JP2000083389A - Actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide with a simple configuration an actuator capable of sure demonstrating ability as an actuator, even at expansion. SOLUTION: An actuator consists of an expansion/contraction element 1 that is made of a π-conjugated macromolecular material such as polyaniline and polypyrrole, a power supply part 2 and a voltage application part 3 for applying a voltage to the expansion/contraction element 1, and an electrolyte 4 for conducting electricity from the expansion/contraction element 1 to the outside, and then is provided with a mechanism for causing the expansion/ contraction element 1 to expand and contract, when positive potential and negative potential are applied to the voltage application part 3, respectively. The expansion/contraction element 1 is provided with a bias mechanism 5 such as a spring for generating force in the expanding direction on expansion. The power supply part 2 for supplying potential to the voltage application part 3 can vary switching between positive potential and negative potential and controls the amount of expansion/contraction of the expansion/contraction element 1 by switching the absolute value and the polarity of a voltage value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator constituted by a telescopic element which expands and contracts when a voltage is applied in an environment of an electrolyte.

[0002]

2. Description of the Related Art Conventionally, a stretchable element made of a π-conjugated polymer material such as polyaniline or polypyrrole, a power supply section for applying a voltage to the stretchable element, and a voltage applying section,
It consists of an electrolyte for conducting current from the expansion element part to the outside, and expands or contracts the expansion element by applying a positive or negative potential to the voltage application part to increase or decrease the ion doping amount of the expansion element by the oxidation-reduction reaction. It is known that. In other words, when a positive potential is applied to the voltage application unit, the amount of ion doping of the expansion element increases, and the expansion element expands. On the other hand, when a negative potential is applied to the voltage application unit, the ion doping amount of the expansion element decreases. It shrinks with.

In the case where the expansion and contraction of the expansion element is used as an actuator, when the expansion element contracts, a force as an actuator can be developed. There is a problem in that it cannot be used as an actuator that expresses force in both expansion and contraction.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide an actuator which can express a force as an actuator reliably even when extended with a simple structure. It is.

[0005]

In order to solve the above-mentioned problems, an actuator according to the present invention comprises a stretching element 1 made of a π-conjugated polymer material such as polyaniline or polypyrrole, and a voltage applied to the stretching element 1. It comprises a power supply unit 2 and a voltage application unit 3 for application, and an electrolyte 4 for conducting a current from the expansion device 1 to the outside. When a positive potential is applied to the voltage application unit 3, the expansion device 1 expands and In a mechanism in which the expansion and contraction element 1 contracts when a negative potential is applied to the voltage application unit 3, a bias mechanism 5 such as a spring that generates a force in the expansion direction when the expansion and contraction element 1 is expanded is provided, and the electric potential is supplied to the voltage application unit 3. The power supply unit 2 is characterized in that the switching between the positive potential and the negative potential is variable and the amount of expansion and contraction of the expansion element 1 is controlled by switching the absolute value and the polarity of the voltage value. With this configuration, when a positive potential is applied to the voltage applying unit 3, the ion doping amount of the expansion element 1 increases, and the expansion element 1 attempts to expand. A force in the direction of extending the element 1 is generated,
Thus, the actuator force in the extension direction when used as an actuator can be expressed.
When a negative potential is applied to the voltage applying unit 3 to cause the expansion and contraction element 1 to contract, the ion doping amount of the expansion and contraction element 1 decreases, and the expansion and contraction element 1 contracts against the force of the bias mechanism 5, and the contraction direction The actuator force can be expressed.

Further, a voltage applying section 3, the expansion / contraction element 1 and an opposing electrode section 7 are installed in the vicinity thereof, and a covering section 6 made of silicon or the like is formed on the outermost peripheral part. It is preferable that the electrolyte 4 is sealed in the space formed in the above.
With such a configuration, external leakage of the electrolyte 4 can be prevented, and a packaged actuator can be configured.

Further, it is preferable that the opposing electrode portion 7 is provided around the expansion / contraction element 1. With such a configuration, the electric field to the elastic element 1 becomes uniform, and the oxidation-reduction reaction is promoted. Thus, the oxidation-reduction reaction is promoted,
The expansion and contraction of the expansion element 1 is also promoted.

