JP4233290B2 - Shape memory alloy actuator - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a shape memory alloy actuator that operates by utilizing a shape recovery force developed by a shape memory alloy.
[0002]
[Prior art]
Conventional shape memory alloy actuators generally have a configuration in which when an external force is applied to an operation end (drive end), the external force directly acts on the shape memory alloy through the operation end.
[0003]
Further, in many cases, the conventional shape memory alloy actuator, when moving the operating end in one direction, drives the operating end with the shape recovery force of the shape memory alloy while moving the operating end in the opposite direction. The driving end is driven by the restoring force of the bias spring, and the operating end is driven mainly by the shape recovery force of the shape memory alloy when viewed only with respect to the movement of the operating end in the one direction.
[0004]
Conventionally, there has been no bistable shape memory alloy actuator that has two stable positions at the operation end and can withstand practical use. There has also been no monostable shape memory alloy actuator in which the operating end has one stable position and the position of the operating end can be quickly reversed.
[0005]
[Patent Document 1]
Japanese Patent Laid-Open No. 2-81961 (full text, Fig. 1-9)
[Patent Document 2]
JP-A 63-309780 (full text, Fig. 1-4)
[Patent Document 3]
JP 59-206681 (full text, FIG. 3)
[Patent Document 4]
Japanese Patent Laid-Open No. 3-168367 (full text, FIG. 1-11)
[Patent Document 5]
US Pat. No. 4,544,988
[0006]
[Problems to be solved by the invention]
A shape memory alloy given a large pre-deformation has a very large shape recovery force upon heating, exceeding its own material strength. For example, the shape recovery force of a shape memory alloy that is deformed by 1% or more and restrains the strain may exceed the fatigue strength or the elastic limit. However, in the conventional shape memory alloy actuator, in general, when the external force is applied to the operation end as described above, the external force is directly applied to the shape memory alloy through the operation end. If the end is constrained during operation or an unexpectedly strong external force is applied to the operating end, excessive stress is applied to the shape memory alloy, which is a major cause of performance degradation or destruction. It was.
[0007]
In addition, in a shape memory alloy actuator called a differential type having two shape memory alloys that drive the operation ends in opposite directions, the two shape memory alloys have a strong shape recovery force unless they are sufficiently cooled. Attracted, and sometimes caused fatal damage to the shape memory alloy.
[0008]
Further, in the conventional shape memory alloy actuator, as described above, at least the movement in one direction of the operation end is mainly performed by the shape recovery force of the shape memory alloy, so that the operation speed is slow and expensive. There was also a problem that a relatively large amount of shape memory alloy was required, the cost was increased, and the amount of energy used was also increased.
[0009]
Therefore, the present applicant has previously proposed a stable shape memory alloy actuator capable of solving the above-mentioned conventional problems in Japanese Patent Application No. 2001-70032. However, in the actuator disclosed in the embodiment of the prior application, a spring is interposed between the intermediate member and the operation end member, and the position and direction of the spring greatly change during operation, so that the intermediate member Since the direction in which the member and the operation end member are biased is changed, there is a problem that the apparatus tends to be relatively large.
[0010]
The present invention has been made in view of such circumstances, and one object of the present invention is to provide an external force that directly acts on the shape memory alloy through the operation end even if a force acts on the operation end from the outside. An object of the present invention is to provide a shape memory alloy actuator that does not.
[0011]
Another object of the present invention is to provide a shape memory alloy actuator having a high operating speed.
[0012]
Another object of the present invention is to provide a bistable shape memory alloy actuator having an operation end having two stable positions.
[0013]
Another object of the present invention is to provide a monostable type shape memory alloy actuator in which the operating end has one stable position and the position of the operating end can be quickly reversed.
[0014]
Another object of the present invention is that, in a differential shape memory alloy actuator, even when both shape memory alloys are simultaneously generating a shape recovery force, the shape memory alloy is deteriorated or destroyed. It is an object of the present invention to provide a shape memory alloy actuator free from the above.
[0015]
Another object of the present invention is to provide a shape memory alloy actuator capable of further downsizing the apparatus.
[0016]
Still other objects of the present invention will become apparent from the following description.
[0017]
[Means for Solving the Problems]
The shape memory alloy actuator according to the first invention is:
A bistable shape memory alloy actuator having an operation end having two stable positions,
A linearly movable member movable in a linear direction, an intermediate member supported by the linearly movable member so as to be rotatable between a first intermediate member stable position and a second intermediate member stable position; When the operation end member that can rotate between the operation end member stable position and the second operation end member stable position and the shape recovery force are generated, the intermediate member is moved toward the first intermediate member stable position. The first shape memory alloy linked to the intermediate member to rotate and the intermediate member to rotate the intermediate member toward the second intermediate member stable position when a shape recovery force is generated. A second shape memory alloy linked to the member, and a reverse biasing means for biasing the linear movement member toward the rotation center of the operation end member, and the movement direction of the linear movement member is The rotation center of the operation end member is connected to the rotation center of the intermediate member. A counter, the operating end member is adapted to be acted upon the biasing force of the reversing biasing means via the intermediate member,
When the operation end member is in the first operation end member stable position and the intermediate member is in the first intermediate member stable position, the intermediate member is stabilized by the reverse biasing means. The operation end members are biased toward the first operation end member stable position toward the position, and the intermediate member is rotated toward the second intermediate member stable position from this state. Then, while the intermediate member is on the first intermediate member stable position side from the predetermined neutral position, the intermediate member is still moved toward the first intermediate member stable position by the reverse biasing means. The operation end members are biased toward the first operation end member stable position, respectively, but when the intermediate member is rotated to the second intermediate member stable position side beyond the neutral position. , The reverse bias Conversely, the intermediate member is biased toward the second intermediate member stable position and the operation end member is biased toward the second operation end member stable position, while the operation end member is When the second operation end member stable position and the intermediate member are in the second intermediate member stable position, the reverse biasing means causes the intermediate member to move toward the second intermediate member stable position. The operation end members are respectively biased toward the second operation end member stable position, and when the intermediate member is rotated toward the first intermediate member stable position from this state, While the member is on the second intermediate member stable position side from the predetermined neutral position, the intermediate member is still moved toward the second intermediate member stable position by the reverse biasing means, and the operation end member is Second Each end member is biased toward the stable position, but when the intermediate member is turned to the first intermediate member stable position side beyond the neutral position, the reverse biasing means reversely The intermediate member is configured to be biased toward the first intermediate member stable position, and the operation end member is biased toward the first operation end member stable position.
[0018]
The shape memory alloy actuator according to the second invention is
A bistable shape memory alloy actuator having an operation end having two stable positions,
An operation end member that can rotate between a first operation end member stable position and a second operation end member stable position, and a rotation between the first intermediate member stable position and the second intermediate member stable position. A movable intermediate member, and a first shape memory alloy linked to the intermediate member to rotate the intermediate member toward the first intermediate member stable position when a shape recovery force is generated; A second shape memory alloy linked to the intermediate member so as to rotate the intermediate member toward the second intermediate member stable position when a shape recovery force is generated; A linear moving member supported so as to be movable in a linear direction with respect to the end member, and the linear moving member is attached to the intermediate member side so that a force is applied to the intermediate member via the linear moving member. Reversing biasing means
When the operation end member is in the first operation end member stable position and the intermediate member is in the first intermediate member stable position, the intermediate member is stabilized by the reverse biasing means. The operation end members are biased toward the first operation end member stable position toward the position, and the intermediate member is rotated toward the second intermediate member stable position from this state. Then, while the intermediate member is on the first intermediate member stable position side from the predetermined neutral position, the intermediate member is still moved toward the first intermediate member stable position by the reverse biasing means. The operation end members are biased toward the first operation end member stable position, respectively, but when the intermediate member is rotated to the second intermediate member stable position side beyond the neutral position. , The reverse bias Conversely, the intermediate member is biased toward the second intermediate member stable position and the operation end member is biased toward the second operation end member stable position, while the operation end member is When the second operation end member stable position and the intermediate member are in the second intermediate member stable position, the reverse biasing means causes the intermediate member to move toward the second intermediate member stable position. The operation end members are respectively biased toward the second operation end member stable position, and when the intermediate member is rotated toward the first intermediate member stable position from this state, While the member is on the second intermediate member stable position side from the predetermined neutral position, the intermediate member is still moved toward the second intermediate member stable position by the reverse biasing means, and the operation end member is Second Each end member is biased toward the stable position, but when the intermediate member is turned to the first intermediate member stable position side beyond the neutral position, the reverse biasing means reversely The intermediate member is configured to be biased toward the first intermediate member stable position, and the operation end member is biased toward the first operation end member stable position.
[0019]
In the bistable shape memory alloy actuator according to the first and second aspects of the present invention, when the operating end member is in the second operating end member stable position and the intermediate member is in the second intermediate member stable position, When the shape memory alloy is heated to a predetermined temperature range, the intermediate member is rotated from the second intermediate member stable position toward the first intermediate member stable position by the shape recovery force of the first shape memory alloy. go. However, until the intermediate member reaches the neutral position, the reverse biasing means biases the intermediate member toward the second intermediate member stable position and the operation end member toward the second operation end member stable position. Therefore, the operation end member is on the second operation end member stable position side.
[0020]
However, when the intermediate member is turned to the first intermediate member stable position side beyond the neutral position, the reverse biasing means biases the intermediate member and the operation end member in the opposite directions, so Due to the urging force of the urging means, the intermediate member is rotated to the first intermediate member stable position, and the operation end member is rotated to the first operation end member stable position. After that, even if the first shape memory alloy cools and loses its shape recovery force, the intermediate member remains as it is at the first intermediate member stable position by the biasing force of the reverse biasing means, and the operation end member is the first operation end. Each member is held at a stable position.
[0021]
Conversely, when the operation end member is in the first operation end member stable position and the intermediate member is in the first intermediate member stable position, the second shape memory alloy is heated to a predetermined temperature range, The intermediate member is rotated from the first intermediate member stable position toward the second intermediate member stable position by the shape recovery force of the shape memory alloy. However, until the intermediate member reaches the neutral position, the reverse biasing means biases the intermediate member toward the first intermediate member stable position and the operation end member toward the first operation end member stable position. Therefore, the operation end member is on the first operation end member stable position side.
[0022]
However, when the intermediate member is moved to the second intermediate member stable position side beyond the neutral position, the reverse biasing means biases the intermediate member and the operation end member in the opposite directions. Due to the biasing force of the biasing means, the intermediate member is rotated to the second intermediate member stable position, and the operation end member is rotated to the second operation end member stable position. After that, even if the second shape memory alloy cools and loses its shape recovery force, the intermediate member remains as the second intermediate member stable position and the operation end member is the second operation end member by the biasing force of the reverse biasing means. Each is held in a stable position.
