Actuator device, actuator band, and method for manufacturing actuator band
View Patent ↗The present disclosure provides an actuator device having a large ratio of contraction ratio to initial tension. The actuator device according to the present disclosure comprises an actuator band and a control device. The actuator band is formed by braiding, knitting, or weaving a plurality of actuator single wires. The plurality of the actuator single wires each comprise an actuator wire and a mesh-shaped heating element which covers a side surface of the actuator wire. The actuator wire is formed of a polymer fiber. The fiber is twisted around the long axis thereof and folded so as to have a cylindrical coil shape. The control device is configured to supply electric power for heating the mesh-shaped heating element. The actuator band is heated to be contracted along the longitudinal direction thereof.
1. An actuator device, comprising:
an actuator band; and
a control device,
wherein
the actuator band comprises a plurality of actuator single wires;
the plurality of the actuator single wires are braided, knitted or woven;
first ends of the plurality of the actuator single wires are connected to each other;
second ends of the plurality of the actuator single wires are connected to each other;
each of the plurality of the actuator single wires comprises an actuator wire and a mesh-shaped heating element which covers a side surface of the actuator wire and comprises a plurality of heating wires;
the actuator wire is formed of a fiber consisting of a polymer;
the fiber is twisted around the long axis thereof;
the fiber is folded so as to have a shape of a cylindrical coil;
the actuator wire is contracted by heat and restored by release of the heat;
a first end of the mesh-shaped heating element is connected to a first end of the actuator wire;
a second end of the mesh-shaped heating element is connected to a second end of the actuator wire;
the control device is configured to supply, to the mesh-shaped heating element, electric power for heating the mesh-shaped heating element; and
the actuator band is configured to be contracted along the longitudinal direction thereof by the heat in a state where tension has been applied along the longitudinal direction thereof.
2. The actuator device according to claim 1 , wherein
the plurality of the actuator single wires intersect each other.
3. The actuator device according to claim 1 , wherein
each of the plurality of the heating wires comprises non-conductive elastic yarn and a metal wire; and
the metal wire is helically wound around the elastic yarn.
4. The actuator device according to claim 1 , wherein
each of the plurality of the heating wires is helically wound around the side surface of the actuator wire; and
the plurality of the heating wires are braided so as to form the mesh-shaped heating element.
5. The actuator device according to claim 4 , wherein
the plurality of the heating wires are braided clockwise.
6. The actuator device according to claim 4 , wherein
the plurality of the heating wires are braided counterclockwise.
7. The actuator device according to claim 1 , wherein
each of the plurality of the heating wires has a rectangular wave shape; and
the plurality of the heating wires each having the rectangular wave shape are knitted so as to form the mesh-shaped heating element.
8. The actuator device according to claim 1 , wherein
each of the plurality of the heating wires is helically wound around the side surface of the actuator wire; and
the plurality of the heating wires are woven so as to form the mesh-shaped heating element.
9. The actuator device according to claim 1 , wherein
the fiber is formed of linear low density polyethylene; and
the following formula (I) is satisfied:
D/d< 1 (I)
where
D represents an average diameter of the cylindrical coil; and
d represents a diameter of the fiber.
10. An actuator band comprising a plurality of actuator single wires, wherein
the plurality of the actuator single wires are braided, knitted or woven;
first ends of the plurality of the actuator single wires are connected to each other;
second ends of the plurality of the actuator single wires are connected to each other;
each of the plurality of the actuator single wires comprises an actuator wire, and a mesh-shaped heating element which covers a side surface of the actuator wire and comprises a plurality of heating wires;
the actuator wire is formed of a fiber consisting of a polymer;
the fiber is twisted around the long axis thereof;
the fiber is folded so as to have a shape of a cylindrical coil;
the actuator wire is contracted by heat and restored by release of the heat;
a first end of the mesh-shaped heating element is connected to a first end of the actuator wire; and
a second end of the mesh-shaped heating element is connected to a second end of the actuator wire,
wherein the actuator band is configured to be contracted along the longitudinal direction thereof by heat in a state where tension has been applied along the longitudinal direction thereof, the heat provided by supplying power to the mesh-shaped heating element.
11. The actuator band according to claim 10 , wherein
the plurality of the actuator single wires intersect each other.
12. The actuator band according to claim 10 , wherein
each of the plurality of the heating wires comprises non-conductive elastic yarn and a metal wire; and
the metal wire is helically wound around the elastic yarn.
13. The actuator band according to claim 10 , wherein
each of the plurality of the heating wires is helically wound around the side surface of the actuator wire; and
the plurality of the heating wires are braided so as to form the mesh-shaped heating element.
14. The actuator band according to claim 13 , wherein
the plurality of the heating wires are braided clockwise.
15. The actuator band according to claim 13 , wherein
the plurality of the heating wires are braided counterclockwise.
16. The actuator band according to claim 10 , wherein
each of the plurality of the heating wires has a rectangular wave shape; and
the plurality of the heating wires each having the rectangular wave shape are knitted so as to form the mesh-shaped heating element.
17. The actuator band according to claim 10 , wherein
each of the plurality of the heating wires is helically wound around the side surface of the actuator wire; and
the plurality of the heating wires are woven so as to form the mesh-shaped heating element.
18. The actuator band according to claim 10 , wherein
the fiber is formed of linear low density polyethylene; and
the following formula (I) is satisfied:
D/d< 1 (I)
where
D represents an average diameter of the cylindrical coil; and
d represents a diameter of the fiber.
19. The actuator band according to claim 10 , further comprising:
a first connector; and
a second connector,
wherein
the first ends of the plurality of the actuator single wires are connected to each other with the first connector;
the second ends of the plurality of the actuator single wires are connected to each other with the second connector;
the first end of the mesh-shaped heating element is connected to the first end of the actuator wire with the first connector; and
second end of the mesh-shaped heating element is connected to second end of the actuator wire with the second connector.
20. A method for manufacturing the actuator band according to claim 10 , the method comprising:
(a) forming an actuator wire capable of being contracted by heat and restored by release of the heat;
wherein
the actuator wire is formed by twisting a plurality of fibers each consisting of a polymer with each other;
each of the plurality of the fibers is twisted around the long axis thereof; and
each of the plurality of the fibers is folded so as to have a cylindrical coil shape;
(b) providing a side surface of the actuator wire with a mesh-shaped heating element to provide an actuator single wire;
(b2) preparing a plurality of actuator single wires each consisting of the actuator single wire; and
(c) braiding, knitting, or weaving the plurality of the actuator single wires to provide the actuator band.