Further, it is preferable that the voltage applying section 3, the expansion element 1, and the opposing electrode section 7 are provided in the vicinity thereof, and the opposing electrode section 7 has a mesh structure. With such a configuration,
The counter electrode portion 7 can be deformed in shape with a simple configuration following expansion and contraction of the expansion and contraction element 1.

Further, it is preferable that voltage applying sections 3 are provided at both ends of the expansion / contraction element 1, and that voltage application from the power supply section 2 is performed from both ends of the expansion / contraction element 1. With such a configuration, the charge injection speed is increased, and the oxidation-reduction reaction of the elastic element 1 is promoted.

It is preferable that the contact point between the voltage applying section 3 and the expansion element 1 is larger than the electric conductivity of the expansion element 1.
With such a configuration, the charge injection speed is increased, and the oxidation-reduction reaction of the elastic element 1 is promoted.

The voltage applying section 3, the expansion element 1, and the opposing electrode section 7 are provided in the vicinity thereof. The bias mechanism 5 has a coil spring shape. It is preferable that they also serve. With such a configuration, the bias mechanism 5 and the counter electrode portion 7 can be shared, and the number of components can be reduced.

Further, it is preferable that the covering portion 6 covering the outermost periphery is made of an elastic body and also serves as the bias mechanism 5. With such a configuration, the biasing mechanism 5 can also be used for the cover 6 and the number of components can be reduced.

It is preferable that the opposing electrode 7 is provided at the center, and the thinned elastic element 1 is disposed in a roll shape around the opposing electrode 7. By making the stretching element 1 in a roll shape in this way, the surface area of the stretching element 1 can be increased and the expansion ratio can be improved.
By disposing the counter electrode 7 at the center, an electric field can be uniformly applied to the surrounding roll-shaped counter electrode 7.

Further, it is preferable to dispose the counter electrode portion 7 so as to further surround the outer periphery of the roll-shaped elastic element 1. With such a configuration, an electric field can be uniformly applied to both the inner and outer surfaces of the rollable elastic element 1.

Further, it is preferable to arrange a plurality of layers of the roll-shaped expansion element 1 and the counter electrode section 7. With such a configuration, the tensile strength at the time of shrinkage can be improved.

Further, it is preferable that the actuator having the roll-shaped expansion / contraction element 1 and the opposing electrode portion 7 arranged in the radial direction has a tubular shape. With such a configuration, a circular tube having a function of expanding and contracting in the radial direction can be provided.

A pair of expansion / contraction elements 1 is provided. When one of the expansion / contraction elements 1 expands, the other expands / contracts when a positive voltage is applied to one of the expansion / contraction elements 1 so that one contracts. It is preferable to apply a negative voltage to the element 1. With such a configuration, different movements of extension and contraction can be simultaneously realized by one actuator.

It is preferable that the elastic element 1 is provided on both sides of the elastic core material 8 having a curved natural state. With such a configuration, it is possible to provide an actuator that performs a bending motion that expands and contracts in the radial direction. Also, by applying a voltage between the two expandable elements 1, when a positive potential is applied to one expandable element 1 and expanded, a negative potential is applied to the other expandable element 1 and contracts, Accordingly, the actuator performs a bending operation. In this case, the other contracting elastic element 1 constitutes a bias mechanism 5 for promoting bending and extension when one of the expanding and contracting elements 1 bends and extends. That is, the bending / extension force as the actuator can be exhibited without requiring a special bias mechanism 5 as a separate component.

Further, it is preferable to install the elastic element 1 on both outer sides of the straight elastic core member 8 at the center. With such a configuration, when a voltage is applied between the two elastic elements 1, when a positive electric potential is applied to one elastic element 1 and expanded, a negative electric potential is applied to the other elastic element 1. As a result, the actuator is bent. In this case, the other contracting elastic element 1 constitutes a bias mechanism 5 for promoting bending and extension when the other elastic element 1 is bent and extended. , The bending and elongation of the actuator can be exhibited.

It is preferable that at least two or more voltage applying sections 3 are provided along the expansion and contraction direction of the expansion and contraction element 1 so that the voltage application locations can be switched. With such a configuration, the curvature at the time of bending can be easily controlled by switching the voltage application location.