[0023]
In these bistable shape memory alloy actuators according to the first and second aspects of the present invention, the operation end member is provided with the first and second stable positions, and the first or second shape memory alloy is heated. By doing so, the stable position can be reversed.
[0024]
A shape memory alloy actuator according to a third aspect of the present invention is:
A bistable shape memory alloy actuator having an operation end having two stable positions,
An operation end member that can move between a first stable position and a second stable position, and a state that is linked to the operation end member and that biases the operation end member toward the first stable position. And a buckling spring capable of energizing the operating end member toward the second stable position, and when the shape recovery force is generated, the operating end member is biased toward the first stable position. A first shape memory alloy linked to the buckling spring without passing through the operating end member so as to shift the buckling spring to a state; and when a shape recovery force is generated, the operating end member is A second shape memory alloy linked to the buckling spring without the operation end member so as to shift the buckling spring to a state of being biased to the second stable position side. is there.
[0025]
In the bistable shape memory alloy actuator according to the third aspect of the present invention, when neither the first shape memory alloy nor the second shape memory alloy generates a shape recovery force, the operating end member is Or it is located in the second stable position. Now, when the operating end member is in the second stable position, when the first shape memory alloy is heated to a predetermined temperature range, the buckling spring is moved to the operating end by the shape recovery force of the first shape memory alloy. Since the member is shifted from the state of biasing the member toward the second stable position to the state of biasing toward the first stable position, the operation end member is moved to the first stable position. Further, when the operation end member is in the first stable position, when the second shape memory alloy is heated to a predetermined temperature range, the buckling spring is moved by the shape recovery force of the second shape memory alloy. Since the member is shifted from the state of biasing the member toward the first stable position to the state of biasing toward the second stable position, the operation end member is moved to the second stable position.
[0026]
Also in the bistable shape memory alloy actuator of the third aspect of the present invention, the operation end member has the first and second stable positions, and the first or second shape memory alloy is heated, The stable position can be reversed.
[0027]
A shape memory alloy actuator according to a fourth aspect of the present invention is a monostable shape memory alloy actuator having an operation end having one stable position,
A linearly movable member that can move in a linear direction, an intermediate member that is supported by the linearly movable member so as to be rotatable between an intermediate member stable position and an intermediate member temporary reversal position, an operation end member stable position, and an operation end An operation end member that can rotate between a member temporary reversal position and a shape memory that is linked to the intermediate member so as to rotate the intermediate member toward the temporary reversal position when a shape recovery force is generated. An alloy, return biasing means for biasing the intermediate member toward the intermediate member stable position, and reverse biasing means for biasing the linearly moving member toward the rotation center of the operation end member. The movement direction of the linearly moving member is a direction connecting the rotation center of the operation end member and the rotation center of the intermediate member, and the operation end member is connected to the reverse biasing means via the intermediate member. The urging force of
When the operation end member is in the operation end member stable position and the intermediate member is in the intermediate member stable position, the operation end member is moved toward the intermediate member stable position by the reverse biasing means. Are biased toward the operation end member stable position, and when the intermediate member is rotated toward the intermediate member temporary reversal position from this state, the intermediate member is moved from the predetermined neutral position to the While the intermediate member is at the stable position side, the reverse biasing means still biases the intermediate member toward the intermediate member stable position and the operation end member toward the operation end member stable position. However, when the intermediate member is rotated to the intermediate member temporary reversal position side beyond the neutral position, the intermediate member is reversed by the reverse biasing means. The operation end member is biased toward the operation end member temporary reversal position, while the operation end member is the operation end member temporary reversal position, and the intermediate member is the intermediate member temporary reversal position. The intermediate member is biased toward the intermediate member temporary reversal position and the operation end member is biased toward the operation end member temporary reversal position. When the intermediate member is rotated toward the intermediate member stable position from the intermediate member, while the intermediate member is on the intermediate member temporary reversal position side with respect to the predetermined neutral position, the reversal biasing means continues to perform the intermediate member. The member is biased toward the intermediate member temporary reversal position and the operation end member is biased toward the operation end member temporary reversal position. When the intermediate member is rotated to the intermediate member stable position side beyond the neutral position, the reverse biasing means reversely moves the intermediate member toward the intermediate member stable position, and the operation end member is the operation end member stable position. It is comprised so that each may be energized toward.
[0028]
A shape memory alloy actuator according to a fifth aspect of the present invention is:
A monostable shape memory alloy actuator having an operation end having one stable position,
An operation end member rotatable between the operation end member stable position and the operation end member temporary reversal position, an intermediate member rotatable between the intermediate member stable position and the intermediate member temporary reversal position, and a shape recovery force And a shape memory alloy linked to the intermediate member so as to rotate the intermediate member toward the temporary reversal position, and a return function for biasing the intermediate member toward the intermediate member stable position. A biasing means, a linear moving member supported by the operating end member so as to be movable in a linear direction with respect to the operating end member, and a force acting on the intermediate member via the linear moving member. Reversing biasing means for biasing the linearly moving member toward the intermediate member,
When the operation end member is in the operation end member stable position and the intermediate member is in the intermediate member stable position, the operation end member is moved toward the intermediate member stable position by the reverse biasing means. Are biased toward the operation end member stable position, and when the intermediate member is rotated toward the intermediate member temporary reversal position from this state, the intermediate member is moved from the predetermined neutral position to the While the intermediate member is at the stable position side, the reverse biasing means still biases the intermediate member toward the intermediate member stable position and the operation end member toward the operation end member stable position. However, when the intermediate member is rotated to the intermediate member temporary reversal position side beyond the neutral position, the intermediate member is reversed by the reverse biasing means. The operation end member is biased toward the operation end member temporary reversal position, while the operation end member is the operation end member temporary reversal position, and the intermediate member is the intermediate member temporary reversal position. The intermediate member is biased toward the intermediate member temporary reversal position and the operation end member is biased toward the operation end member temporary reversal position. When the intermediate member is rotated toward the intermediate member stable position from the intermediate member, while the intermediate member is on the intermediate member temporary reversal position side with respect to the predetermined neutral position, the reversal urging means still keeps the intermediate member The member is biased toward the intermediate member temporary reversal position and the operation end member is biased toward the operation end member temporary reversal position. When the intermediate member is rotated to the intermediate member stable position side beyond the neutral position, the reverse biasing means reversely moves the intermediate member toward the intermediate member stable position, and the operation end member is the operation end member stable position. It is comprised so that each may be energized toward.
[0029]
In the fourth and fifth monostable shape memory alloy actuators of the present invention, when the operating end member is at the operating end member stable position and the intermediate member is at the intermediate member stable position, the shape memory alloy is heated to a predetermined temperature range. Then, the intermediate member is rotated from the intermediate member stable position toward the intermediate member temporary reversal position by the shape recovery force of the shape memory alloy. However, until the intermediate member reaches the neutral position, the reverse biasing means urges the intermediate member toward the intermediate member stable position and the operation end member toward the operation end member stable position. The member is on the operation end member stable position side.
[0030]
However, when the intermediate member is turned to the intermediate member temporary reversal position side beyond the neutral position, the reverse biasing means biases the intermediate member and the operation end member in the opposite directions, respectively. By means of the urging force of the means, the intermediate member is rotated to the intermediate member temporary reversal position, and the operation end member is rotated to the operation end member temporary reversal position.
[0031]
After that, when the heating to the shape memory alloy is stopped, the shape memory alloy is cooled and the shape recovery force is lost, the intermediate member is moved toward the intermediate member stable position against the reverse biasing means by the return biasing means. When the intermediate member is rotated to the intermediate member stable position side beyond the neutral position, the reverse biasing means reversely moves the intermediate member toward the intermediate member stable position and stabilizes the operation end member. Since the biasing is performed toward the positions, the intermediate member quickly returns to the intermediate member stable position, and the operation end member quickly returns to the operation end member stable position.
[0032]
In this manner, in the monostable shape memory alloy actuators of the fourth and fifth aspects of the present invention, when the shape memory alloy is heated, the operating end member at the stable position is reversed to the temporary reversal position, and the shape memory alloy is cooled. Then, the operation end member returns to the original stable position.
[0033]
A shape memory alloy actuator according to a sixth aspect of the present invention is:
A monostable shape memory alloy actuator having an operation end having one stable position,
An operation end member that is movable between a stable position and a temporary reversal position, and is linked to the operation end member, wherein the operation end member is urged toward the stable position and the operation end member is moved to the temporary position. A buckling spring that can be biased toward the reversal position; and when the shape recovery force is generated, the buckling spring is transitioned to a state where the operation end member is biased toward the temporary reversal position. The shape memory alloy linked to the buckling spring without the operation end member and the buckling spring in a direction to transition the buckling spring to a state in which the operation end member is biased to the stable position side. Return energizing means for energizing.
[0034]
In the monostable shape memory alloy actuator of the sixth aspect of the present invention, when the shape memory alloy does not generate the shape recovery force, the buckling spring stabilizes the operation end member by the urging force of the return urging means. Since it is set as the state urged | biased to the position side, the operation end member is in the stable position. When the shape memory alloy is heated from this state to a predetermined temperature range, the shape recovery force of the shape memory alloy causes the buckling spring to transition to a state in which the operation end member is urged toward the temporary reversal position. The operating end member is moved to the temporary inversion position. After that, when heating to the shape memory alloy is stopped and the shape memory alloy is cooled, the buckling spring is transitioned to a state in which the operating end member is biased to the stable position side by the biasing force of the return biasing means. The operating end member returns to the stable position by the biasing force of the reverse biasing means.
[0035]
Thus, also in the monostable shape memory alloy actuator of the sixth aspect of the present invention, when the shape memory alloy is heated, the operation end member at the stable position is reversed to the temporary reversal position, and the shape memory alloy is cooled. The operation end member returns to the original stable position.
[0036]
In the actuators according to the first to sixth aspects of the present invention, even if a force acts on the operation end member from the outside, the external force does not directly act on the shape memory alloy through the operation end member. Therefore, excessive stress is applied to the shape memory alloy by the force acting on the operation end member from the outside, and the possibility that the performance is deteriorated or destroyed is reduced, and the durability can be improved.
[0037]
Further, since the operation of the operation end member is directly performed by the force of the reverse biasing means or the buckling spring, the operation speed can be increased, and the amount of the shape memory alloy is reduced, thereby reducing the cost. At the same time, the amount of energy used can be reduced, and resource saving can be achieved.
[0038]
Further, unlike the actuator disclosed in the embodiment of the prior patent application of the present applicant, since the spring is not inserted between the intermediate member and the operation end member, the apparatus can be further miniaturized. .
[0039]
In addition, although a general shape memory alloy can be used as the shape memory alloy in the present invention, a more excellent effect can be obtained by using a shape memory alloy having a particularly large bidirectional memory effect. it can.
