members are swung. The actuator is configured to receive the reaction force of the actuator for swinging the first swing member around the swing shaft center with the second swing member; An oscillating actuator device characterized in that the position of the operating point of the actuator acting on the first and second oscillating members is unevenly distributed in the oscillating direction with respect to each oscillating shaft center portion. The swing actuator device according to claim 1, wherein the actuator is an actuator that can be extended and contracted or a movable portion is movable with respect to the fixed portion, and is housed on opposing surfaces of the first and second swing members. A swing actuator device characterized by that. 3. The swing actuator device according to claim 1, wherein the first and second swing members and the rotation reference member are rigid bodies, and swing shafts of the first and second swing members are provided. The swing actuator device is characterized in that the portion is provided integrally and elastically deformable with the rotation reference member. 4. The swing actuator device according to claim 1, wherein the rotation reference member and the first and second swing members are integrally formed of the same material.

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