[0040]
Here, the bi-directional shape memory effect is a phenomenon in which a force is unnecessary or very small when a deformation in a direction opposite to the shape recovery is applied at a low temperature. In appearance, the shape memory alloy behaves like two shapes: a shape deformed at low temperatures and a shape recovered at high temperatures. In the conventional bi-directional shape memory alloy, only a small and unstable bi-directional shape memory effect of about 1% at maximum in tensile strain was obtained. According to the method proposed in Japanese Laid-Open Patent Application No. 2002-20848), a shape memory alloy having a huge bidirectional shape memory effect can be obtained. For example, in the case of a shape memory alloy with a wire shape and a memory shape in the tensile direction, when heated, it shrinks and hardens to the memorized length, while at the time of cooling, the muscles are just relaxed even under no load. It becomes so soft that it stretches and returns to its original length and shape at low temperatures. Therefore, it expands and contracts only by heating and cooling, without applying a bias force from the outside.
[0041]
If such a shape memory alloy is used in the bistable shape memory alloy actuator of the present invention, when the intermediate member and the buckling spring are moved by the shape memory alloy that has contracted by generating a shape recovery force, the shape memory alloy is contracted. The shape memory alloy which is not moved moves in a loosening direction without generating a resistance force, and facilitates the movement of the intermediate member and the buckling spring and thus the operation end member. As a result, performance and life such as responsiveness are greatly improved, and a differential / bistable actuator that moves with a slight shape memory alloy can be put into practical use. Even when used in the monostable shape memory alloy actuator of the present invention, when the intermediate member and the buckling spring are returned to the stable direction by the return biasing means, the shape memory alloy moves in a loosening direction without generating a resistance force. In addition, the intermediate member and the buckling spring and thus the operation end member can be easily moved. As a result, performance and life such as responsiveness are greatly improved, and a differential / monostable actuator that moves with a slight shape memory alloy can be put into practical use.
[0042]
The same effect can be obtained even with a shape memory alloy that does not require complete bi-directionality and requires almost no force for deformation at a low temperature within a strain region where the shape can be recovered (such a shape memory). The alloy may also be considered as a substantially bi-directional shape memory alloy), and such a shape memory alloy is also the method disclosed in Japanese Patent Application No. 2000-204927 (Japanese Patent Application Laid-Open No. 2002-20848) previously proposed by the present inventor. Can be obtained.
[0043]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described based on examples.
[0044]
【Example】
1 to 8 show a first embodiment of a shape memory alloy actuator according to the present invention, which is an example of constituting a bistable actuator. Hereinafter, for convenience, in the description of the configuration and operation of each embodiment, words indicating up, down, left, and right are used, but the relationship between the top, bottom, left, and right here is only on the drawings, and each embodiment is actually its It does not mean that it must be used in such a hierarchical relationship.
[0045]
Guides 2 and 3 are integrally provided in the actuator body 1 at intervals, and a linear moving member 4 having a shape as shown in FIG. It is inserted movably in the vertical direction. A shaft hole 7 provided at the center of the intermediate member 6 having a shape as shown in FIG. 4 is rotatably fitted to the intermediate member rotation shaft 5 provided integrally with the linear movement member 4. As a result, the intermediate member 6 is rotatable about the intermediate member rotation shaft 5. The intermediate member 6 is provided with protrusions 8 and 9 protruding upward on both sides of the shaft hole 7. The intermediate member 6 is tilted to the right as shown in FIG. 7 at the first intermediate member stable position where it is brought into contact with the right shoulder of the guide 3 and to the left shoulder of the guide 2 as shown in FIG. The second intermediate member is in contact with the second intermediate member in a stable position. An operating end member rotating shaft 10 is erected on the actuator body 1, and a shaft hole 12 provided near the lower end portion of the linear operating end member 11 rotates on the operating end member rotating shaft 10. The operation end member 11 is supported so as to be rotatable about the operation end member rotation shaft 10. The lower end portion of the operation end member 11 is rounded. Pin-like operation end member stoppers 13 and 14 are erected on both sides of the operation end member rotation shaft 10 on the actuator body 1, and the operation end member 11 is tilted to the left as shown in FIG. Between the first operation end member stable position where the intermediate portion comes into contact with the stopper 13 and the second operation end member stable position where the intermediate portion comes into contact with the stopper 14 as shown in FIG. Is limited to.
[0046]
In this embodiment, both a set of stoppers (guides 2 and 3) for restricting the rotation range of the intermediate member 6 and a set of stoppers 13 and 14 for restricting the rotation range of the operation end member 11 are provided. However, the rotation range of both the intermediate member 6 and the operation end member 11 may be restricted by one set of stoppers (that is, one of the intermediate member 6 and the operation end member 11 is directly used as the stopper. By restricting the rotation range, the other rotation range may also be restricted). Needless to say, the actuator main body 1 may support the intermediate member rotation shaft and / or the operation end member rotation shaft so as to be rotatable within a certain range, and the intermediate member and the operation end member may be fixed to these rotation shafts. .
[0047]
Here, the linear moving direction of the linear moving member 4 is the same as the straight line A (see FIG. 6) connecting the operating end member rotating shaft 10 and the intermediate member rotating shaft 5. Further, the guides 2 and 3 and the operation end member stoppers 13 and 14 are symmetrically arranged with respect to the straight line A, and accordingly, the first operation end member stable position and the second operation end member are related to the straight line A. The stable position, the first intermediate member stable position, and the second intermediate member stable position are symmetrical positions. However, the first stable position and the second stable position are not necessarily symmetrical.
[0048]
The actuator body 1 is integrally provided with a spring receiver 15. A compression coil spring is provided between the spring receiver 15 and a spring receiver recess 23 (see FIG. 3) provided at the bottom of the linear moving member 4. The reverse urging means 16 comprising the reverse urging means 16 urges the linear moving member 4 toward the operating end member rotating shaft 10 side. Thereby, the part between the projection parts 8 and 9 of the upper surface of the intermediate member 6 is pressed in the state which can be slid to the lower end part of the operation end member 11. FIG.
[0049]
Pins 17 and 18 are erected on the actuator body 1 below the intermediate member 6. One end of a wire-shaped first shape memory alloy 19 is attached to one pin 18, and the other end of the shape memory alloy 19 is attached to the right end of the intermediate member 6. Similarly, one end of a wire-shaped second shape memory alloy 20 is attached to the other pin 17, and the other end of the shape memory alloy 20 is attached to the left end of the intermediate member 6.
[0050]
Said 1st and 2nd shape memory alloys 19 and 20 are made into the shape memory alloy which has a huge bi-directional shape memory effect, has a memory shape in the linear tension direction, and is memorized when heated. While it cools and hardens, when it is cooled, it softens just as the muscles relax, and it stretches itself and returns to its original length at low temperatures. Therefore, it expands and contracts only by heating and cooling, without applying a bias force from the outside. Such a shape memory alloy can be obtained, for example, by the method disclosed in Japanese Patent Application No. 2000-204927 (Japanese Patent Laid-Open No. 2002-20848) previously proposed by the present inventor. In addition, even if it does not show complete bi-directionality, it may be a shape memory alloy that requires almost no force for deformation at a low temperature within a strain region where the shape can be recovered. It can be obtained by the method disclosed in Japanese Patent Application No. 2000-204927 (Japanese Patent Laid-Open No. 2002-20848) previously proposed by the inventors.
[0051]
The both ends of the first shape memory alloy 19 and the both ends of the second shape memory alloy 20 can be independently connected to and disconnected from a power source (not shown) by switch means (not shown). It has become. A cover 22 (see FIGS. 1 and 2) is attached to the actuator body 1 via a cover support column 21 provided integrally with the body 1, and the linear moving member 4, the intermediate member 6, the operation Each component such as the end member 11 is accommodated between the cover 22 and the actuator body 1.
[0052]
Next, the operation of this embodiment will be described with reference to FIGS. FIG. 5 shows that the intermediate member 6 is brought into contact with the guide 2 by the linear movement member 4 being moved toward the operating end member rotation shaft 10 by the urging force of the reverse urging means 16, so that the second intermediate member is stabilized. In this state, the operation end member 11 is in contact with the operation end member stopper 14 and is in the second operation end member stable position. At this time, the operation end member 11 is at the same time the protrusion 8 of the intermediate member 6. It is in contact with.
[0053]
In the state of FIG. 5, when the power is connected between both ends of the first shape memory alloy 19 by the switch means and the first shape memory alloy 19 is energized, the first shape memory alloy 19 is caused by Joule heat. The intermediate member 6 resists the reverse biasing means 16 because it is heated to a predetermined temperature range and contracts by generating a shape recovery force that attempts to return to the length stored in the shape memory alloy 19 by the shape memory effect. Then, the second intermediate member is rotated from the second intermediate member stable position toward the first intermediate member stable position (that is, clockwise). However, until the intermediate member 6 reaches its neutral position (position where the intermediate member 6 is perpendicular to the straight line A as shown in FIG. 6), the reverse biasing means 16 moves the intermediate member 6 to the second intermediate member stable position. Since the operation end member 11 is urged toward the second operation end member stable position (clockwise) toward the counterclockwise (counterclockwise), the operation end member 11 is the second operation end member. It is on the stable position side.
[0054]
However, when the intermediate member 6 is rotated to the first intermediate member stable position side beyond the neutral position, the reverse biasing means 16 biases the intermediate member 6 and the operation end member 11 in the opposite directions. Therefore, the biasing force of the reverse biasing means 16 rotates the intermediate member 6 to the first intermediate member stable position and the operation end member 11 to the first operation end member stable position, respectively. 11 abuts against the stopper 13 and abuts against the protrusion 9 of the intermediate member 6, and the actuator is in the state shown in FIG. The lower end portion of the operation end member 11 slides between the protrusions 8 and 9 with respect to the intermediate member 6 in accordance with the rotation of the intermediate member 6 and the operation end member 11. Thereafter, energization to the first shape memory alloy 19 is stopped, and even if the first shape memory alloy 19 cools down and loses its shape recovery force (at this time, the first shape memory alloy 19 is shown by a one-dot chain line in FIG. The intermediate member 6 is held at the first intermediate member stable position and the operation end member 11 is held at the first operation end member stable position as it is by the urging force of the reverse urging means 16. .
[0055]
Further, as shown in FIG. 7, the operation end member 11 is in the first operation end member stable position, the intermediate member 6 is in the first intermediate member stable position, and the first and second shape memory alloys 19, 20 When the power is connected between both ends of the second shape memory alloy 20 by the switch means and the second shape memory alloy 20 is energized, the second shape memory alloy 20 is heated by Joule heat. Is heated to a predetermined temperature range and contracts by generating a shape recovery force to return to the length stored in the shape memory alloy 20 by the shape memory effect, so that the intermediate member 6 resists the reverse biasing means 16. Then, it is rotated from the first intermediate member stable position toward the second intermediate member stable position (counterclockwise). However, until the intermediate member 6 reaches its neutral position, the reverse biasing means 16 continues to move the intermediate member 6 toward the first intermediate member stable position (clockwise) and the operation end member 11 to the first operation. Since each is biased toward the end member stable position (counterclockwise), the operation end member 11 is on the first operation end member stable position side.
[0056]
However, when the intermediate member 6 is rotated to the second intermediate member stable position side beyond the neutral position shown in FIG. 6, the reverse biasing means 16 moves the intermediate member 6 and the operation end member 11 in the opposite directions. The intermediate member 6 is rotated to the second intermediate member stable position and the operation end member 11 is rotated to the second operation end member stable position by the urging force of the reverse biasing means 16. As shown in FIG. Thereafter, energization to the second shape memory alloy 20 is stopped, the second shape memory alloy 20 cools down and loses its shape recovery force (at this time, the second shape memory alloy 20 is indicated by a solid line in FIG. 5). The intermediate member 6 is held at the second intermediate member stable position and the operation end member 11 is held at the second operation end member stable position as it is by the biasing force of the reverse biasing means 16.
[0057]
In this way, in this bistable shape memory alloy actuator, the operating end member 11 has two stable positions, and the first or second shape memory alloy 19 or 20 is heated to thereby set the stable position. Can be reversed.
[0058]
In addition, even if a force is applied to the operation end member 11 from the outside, the shape memory alloy actuator can release the force toward the reverse biasing means 16 or between the operation end member 11 and the intermediate member 6. Due to the slip, the external force does not directly act on the first and second shape memory alloys 19 and 20 through the operation end member 11. Therefore, excessive stress is applied to the shape memory alloys 19 and 20 by the force acting on the operation end member 11 from the outside, and the possibility that the performance is deteriorated or destroyed is reduced, and the durability can be improved.
[0059]
Further, since the operation of the operation end member 11 is directly performed by the force of the reverse biasing means 16, the operation speed can be increased, the amount of the shape memory alloys 19 and 20 used can be reduced, and the cost can be reduced. In addition, it is possible to reduce the amount of energy used and thus save resources.
[0060]
Further, since the position and direction of the reverse biasing means 16 are not changed, the apparatus can be further miniaturized.
[0061]
In addition, the other shape memory alloy is heated before one shape memory alloy is sufficiently cooled, or the first and second shape memory alloys 19 and 20 are heated at the same time due to malfunction, and both generate shape recovery force. In this state, as shown in FIG. 8, since the intermediate member 6 is pulled down together with the linearly moving member 4 against the reverse biasing means 16, the first and second shape memory alloys 19, 20 It is possible to prevent an excessive load from acting.
[0062]
Further, in the present embodiment, as the first and second shape memory alloys 19 and 20, shape memory which requires no or almost no force for deformation at a low temperature within the strain region where the shape can be recovered as described above. Since the alloy is used, the shape memory alloy which is not contracted moves in a direction that sags without generating a resistance force, and facilitates the movement of the intermediate member 6 and thus the operation end member 11. As a result, performance and life such as responsiveness are greatly improved, and a differential / bistable actuator that moves with a slight shape memory alloy can be put into practical use (however, in the present invention, as a shape memory alloy, The shape memory alloy can also be used).
[0063]
9 to 12 show a second embodiment of the shape memory alloy actuator according to the present invention, and this embodiment is also an example in which a bistable actuator is configured.
[0064]
Guide pins 32 and 33 are erected in the actuator body 31 in the vertical direction, and these guide pins 32 and 33 are elongated holes provided in a linear moving member 34 having a shape as shown in FIG. 35 is slidably fitted. Thereby, the linear movement member 34 is movable in the linear direction (vertical direction) with respect to the actuator body 31. A shaft hole 38 provided at the center of the intermediate member 37 having a shape as shown in FIG. 12 is rotatably fitted to the intermediate member rotation shaft 36 provided integrally with the linear movement member 34. As a result, the intermediate member 37 is rotatable about the intermediate member rotation shaft 36. The intermediate member 37 is provided with protrusions 39 and 40 that protrude upward so as to be positioned on both sides of the shaft hole 38. The actuator main body 31 is provided with pin-shaped intermediate member stoppers 41 and 42 on both sides of the intermediate member 37. The intermediate member 37 has a rotation range abutting against the stopper 42 as shown in FIG. It is limited between the one intermediate member stable position and the second intermediate member stable position in contact with the stopper 41 as shown in FIG.
[0065]
An operating end member rotating shaft 43 is erected on the actuator body 31, and a shaft hole 45 provided near the lower end portion of the linear operating end member 44 rotates on the operating end member rotating shaft 43. Thus, the operation end member 44 is supported so as to be rotatable about the operation end member rotation shaft 43. A roller 46 is rotatably supported on the lower end portion of the operation end member 44. Pin-like operation end member stoppers 47 and 48 are erected on the actuator main body 31 at a distance from each other, and the operation end member 44 is brought into contact with the stopper 47 as shown in FIG. It is limited between the first operation end member stable position and the second operation end member stable position abutting against the stopper 48 as shown in FIG. When the operation end member 44 is in the first operation end member stable position as shown in FIG. 11, the roller 46 is brought into contact with the protruding portion 40 of the intermediate member 37 in the first intermediate member stable position, as shown in FIG. Thus, when the operation end member 44 is in the second operation end member stable position, the roller 46 is brought into contact with the protrusion 39 of the intermediate member 37 in the second intermediate member stable position.
[0066]
As in the case of the first embodiment, the linear movement direction of the linear movement member 34 is the same as the straight line A (see FIG. 10) connecting the operation end member rotation shaft 43 and the intermediate member rotation shaft 36. Has been. Further, with respect to the straight line A, the intermediate member stoppers 41 and 42 and the operation end member stoppers 47 and 48 are arranged symmetrically, and accordingly, the first operation end member stable position and the second operation end with respect to the straight line A. The end member stable position, the first intermediate member stable position, and the second intermediate member stable position are symmetrical positions.
[0067]
The actuator body 31 is integrally provided with a spring receiver 49. Between the spring receiver 49 and the bottom of the linearly moving member 34, a reverse biasing means 50 comprising a compression coil spring is interposed. The reverse biasing means 50 biases the linear moving member 34 toward the operation end member rotating shaft 43 side. Thereby, the portion between the protrusions 39 and 40 on the upper surface of the intermediate member 37 is pressed against the outer periphery of the roller 46.
[0068]
Pins 51 and 52 are provided upright on the actuator body 31 below the intermediate member 37. One end of a wire-shaped first shape memory alloy 53 is attached to one pin 52, and the other end of the shape memory alloy 53 is attached to the right side portion of the intermediate member 37. Similarly, one end of a wire-shaped second shape memory alloy 54 is attached to the other pin 51, and the other end of the shape memory alloy 54 is attached to the left side portion of the intermediate member 37.
[0069]
The first and second shape memory alloys 53 and 54 are the same shape memory alloys as the shape memory alloys 19 and 20 of the first embodiment. The both ends of the first shape memory alloy 53 and the both ends of the second shape memory alloy 54 can be independently connected to and disconnected from a power source (not shown) by switch means (not shown). It has become.
[0070]
Since this embodiment basically has the same configuration as that of the first embodiment, as shown in FIGS. 9 to 11, the operation is similar to that of the embodiment, and the same effect is obtained. However, in the first embodiment, since the operation end member 11 and the intermediate member 6 are in direct sliding contact with each other, when the frictional force between the operation end member 11 and the intermediate member 6 is increased, smooth operation is achieved. Although there is a possibility that the operation cannot be obtained, in the present embodiment, since the operation end member 44 is pressed against the intermediate member 37 via the roller 46, the frictional force between the operation end member 44 and the intermediate member 37 is present. The actuator can be made small so that the actuator operates smoothly.
[0071]
13 to 19 show a third embodiment of the present invention, and this embodiment is also an example in which a bistable actuator is configured.
[0072]
As shown in FIG. 14, the plate-like actuator body 61 is provided with a linear groove 62 in the vertical direction, and the linear moving member 63 is slidable in the linear direction (vertical direction) in the groove 62. It is mated. A shaft hole 66 provided in the intermediate member 65 is rotatably fitted to an intermediate member rotation shaft 64 provided integrally with the linear movement member 63, whereby the intermediate member 65 is connected to the intermediate member 65. It can be turned around a turning shaft 64. The intermediate member 65 is integrally provided with a joint shaft 67. An operating end member rotating shaft 68 is provided upright on the extension line of the groove portion 62 in the actuator body 61, and the operating end member rotating shaft 68 is provided at the central portion of the linear operating end member 69. The provided shaft hole 70 (see FIG. 14) is pivotally fitted, whereby the operation end member 69 is supported so as to be rotatable about the operation end member rotation shaft 68. Cylindrical operation end member stoppers 71 and 72 are erected on both sides of the operation end member rotation shaft 68 on the actuator body 61, and the operation end member 69 has its rotation range as shown in FIG. The first operation end member stable position tilted to the left and abutted to the operation end member is limited to the right tilted second operation end member stable position abutted to the operation end member stopper 72 as shown in FIG. .
[0073]
A shaft fitting recess 73 is provided at the lower end of the operation end member 69, and this shaft fitting recess 73 can be rotated relative to the joint shaft 67 and the depth direction of the fitting recess 73 (operation The end member 69 is movably fitted in the length direction). Thereby, the intermediate member 65 and the operation end member 69 are connected to each other so as to be rotatable about the joint shaft 67 and relatively movable in the length direction of the operation end member 69. Further, since the intermediate member 65 and the operation end member 69 are connected in this manner, and the operation end member 69 is restricted in the rotation range by the operation end member stoppers 71 and 72 as described above, The rotation range of the intermediate member 65 is also limited between a first intermediate member stable position tilted to the right as shown in FIG. 18 and a second intermediate member stable position tilted to the left as shown in FIG. A restriction plate 74 is attached to the actuator body 61 so as to sandwich the operation end member 69 between the actuator body 61 and the restriction plate 74 in a direction of falling off the operation end member rotation shaft 68 of the operation end member 69. Is restricted from moving.
[0074]
The linear movement direction of the linear movement member 63 is the same as the straight line A (see FIG. 17) connecting the operation end member rotation shaft 68 and the intermediate member rotation shaft 64. Further, the operation end member stoppers 71 and 72 are symmetrically arranged with respect to the straight line A, and accordingly, the first operation end member stable position, the second operation end member stable position, and the first The intermediate member stable position and the second intermediate member stable position are symmetrical positions.
[0075]
The actuator main body 61 is integrally provided with a spring accommodating portion 75 that is open only at the front and upper sides. The spring accommodating portion 75 accommodates a spring unit 76 as well shown in FIG. The spring unit 76 includes a spring cylinder 77, a slide bar 78, and a reverse biasing means 79. The spring cylinder 77 has a cylindrical shape, and is fixed to the actuator main body 61 in the same direction as the movable direction of the linear movement member 63 by being pushed into the spring accommodating portion 75. The slide rod 78 is slidably fitted to the spring cylinder 77 so that the amount of protrusion from the spring cylinder 77 is variable. The outer end portion of the slide bar 78 is substantially fixed to the linear moving member 63 by being pushed into a recess 80 provided in the linear moving member 63. The reverse biasing means 79 is composed of a compression coil spring and is interposed between the bottom of the spring cylinder 77 and the inner end of the slide bar 78 so that the slide bar 78 protrudes larger from the spring cylinder 77. The direction, in other words, the linear moving member 63 is biased in the direction toward the operation end member rotation shaft 68.
[0076]
The actuator body 61 is provided with pins 81 and 82 standing below the intermediate member 65. One end of a wire-shaped first shape memory alloy 83 is attached to one pin 82, and the other end of the shape memory alloy 83 is attached to the right end of the intermediate member 65. Similarly, one end of a wire-shaped second shape memory alloy 84 is attached to the other pin 81, and the other end of the shape memory alloy 84 is attached to the left end of the intermediate member 65. The first and second shape memory alloys 83 and 84 are the same shape memory alloys as the shape memory alloys 19 and 20 of the first embodiment. The both ends of the first shape memory alloy 83 and the both ends of the second shape memory alloy 84 can be independently connected to and disconnected from a power source (not shown) by switch means (not shown). It has become.
[0077]
Next, the operation of this embodiment will be described with reference to FIGS. FIG. 16 shows that the operation end member 69 abuts on the operation end member stopper 72 by moving the linear movement member 63 toward the operation end member rotation shaft 68 by the urging force of the reverse urging means 79 of the spring unit 76. In this state, the intermediate member 3 is in the second intermediate member stable position.
[0078]
In the state of FIG. 16, when the power source is connected between both ends of the first shape memory alloy 83 by the switch means and the first shape memory alloy 83 is energized, the first shape memory alloy 83 is caused by Joule heat. The intermediate member 65 resists the reverse biasing means 79 because it is heated to a predetermined temperature range and contracts by generating a shape recovery force to return to the length stored in the shape memory alloy 83 by the shape memory effect. Then, the second intermediate member is rotated from the second intermediate member stable position toward the first intermediate member stable position (clockwise). However, until the intermediate member 65 reaches its neutral position (the position where the joint shaft 17 is on the straight line A as shown in FIG. 17), the reverse biasing means 79 moves the intermediate member 65 toward the second intermediate member stable position. (Counterclockwise), the operation end member is biased toward the second operation end member stable position (clockwise), so that the operation end member 69 is moved to the second operation end member stable position side. is there.
[0079]
However, when the intermediate member 65 is rotated beyond the neutral position to the first intermediate member stable position side, the reverse biasing means 79 biases the intermediate member 65 and the operation end member 69 in opposite directions. Therefore, the biasing force of the reverse biasing means 79 rotates the intermediate member 65 to the first intermediate member stable position and the operation end member 69 to the first operation end member stable position, respectively. 18 states are obtained. Thereafter, energization to the first shape memory alloy 83 is stopped, and even if the first shape memory alloy 83 cools down and loses its shape recovery force (at this time, as indicated by a one-dot chain line in FIG. The shape memory alloy 83 is relaxed), and the biasing force of the reverse biasing means 79 holds the intermediate member 65 in the first intermediate member stable position and the operation end member 69 in the first operation end member stable position. The
[0080]
As shown in FIG. 18, the operation end member 69 is in the first operation end member stable position, the intermediate member 65 is in the first intermediate member stable position, and the first and second shape memory alloys 83 and 84 are When the power is connected between both ends of the second shape memory alloy 84 by the switch means from the cooled state and the second shape memory alloy 84 is energized, the second shape memory alloy 84 is in a predetermined temperature range. The intermediate member 65 resists the reverse biasing means 79 and is contracted by generating a shape recovery force to return to the length stored in the shape memory alloy 84 by the shape memory effect. From the intermediate member stable position to the second intermediate member stable position (counterclockwise). However, until the intermediate member 65 reaches its neutral position, the reverse biasing means 79 of the spring unit 76 still moves the intermediate member 65 toward the first intermediate member stable position (clockwise) and moves the operating end member to the first position. Since the respective operation end members 69 are biased toward the one operation end member stable position (counterclockwise), the operation end member 69 is on the first operation end member stable position side.
[0081]
However, when the intermediate member 65 is rotated beyond the neutral position to the second intermediate member stable position side, the reverse biasing means 79 biases the intermediate member 65 and the operation end member 69 in the opposite directions. Therefore, the biasing force of the reverse biasing means 79 rotates the intermediate member 65 to the second intermediate member stable position and the operation end member 69 to the second operation end member stable position, respectively, as shown in FIG. It becomes a state. Thereafter, the energization to the second shape memory alloy 84 is stopped, the second shape memory alloy 84 is cooled, and even if it loses its shape recovery force (at this time, as shown by the solid line in FIG. The shape memory alloy 84 relaxes), and the biasing force of the reverse biasing means 79 holds the intermediate member 65 in the second intermediate member stable position and the operation end member in the second operation end member stable position.
[0082]
Thus, also in this bistable shape memory alloy actuator, the operation end member 69 has two stable positions, and the first or second shape memory alloy 83, 84 is heated, whereby the stable position is obtained. Can be reversed.
[0083]
Also in this embodiment, even if a force is applied to the operation end member 69 from the outside, the force is released toward the reverse biasing means 79, so that the external force is transmitted through the operation end member 69 to the first and second. The shape memory alloys 83 and 84 are not directly affected. Therefore, excessive stress is applied to the shape memory alloys 83 and 84 due to the force acting on the operation end member 69 from the outside, and the possibility that the performance is deteriorated or destroyed is reduced, and the durability can be improved.
[0084]
Normally, the operating end member rotation shaft 68 is biased to the deepest portion of the shaft fitting recess 73 by the urging force of the reverse urging means 79, but before the other shape memory alloy is sufficiently cooled, When the shape memory alloy is heated or malfunctioned, the first and second shape memory alloys 83 and 84 are heated at the same time and both are in a state of generating shape recovery force, as shown in FIG. The intermediate member 65 is pulled down together with the linearly moving member 63 against the reverse biasing means 79, and the operation end member rotating shaft 68 is moved from the deepest portion of the shaft fitting recess 73 to the opening side of the recess 73. Therefore, it is possible to prevent an excessive load from acting on the first and second shape memory alloys 83 and 84. Instead of the shaft fitting recess 73, a long hole may be provided in the operation end member 69.
[0085]
With respect to other points as well, it is possible to obtain the same effects as those of the above embodiments.
[0086]
20 to 24 show a fourth embodiment of the present invention, which is also an example in which a bistable actuator is configured.
[0087]
An intermediate member rotation shaft 92 is erected on the actuator main body 91, and a long hole-shaped shaft hole 108 provided at the center of the intermediate member 93 is rotatably fitted to the intermediate member rotation shaft 92. As a result, the intermediate member 93 is rotatable about the intermediate member rotation shaft 92. The intermediate member 93 is provided with protrusions 94 and 95 protruding upward on both sides of the shaft hole 108. Pin-shaped intermediate member stoppers 96 and 97 are provided upright on the actuator main body 91 on both sides of the intermediate member rotation shaft 92. The intermediate member 93 has a rotation range in which the first intermediate member stable position abutted against the stopper 97 as shown in FIG. 22 and the second intermediate member stable position abutted against the stopper 96 as shown in FIG. And is limited between.
[0088]
An operating end member rotating shaft 98 is erected on the actuator main body 91, and a shaft hole 100 provided near the lower end portion of the linear operating end member 99 rotates on the operating end member rotating shaft 98. Thus, the operation end member 99 is supported so as to be rotatable about the operation end member rotation shaft 98. The actuator body 91 is provided with pin-like operation end member stoppers 101 and 102 which are erected on both sides of the operation end member rotation shaft 98. The operation end member 99 has a rotation range as shown in FIG. The first operation end member stable position in contact with the operation end member and the second operation end member stable position in contact with the operation end member stopper 102 as shown in FIG. 20 are limited.
[0089]
As well shown in FIG. 24, the lower end portion of the operation end member 99 is provided with an opening 103 which is depressed in the length direction of the member 99, and this hole 103 is formed of a compression coil spring. A part of the reverse biasing means 104 and a part of the linear moving member 105 are inserted. The linear moving member 105 integrally includes a shaft portion 106 and a substantially hemispherical head portion 107, and is urged in a reverse direction while being movable in the length direction of the operation end member 99. Inserted in the means 104. The reverse biasing means 104 is interposed between the bottom of the hole 103 and the head 107 of the linear moving member 105, and presses the head 107 against the portion between the protrusions 94, 95 on the upper surface of the intermediate member 93. It is energized to do.
[0090]
Since the shaft hole 108 has a long hole shape, the intermediate member 93 is movable in the length direction of the shaft hole 108 with respect to the intermediate member rotation shaft 92, and the reverse biasing means 104 is The intermediate member 93 is biased in a direction that relatively biases the intermediate member rotation shaft 92 toward the upper end side of the shaft hole 108.
[0091]
In the actuator main body 91, pins 109 and 110 are erected above the intermediate member 93. One end of a wire-shaped first shape memory alloy 111 is attached to one pin 109, and the other end of the shape memory alloy 111 is attached to the left end of the intermediate member 93. Similarly, one end of a wire-shaped second shape memory alloy 112 is attached to the other pin 110, and the other end of the shape memory alloy 112 is attached to the right end of the intermediate member 93. The first and second shape memory alloys 111 and 112 are the same shape memory alloys as the shape memory alloys 19 and 20 of the first embodiment. The both ends of the first shape memory alloy 111 and the both ends of the second shape memory alloy 112 can be independently connected to and disconnected from a power source (not shown) by switch means (not shown). It has become.
[0092]
Next, the operation of this embodiment will be described with reference to FIGS. In FIG. 20, the head 107 of the linear moving member 105 presses the upper surface of the intermediate member 93 and the protrusion 94 by the urging force of the reverse urging means 104, and the intermediate member 93 comes into contact with the intermediate member stopper 96 to The operation end member 99 is in contact with the operation end member stopper 102 and is in the second operation end member stable position.
[0093]
In the state of FIG. 20, when a power source is connected between both ends of the first shape memory alloy 111 by the switch means and the first shape memory alloy 111 is energized, the first shape memory alloy 111 is in a predetermined temperature range. The intermediate member 93 resists the reverse biasing means 104 and is contracted by generating a shape recovery force to return to the length stored in the shape memory alloy 111 by the shape memory effect. From the intermediate member stable position to the first intermediate member stable position (clockwise). However, until the intermediate member reaches its neutral position (as shown in FIG. 21, the intermediate member 93 is in a direction perpendicular to the straight line A connecting the operation end member rotation shaft 98 and the intermediate member rotation shaft 92). The biasing means 104 biases the intermediate member 93 toward the second intermediate member stable position (counterclockwise) and the operation end member 99 toward the second operation end member stable position (clockwise). Therefore, the operation end member 99 is on the second operation end member stable position side.
[0094]
However, when the intermediate member 93 is rotated beyond the neutral position to the first intermediate member stable position side, the reverse biasing means 104 biases the intermediate member 93 and the operation end member 99 in the opposite directions. Therefore, the biasing force of the reverse biasing means 104 rotates the intermediate member 93 to the first intermediate member stable position and the operation end member 99 to the first operation end member stable position. 22 state. Note that the head 107 of the linearly moving member 105 slides relative to the intermediate member 93 between the protrusions 94 and 95 in accordance with the rotation of the intermediate member 93 and the operation end member 99. Thereafter, even when the first shape memory alloy 111 is deenergized and the first shape memory alloy 111 cools down and loses its shape recovery force, the intermediate member 93 remains as it is by the biasing force of the reverse biasing means 104. The operation end member 99 is held at the first operation end member stable position at the intermediate member stable position.
[0095]
Further, as shown in FIG. 22, the operation end member 99 is in the first operation end member stable position, the intermediate member 93 is in the first intermediate member stable position, and the first and second shape memory alloys 111 and 112 are When the power is connected between both ends of the second shape memory alloy 112 by the switch means from the cooled state and the second shape memory alloy 112 is energized, the second shape memory alloy 112 is in a predetermined temperature range. The intermediate member 93 resists the reverse biasing means 104 and generates a shape recovery force that causes the shape memory alloy 112 to return to the length stored by the shape memory effect. From the intermediate member stable position to the second intermediate member stable position (counterclockwise). However, until the intermediate member 93 reaches its neutral position, the reverse biasing means 104 continues to move the intermediate member 93 toward the first intermediate member stable position (clockwise) and move the operating end member 99 to the first operation position. Since each end member is biased toward the end member stable position (counterclockwise), the operation end member 99 is on the first operation end member stable position side.
[0096]
However, when the intermediate member 93 is rotated beyond the neutral position to the second intermediate member stable position side, the reverse biasing means 104 biases the intermediate member 93 and the operation end member 99 in the opposite directions. Therefore, the biasing force of the reverse biasing means 104 rotates the intermediate member 93 to the second intermediate member stable position and the operation end member 99 to the second operation end member stable position, respectively, as shown in FIG. It becomes a state. After that, even if the current supply to the second shape memory alloy 112 is stopped and the second shape memory alloy 112 is cooled and loses its shape recovery force, the intermediate member 93 remains as it is by the biasing force of the reverse biasing means 104. The intermediate member stable position and the operation end member 99 are respectively held at the second operation end member stable position.
[0097]
In this way, also in this bistable shape memory alloy actuator, the operation end member 99 has two stable positions, and the first or second shape memory alloy 111, 112 is heated to thereby obtain the stable position. Can be reversed.
[0098]
Further, this shape memory alloy actuator also releases force toward the reverse biasing means 104 even when a force is applied to the operation end member 99 from the outside, or the head 107 and the intermediate member 93 of the linear moving member 105. Therefore, the external force does not directly act on the first and second shape memory alloys 111 and 112 through the operation end member 99. Therefore, excessive stress is applied to the shape memory alloy by the force acting on the operation end member 99 from the outside, and the possibility that the performance is deteriorated or destroyed is reduced, and the durability can be improved.
[0099]
Further, since the operation of the operation end member 99 is directly performed by the force of the reverse biasing means 104, the operation speed can be increased, and the usage amount of the shape memory alloys 111 and 112 is reduced, thereby reducing the cost. In addition, it is possible to reduce the amount of energy used and thus save resources.
[0100]
Further, since the reverse biasing means 106 has a structure that only rotates around the operating end member rotation shaft 98, the apparatus can be further miniaturized.
[0101]
In addition, the other shape memory alloy is heated before one shape memory alloy is sufficiently cooled, or the first and second shape memory alloys 111 and 112 are heated at the same time due to malfunction, and both generate shape recovery force. In this state, since the shaft hole 108 of the intermediate member 93 has a long hole shape, the intermediate member is lifted together with the linearly moving member 105 against the reverse biasing means 104 as shown in FIG. Therefore, it is possible to prevent an excessive load from acting on the first and second shape memory alloys 111 and 112.
[0102]
In addition, in order to reduce the sliding resistance between the linear moving member 105 and the intermediate member 93, in the same manner as the operation end member 44 supports the roller 46 in the second embodiment shown in FIGS. The moving member 105 may be rotatably supported by the roller, and the linear moving member 105 may be pressed against the intermediate member 93 via the roller.
[0103]
Further, similarly to the connection relationship between the intermediate member 65 and the linear movement member 69 in the third embodiment of FIGS. 13 to 19, the intermediate member 93 and the linear movement member 105 are connected to each other by one joint shaft so as to be rotatable. May be.
[0104]
25 and 26 show a fifth embodiment of the present invention, which is also an example in which a bistable actuator is constructed.
[0105]
A support plate 123 provided with a hole 122 is fixed to the actuator main body 121 so as to spread laterally. The actuator body 121 is provided with a spring pedestal 124 so as to be positioned below the hole 122, and the spring pedestal 124 is provided with a recess 125 having a circular cross section. The lower end portion of the buckling spring 126 is placed in the concave portion 125, and the upper end portion of the buckling spring 126 is connected to the lower end portion of the linear operation end member 128 via a connecting body 127 having a circular cross section. Has been. The connecting body 127 is brought into contact with the lower side of the hole 122 due to the elasticity of the buckling spring 126, and the operation end member 128 passes through the hole 122 and protrudes above the support plate 123. Here, when the buckling spring 126 is curved so as to be convex to the right as shown in FIG. 25, the operation end member 128 is counterclockwise ( 26, when it is curved so that it protrudes to the left as shown in FIG. 26, the operation end member 128 is rotated clockwise ( It has a characteristic of urging in the right tilt direction.
[0106]
On the left side of the buckling spring 126, a wire-shaped first shape memory alloy 129 is stretched between the actuator body 121 and the central portion of the buckling spring 126, while the right side of the buckling spring 126. On the other hand, a wire-shaped second shape memory alloy 130 is stretched between the actuator main body 121 and the central portion of the buckling spring 126. The first and second shape memory alloys 129 and 130 are the same shape memory alloys as those of the first embodiment. The both ends of the first shape memory alloy 129 and the both ends of the second shape memory alloy 130 can be independently connected to and disconnected from a power source (not shown) by switch means (not shown). It has become.
[0107]
Next, the operation of this embodiment will be described. When both the first and second shape memory alloys 129 and 130 are cooled and no shape recovery force is generated, the operation end member 128 is moved to the first stable state shown in FIG. Or the second stable position shown in FIG. Now, with the operating end member 128 in the second stable position as shown in FIG. 25, a power source is connected between both ends of the first shape memory alloy 129 by the switch means, and the first shape memory alloy 129 is connected to the first shape memory alloy 129. When energized, the first shape memory alloy 129 is heated to a predetermined temperature range and contracts by generating a shape recovery force to return to the length stored in the shape memory alloy 129 by the shape memory effect. As shown in FIG. 26, the buckling spring 126 reversely curves so as to protrude to the left, and the operation end member 128 reaches the first stable position. Thereafter, the energization to the first shape memory alloy 129 is stopped, the first shape memory alloy 129 is cooled, and even if the shape recovery force is lost (the first shape memory alloy 129 is shown in FIG. 26 at this time). The first operation end member 128 is held in the first stable position as it is by the biasing force of the buckling spring 126.
[0108]
On the other hand, when the operating end member 128 is in the first stable position as shown in FIG. 26, a power source is connected between both ends of the second shape memory alloy 130 by the switch means, and the second shape memory alloy 130 is connected. When the current is energized, the second shape memory alloy 130 is heated to a predetermined temperature range, and due to the shape memory effect, the shape memory alloy 130 shrinks by generating a shape recovery force that attempts to return to the stored length. As shown in FIG. 25, the buckling spring 126 is inverted and bent so as to protrude to the right, and the operation end member 128 reaches the second stable position. Thereafter, energization to the second shape memory alloy 130 is stopped, the second shape memory alloy 130 is cooled, and even if the shape recovery force is lost (the second shape memory alloy 130 is shown in FIG. 25 at this time). The second operation end member 128 is held in a stable position as it is by the biasing force of the buckling spring 126.
[0109]
Thus, also in this bistable shape memory alloy actuator, the operation end member 128 is provided with two stable positions, and the first or second shape memory alloy 129, 130 is heated to thereby obtain the stable position. Can be reversed.
[0110]
Also in this embodiment, even if a force acts on the operation end member 128 from the outside, the force is released toward the buckling spring 126, and the external force is transmitted through the operation end member 128 to the first and second shapes. It does not act directly on the memory alloys 129 and 130. Therefore, excessive stress is applied to the shape memory alloys 129 and 130 by the force acting on the operation end member 128 from the outside, and the possibility that the performance is deteriorated or destroyed is reduced, and the durability can be improved.
[0111]
Further, since the operation of the operation end member 128 is directly performed by the force of the buckling spring 126, the operation speed can be increased, and the use amount of the shape memory alloys 129 and 130 is reduced, thereby reducing the cost. At the same time, it is possible to reduce the amount of energy used and thus save resources.
[0112]
In addition, since the buckling spring 126 is substantially always in the same position, the apparatus can be further miniaturized.
[0113]
27 to 29 show a sixth embodiment of the present invention, which is an example in which a monostable actuator is configured.
[0114]
In this embodiment, return biasing means 141 made of a tension coil spring is interposed between the pin 17 and the left end portion of the intermediate member 6 in place of the second shape memory alloy 20 in the bistable actuator of the first embodiment. It is set as a disguised configuration. In the first embodiment, the first intermediate member stable position is the intermediate member temporary reverse position, the second intermediate member stable position is the intermediate member stable position, and the first operation end member stable position is the operation end member temporary reverse position. The second operation end member stable position is replaced with the operation end member stable position.
[0115]
Next, the operation of this embodiment will be described with reference to FIGS. In FIG. 27, the shape memory alloy 19 is cooled, and the intermediate member 6 is in contact with the guide 2 by the urging force of the return urging means 141 and the reverse urging means 16 and is in the intermediate member stable position. The member 11 is in contact with the operation end member stopper 14 and is in the operation end member stable position. At this time, the operation end member 11 is in contact with the protrusion 8 of the intermediate member 6 at the same time.
[0116]
In the state of FIG. 27, when a power source is connected between both ends of the shape memory alloy 19 by the switch means and the shape memory alloy 19 is energized, the shape memory alloy 19 is heated to a predetermined temperature range by Joule heat, and the shape memory effect is achieved. Therefore, the intermediate member 6 resists the reverse biasing means 16 and temporarily reverses the intermediate member from the intermediate member stable position. It is rotated toward the position (ie, clockwise). However, until the intermediate member 6 reaches its neutral position (position where the intermediate member 6 is perpendicular to the straight line A as shown in FIG. 28), the reverse biasing means 16 moves the intermediate member 6 toward the intermediate member stable position. Since the operation end member 11 is urged (counterclockwise) toward the operation end member stable position (counterclockwise), the operation end member 11 is on the operation end member stable position side. .
[0117]
However, when the intermediate member 6 is turned to the intermediate member temporary reversal position side beyond the neutral position, the reverse biasing means 16 biases the intermediate member 6 and the operation end member 11 in the opposite directions. Therefore, the biasing force of the reverse biasing means 16 rotates the intermediate member 6 to the intermediate member temporary reverse position, and the operation end member 11 to the operation end member temporary reverse position. The actuator is brought into contact with the projection 9 of the intermediate member 6 and the actuator is in the state shown in FIG. The lower end portion of the operation end member 11 slides between the protrusions 8 and 9 with respect to the intermediate member 6 in accordance with the rotation of the intermediate member 6 and the operation end member 11.
[0118]
Thereafter, the energization of the shape memory alloy 19 is stopped, the shape memory alloy 19 is cooled, and when the shape recovery force is lost, the intermediate member 6 is temporarily reversed by the return biasing means 141 against the reverse biasing means 16. It is rotated from the position toward the intermediate member stable position (counterclockwise). However, until the intermediate member 6 reaches its neutral position, the reverse biasing means 16 moves the intermediate member 6 toward the intermediate member temporary reverse position (clockwise) and the operation end member 11 to the operation end member temporary reverse position. Since each is biased toward (counterclockwise), the operation end member 11 is on the operation end member temporary reversal position side. However, when the intermediate member 6 is turned to the intermediate member stable position side beyond the neutral position, the reverse biasing means 16 biases the intermediate member 6 and the operation end member 11 in the opposite directions. 27, the intermediate member 6 is rapidly rotated to the intermediate member stable position and the operation end member 11 is rapidly rotated to the operation end member stable position by the urging forces of the reverse urging means 16 and the return urging means 141. Return to.
[0119]
In this embodiment as well, even if a force is applied to the operation end member 11 from the outside, the force is released toward the reverse biasing means 16 or slips between the operation end member 11 and the intermediate member 6. As a result, the external force does not directly act on the shape memory alloy 14 through the operation end member 11. Therefore, excessive stress is applied to the shape memory alloy 19 due to the force acting on the operation end member 11 from the outside, and the possibility that the performance is deteriorated or destroyed is reduced, and the durability can be improved.
[0120]
Further, since the operation of the operation end member 11 is directly performed by the force of the reverse biasing means 16 and the return biasing means 141, the operation speed can be increased and the amount of the shape memory alloy used can be reduced. In addition to reducing costs, it is possible to reduce the amount of energy used and thus save resources.
[0121]
Further, since the position and direction of the reverse biasing means 16 are not changed, the apparatus can be further miniaturized.
[0122]
30 to 33 show seventh, eighth, ninth, and tenth embodiments of the present invention, respectively, and these embodiments are also examples that constitute a monostable actuator.
[0123]
In these embodiments, the return urging means 142, 143, and 144 including the coil springs are used to pull the second shape memory alloys 54, 84, 112, and 130 in the bistable actuators of the second, third, fourth, and fifth embodiments. , 145, respectively. As in the case of the sixth embodiment, the first intermediate member stable position in each embodiment is the intermediate member temporary reversal position, the second intermediate member stable position is the intermediate member stable position, and the first operation end member stable. The position is replaced with the operation end member temporary reversal position, and the second operation end member stable position is replaced with the operation end member stable position. Therefore, since the operation seems to be obvious, the description is omitted.
[0124]
In each of the above embodiments, the shape memory alloy is heated by energization. However, in the present invention, other types of heating methods such as conduction heating, heating by convection or environmental temperature, heating by infrared rays or laser, and the like are used. The shape memory alloy may be heated by
[0125]
In each of the embodiments, the reverse biasing means 16, 50, 79, 104 and the return biasing means 141 to 145 are constituted by coil springs. However, in the present invention, the reverse biasing means and the reset biasing means are provided. The biasing means may be other types of springs such as a spring other than the coil spring, a spring using gas, or may be constituted by a rubber elastic body or a magnet. In each of the above embodiments, the reverse biasing means 16, 50, 79, 104 are constituted by compression springs, and the return biasing means 141-145 are tension springs. The biasing means may be a compression spring.
[0126]
【The invention's effect】
As described above, the shape memory alloy actuator according to the present invention is
(A) Even if a force acts on the operation end from the outside, the external force does not act directly on the shape memory alloy through the operation end.
(B) Fast operation speed
(C) To obtain a bistable shape memory alloy actuator having two stable positions at the operating end, and a monostable type actuator having one stable position and capable of quickly reversing the position of the operating end. it can,
(D) In a differential shape memory alloy actuator, even when both shape memory alloys are in a state of generating shape recovery force at the same time, the shape memory alloy is not deteriorated or destroyed. Is also possible,
(E) The device can be further miniaturized,
It is possible to obtain excellent effects such as.
[Brief description of the drawings]
FIG. 1 is an exploded perspective view showing a first embodiment of a shape memory alloy actuator according to the present invention.
FIG. 2 is a plan view showing the first embodiment.
FIG. 3 is a perspective view showing a linear moving member in the first embodiment.
FIG. 4 is a perspective view showing an intermediate member in the first embodiment.
FIG. 5 is a front view showing the first embodiment in a state where the intermediate member and the operation end member are in their second stable positions (the cover is removed);
FIG. 6 is a front view showing the first embodiment in a state in which an intermediate member is in a neutral position (a cover is removed);
FIG. 7 is a front view showing the first embodiment in a state where the intermediate member and the operating end member are in their first stable positions (the cover is removed);
FIG. 8 is a front view showing the first embodiment in a state where the first and second shape memory alloys are heated at the same time (the cover is removed);
FIG. 9 is a front view showing a second embodiment of the shape memory alloy actuator according to the present invention in a state where the intermediate member and the operation end member are in their second stable positions, respectively.
FIG. 10 is a front view showing the second embodiment when the intermediate member is in a neutral position.
FIG. 11 is a front view showing the second embodiment in a state where the intermediate member and the operation end member are in their first stable positions.
FIG. 12 is a perspective view showing a linearly moving member and an intermediate member in the second embodiment.
FIG. 13 is a perspective view showing a third embodiment of the shape memory alloy actuator according to the present invention (the shape memory alloy is not shown).
FIG. 14 is an exploded perspective view showing the third embodiment (the shape memory alloy is not shown).
FIG. 15 is a cross-sectional view showing a spring unit in the third embodiment.
FIG. 16 is a front view showing the third embodiment in a state where the intermediate member and the operation end member are in their second stable positions, respectively.
FIG. 17 is a front view showing the third embodiment in a state where the intermediate member is in a neutral position.
FIG. 18 is a front view showing the third embodiment in a state where the intermediate member and the operation end member are in their first stable positions.
FIG. 19 is a front view showing the first embodiment in a state where the first and second shape memory alloys are heated simultaneously.
FIG. 20 is a front view showing a fourth embodiment of the shape memory alloy actuator according to the present invention in a state where the intermediate member and the operating end member are respectively in their second stable positions.
FIG. 21 is a front view showing the fourth embodiment in a state where an intermediate member is in a neutral position.
FIG. 22 is a front view showing the fourth embodiment in a state where the intermediate member and the operation end member are in their first stable positions, respectively.
FIG. 23 is a front view showing the fourth embodiment in a state where the first and second shape memory alloys are simultaneously heated.
FIG. 24 is an enlarged sectional view showing the vicinity of the lower end portion of the operation end member, the linearly moving member, and the reverse biasing means in the fourth embodiment.
FIG. 25 is a cross-sectional view showing a fifth embodiment of the shape memory alloy actuator according to the present invention in a state where the operating end member is in the second stable position.
FIG. 26 is a sectional view showing the fifth embodiment in a state where the operation end member is in the first stable position.
FIG. 27 is a front view showing a sixth embodiment of the shape memory alloy actuator according to the present invention in a state where the intermediate member and the operating end member are in their stable positions, respectively.
FIG. 28 is a front view showing the sixth embodiment in a state where the intermediate member is in a neutral position.
FIG. 29 is a front view showing the sixth embodiment in a state where the intermediate member and the operation end member are in their temporarily reversed positions, respectively.
FIG. 30 is a front view showing a seventh embodiment of the shape memory alloy actuator according to the present invention.
FIG. 31 is a front view showing an eighth embodiment of the shape memory alloy actuator according to the present invention.
FIG. 32 is a front view showing a ninth embodiment of the shape memory alloy actuator according to the present invention.
FIG. 33 is a front view showing a tenth embodiment of the shape memory alloy actuator according to the present invention.
[Explanation of symbols]
4 Linear moving member
5 Intermediate member rotation axis
6 Intermediate member
10 Operation end member rotation axis
11 Operation end member
16 Reverse biasing means
19 First shape memory alloy
20 Second shape memory alloy
34 Linear moving member
36 Intermediate member rotation axis
37 Intermediate member
43 Operation end member rotation axis
44 Operation end member
46 Laura
50 Reverse biasing means
53 First shape memory alloy
54 Second shape memory alloy
63 Linear moving member
64 Intermediate member rotation axis
65 Intermediate member
67 Joint axis
68 Operation end member rotation axis
69 Operation end member
73 Joint axis
79 Reverse biasing means
83 First shape memory alloy
84 Second shape memory alloy
92 Intermediate member rotation axis
93 Intermediate member
98 Operation end member rotation axis
99 Operation end member
104 Reverse biasing means
105 Linear moving member
111 First shape memory alloy
112 Second shape memory alloy
126 Buckling spring
128 Operation end member
129 First shape memory alloy
130 Second Shape Memory Alloy
141-145 Return urging means

Claims (14)

A bistable shape memory alloy actuator having an operation end having two stable positions,
A linearly movable member movable in a linear direction, an intermediate member supported by the linearly movable member so as to be rotatable between a first intermediate member stable position and a second intermediate member stable position; When the operation end member that can rotate between the operation end member stable position and the second operation end member stable position and the shape recovery force are generated, the intermediate member is moved toward the first intermediate member stable position. The first shape memory alloy linked to the intermediate member to rotate and the intermediate member to rotate the intermediate member toward the second intermediate member stable position when a shape recovery force is generated. A second shape memory alloy linked to the member, and a reverse biasing means for biasing the linear movement member toward the rotation center of the operation end member, and the movement direction of the linear movement member is The rotation center of the operation end member is connected to the rotation center of the intermediate member. A counter, the operating end member is adapted to be acted upon the biasing force of the reversing biasing means via the intermediate member,
When the operation end member is in the first operation end member stable position and the intermediate member is in the first intermediate member stable position, the intermediate member is stabilized by the reverse biasing means. The operation end members are biased toward the first operation end member stable position toward the position, and the intermediate member is rotated toward the second intermediate member stable position from this state. Then, while the intermediate member is on the first intermediate member stable position side from the predetermined neutral position, the intermediate member is still moved toward the first intermediate member stable position by the reverse biasing means. The operation end members are biased toward the first operation end member stable position, respectively, but when the intermediate member is rotated to the second intermediate member stable position side beyond the neutral position. , The reverse bias Conversely, the intermediate member is biased toward the second intermediate member stable position and the operation end member is biased toward the second operation end member stable position, while the operation end member is When the second operation end member stable position and the intermediate member are in the second intermediate member stable position, the reverse biasing means causes the intermediate member to move toward the second intermediate member stable position. The operation end members are respectively biased toward the second operation end member stable position, and when the intermediate member is rotated toward the first intermediate member stable position from this state, While the member is on the second intermediate member stable position side from the predetermined neutral position, the intermediate member is still moved toward the second intermediate member stable position by the reverse biasing means, and the operation end member is Second Each end member is biased toward the stable position, but when the intermediate member is rotated to the first intermediate member stable position side beyond the neutral position, the reverse biasing means reversely A shape memory alloy actuator configured such that the intermediate member is biased toward the first intermediate member stable position, and the operation end member is biased toward the first operation end member stable position. The intermediate member is pressed against the operation end member by the urging force of the reverse urging means, and the intermediate member and the intermediate member according to a change in the rotation position of the operation end member and the intermediate member The shape memory alloy actuator according to claim 1, wherein a contact portion with the operation end member moves. The shape memory alloy actuator according to claim 2, further comprising a roller rotatably supported by the operation end member, wherein the intermediate member is pressed against the operation end member via the roller. The shape memory alloy actuator according to claim 1, wherein the intermediate member and the operation end member are rotatably connected to each other by a single joint shaft. The joint shaft is movable within a certain range with respect to the operation end member and / or the intermediate member, and the reverse biasing means is configured to bias the joint shaft toward one end of the movable range. The shape memory alloy actuator according to claim 4, wherein the intermediate member is biased. A bistable shape memory alloy actuator having an operation end having two stable positions,
An operation end member that can rotate between a first operation end member stable position and a second operation end member stable position, and a rotation between the first intermediate member stable position and the second intermediate member stable position. A movable intermediate member, and a first shape memory alloy linked to the intermediate member to rotate the intermediate member toward the first intermediate member stable position when a shape recovery force is generated; A second shape memory alloy linked to the intermediate member so as to rotate the intermediate member toward the second intermediate member stable position when a shape recovery force is generated; A linear moving member supported so as to be movable in a linear direction with respect to the end member, and the linear moving member is attached to the intermediate member side so that a force is applied to the intermediate member via the linear moving member. Reversing biasing means
When the operation end member is in the first operation end member stable position and the intermediate member is in the first intermediate member stable position, the intermediate member is stabilized by the reverse biasing means. The operation end members are biased toward the first operation end member stable position toward the position, and the intermediate member is rotated toward the second intermediate member stable position from this state. Then, while the intermediate member is on the first intermediate member stable position side from the predetermined neutral position, the intermediate member is still moved toward the first intermediate member stable position by the reverse biasing means. The operation end members are biased toward the first operation end member stable position, respectively, but when the intermediate member is rotated to the second intermediate member stable position side beyond the neutral position. , The reverse bias Conversely, the intermediate member is biased toward the second intermediate member stable position and the operation end member is biased toward the second operation end member stable position, while the operation end member is When the second operation end member stable position and the intermediate member are in the second intermediate member stable position, the reverse biasing means causes the intermediate member to move toward the second intermediate member stable position. The operation end members are respectively biased toward the second operation end member stable position, and when the intermediate member is rotated toward the first intermediate member stable position from this state, While the member is on the second intermediate member stable position side from the predetermined neutral position, the intermediate member is still moved toward the second intermediate member stable position by the reverse biasing means, and the operation end member is Second Each end member is biased toward the stable position, but when the intermediate member is rotated to the first intermediate member stable position side beyond the neutral position, the reverse biasing means reversely A shape memory alloy actuator configured such that the intermediate member is biased toward the first intermediate member stable position, and the operation end member is biased toward the first operation end member stable position. The linear moving member is pressed against the intermediate member by the urging force of the reverse urging means, and the intermediate member and the intermediate member according to a change in the rotation position of the operation end member and the intermediate member The shape memory alloy actuator according to claim 6, wherein the contact portion with the operation end member moves.
Toru 8. The shape memory alloy actuator according to claim 7, further comprising a roller rotatably supported by the linear movement member, wherein the linear movement member is pressed against the intermediate member via the roller. The shape memory alloy actuator according to claim 6, wherein the intermediate member and the linearly moving member are rotatably connected to each other by a single joint shaft. The joint shaft is movable within a certain range with respect to the intermediate member and / or the linearly moving member, and the reverse biasing means is configured to bias the joint shaft toward one end of the movable range. The shape memory alloy actuator according to claim 9, wherein the linear movement member is biased. A bistable shape memory alloy actuator having an operation end having two stable positions,
An operation end member movable between a first stable position and a second stable position, and a state linked to the operation end member and biasing the operation end member toward the first stable position And a buckling spring capable of energizing the operating end member toward the second stable position, and when generating a shape recovery force, the operating end member is biased toward the first stable position. A first shape memory alloy linked to the buckling spring without passing through the operating end member so as to shift the buckling spring to a state, and when the shape restoring force is generated, the operating end member is A shape memory comprising: a second shape memory alloy linked to the buckling spring without the operation end member so as to shift the buckling spring to a state of being biased to the second stable position side. Alloy actuator. A monostable shape memory alloy actuator having an operation end having one stable position,
A linearly movable member that is movable in a linear direction; an intermediate member that is supported by the linearly movable member so as to be rotatable between an intermediate member stable position and an intermediate member temporary reversal position; and an operation end member stable position and an operation end An operation end member that can rotate between a member temporary reversal position and a link that is linked to the intermediate member so as to rotate the intermediate member toward the intermediate member temporary reversal position when a shape recovery force is generated. A shape memory alloy, a return urging unit that urges the intermediate member toward the intermediate member stable position, and a reverse urging unit that urges the linearly moving member toward the rotation center of the operation end member. And the movement direction of the linear movement member is a direction connecting the rotation center of the operation end member and the rotation center of the intermediate member, and the operation end member is attached with the reverse via the intermediate member. The urging force of the urging means is applied Cage,
When the operation end member is in the operation end member stable position and the intermediate member is in the intermediate member stable position, the operation end member is moved toward the intermediate member stable position by the reverse biasing means. Are biased toward the operation end member stable position, and when the intermediate member is rotated toward the intermediate member temporary reversal position from this state, the intermediate member is moved from the predetermined neutral position to the While the intermediate member is at the stable position side, the reverse biasing means still biases the intermediate member toward the intermediate member stable position and the operation end member toward the operation end member stable position. However, when the intermediate member is rotated to the intermediate member temporary reversal position side beyond the neutral position, the intermediate member is reversed by the reverse biasing means. The operation end member is biased toward the operation end member temporary reversal position, while the operation end member is the operation end member temporary reversal position, and the intermediate member is the intermediate member temporary reversal position. The intermediate member is biased toward the intermediate member temporary reversal position and the operation end member is biased toward the operation end member temporary reversal position. When the intermediate member is rotated toward the intermediate member stable position from the intermediate member, while the intermediate member is on the intermediate member temporary reversal position side with respect to the predetermined neutral position, the reversal urging means still keeps the intermediate member The member is biased toward the intermediate member temporary reversal position and the operation end member is biased toward the operation end member temporary reversal position. When the intermediate member is turned to the intermediate member stable position side beyond the neutral position, the reverse member biases the intermediate member toward the intermediate member stable position, and the operation end member is the operation end member stable position. A shape memory alloy actuator configured to be biased toward each. A monostable shape memory alloy actuator having an operation end having one stable position,
An operation end member rotatable between the operation end member stable position and the operation end member temporary reversal position, an intermediate member rotatable between the intermediate member stable position and the intermediate member temporary reversal position, and a shape recovery force And a shape memory alloy linked to the intermediate member so as to rotate the intermediate member toward the temporary reversal position, and a return function for biasing the intermediate member toward the intermediate member stable position. A biasing means, a linear moving member supported by the operating end member so as to be movable in a linear direction with respect to the operating end member, and a force acting on the intermediate member via the linear moving member. Reversing biasing means for biasing the linearly moving member toward the intermediate member,
When the operation end member is in the operation end member stable position and the intermediate member is in the intermediate member stable position, the operation end member is moved toward the intermediate member stable position by the reverse biasing means. Are biased toward the operation end member stable position, and when the intermediate member is rotated toward the intermediate member temporary reversal position from this state, the intermediate member is moved from the predetermined neutral position to the While the intermediate member is at the stable position side, the reverse biasing means still biases the intermediate member toward the intermediate member stable position and the operation end member toward the operation end member stable position. However, when the intermediate member is rotated to the intermediate member temporary reversal position side beyond the neutral position, the intermediate member is reversed by the reverse biasing means. The operation end member is biased toward the operation end member temporary reversal position, while the operation end member is the operation end member temporary reversal position, and the intermediate member is the intermediate member temporary reversal position. The intermediate member is biased toward the intermediate member temporary reversal position and the operation end member is biased toward the operation end member temporary reversal position. When the intermediate member is rotated toward the intermediate member stable position from the intermediate member, while the intermediate member is on the intermediate member temporary reversal position side with respect to the predetermined neutral position, the reversal urging means still keeps the intermediate member The member is biased toward the intermediate member temporary reversal position and the operation end member is biased toward the operation end member temporary reversal position. When the intermediate member is turned to the intermediate member stable position side beyond the neutral position, the reverse member biases the intermediate member toward the intermediate member stable position, and the operation end member is the operation end member stable position. A shape memory alloy actuator configured to be biased toward each. A monostable shape memory alloy actuator having an operation end having one stable position,
An operation end member that is movable between a stable position and a temporary reversal position, and is linked to the operation end member. The state that urges the operation end member toward the stable position and the operation end member are A buckling spring that can be biased toward the reversal position; and when the shape recovery force is generated, the buckling spring is transitioned to a state where the operation end member is biased toward the temporary reversal position. A shape memory alloy linked to the buckling spring without an operation end member, and the buckling spring in a direction to transition the buckling spring to a state in which the operation end member is biased to the stable position side. A shape memory alloy actuator comprising return biasing means for biasing.

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