Further, the telescopic elements 1 are installed via insulating motion transmitting parts 9, and a voltage applying part 3 is provided at an end of each telescopic element 1 on the side opposite to the insulating motion transmitting part 9. It is preferable to apply a reverse potential to the voltage applying unit 3 to move the insulating motion transmitting unit 9 up and down. With such a configuration, a positive potential is applied to one of the elastic elements 1, and a negative potential is applied to the other of the elastic elements 1.
Expands and the other expandable element 1 contracts, whereby the insulating motion transmitting section 9 moves up and down. in this case,
The other contracting elastic element 1 constitutes the bias mechanism 5 for promoting the expansion when the one expanding element 1 expands, and therefore requires the bias mechanism 5 of another part. Therefore, a linear extension force as an actuator can be developed.

Further, it is preferable that the rigid core members 10 are connected by the link portions 11 and that the expansion and contraction elements 1 are provided on both sides of the rigid core members 10 connected by the link portions 11. With this configuration, when a positive potential is applied to one expansion element 1 and expanded, a negative potential is applied to the other expansion element 1 and contracted. The joint is bent at the eleventh portion to perform articulation. In this case, the other contracting elastic element 1 constitutes a bias mechanism 5 for promoting bending and extension when the other elastic element 1 is bent and extended. , The bending and elongation of the actuator can be exhibited.

It is also possible to provide two or more expansion elements 1 and a switching unit 12 for switching the application of voltage to the two or more expansion elements 1 to generate an operation pattern of the expansion element 1 by voltage switching. preferable. With such a configuration, by changing the voltage application switching pattern to two or more expansion elements 1 in various ways, all expansion elements 1 can be simultaneously expanded or contracted, or a combination of expansion and contraction. Thus, an actuator having a high degree of freedom can be provided.

Further, a counter electrode portion 7 is provided at the center portion, at least three expansion elements 1 are provided on an outer peripheral portion of the counter electrode section 7, and voltage application to three or more expansion elements 1 is switched. Is preferred. With such a configuration, an actuator capable of performing a three-dimensional bending operation can be provided. In this case, the contracting elastic element 1 constitutes the bias mechanism 5 for promoting the bending and extension when the expanding and contracting element 1 bends and extends,
Therefore, the bending and elongation as the actuator can be exhibited without the need for the bias mechanism 5 as a separate component.

The rigid core member 10 is connected by a link portion 11, and the expansion / contraction element 1 is provided on one side of the rigid core member 10 connected by the link portion 11, and a bias mechanism such as a spring is provided on the other side. It is preferable to provide the counter electrode portion 7 serving also as 5. With such a configuration, the actuator bends at the link portion 11 and articulated bending is performed. In addition, since the counter electrode 7 also serves as the bias mechanism 5, the number of components can be reduced.

Further, it is preferable that a tension guide 13 for guiding the substantially central portion of the expansion / contraction element 1 be provided on the link portion 11. With such a configuration, the elastic element 1 is guided by the tension guide 13 when contracting,
Larger bending can be achieved with a small amount of shrinkage.

A plurality of extendable elements 1 having a voltage application section 3 are inserted into the cylindrical counter electrode section 7, and the inner periphery of the counter electrode section 7 and the voltage application section are inserted inside the cylindrical counter electrode section 7. It is preferable that the electrolyte 4 is provided between the plurality of elastic elements 1 having the outer surface 3 and the outer surface thereof. With such a configuration, each of the expansion and contraction elements 1 performs the expansion and contraction operation, and can be used as a direct-acting actuator having a large generated force as a whole.

Further, an opposing electrode portion 7 is disposed at the center, and the thinned elastic element 1 is folded into a pleated shape to form the opposing electrode portion 7.
It is preferable to dispose it on the outer peripheral portion. With such a configuration, even if the actuators have the same size, the surface area of the expandable element 1 can be increased, and the force generated during expansion and contraction can be increased. Also, the counter electrode portion 7 is provided at the center.
Is installed, an electric field can be uniformly applied to the surrounding expansion element 1.

Further, it is preferable that the counter electrode portion 7 disposed at the center is bent in a pleated shape. With such a configuration, even if the actuators are of the same size, the surface area of the expansion and contraction element 1 can be increased, and the force generated during expansion and contraction can be increased. It promotes the oxidation-reduction reaction and increases the stretching speed during stretching.

Further, it is preferable to dispose the opposing electrode portion 7 at the center portion, and to arrange the thinned elastic element 1 in a spiral around the opposing electrode portion 7 and to dispose it around the opposing electrode. With such a configuration, even if the actuators have the same size, the surface area of the expandable element 1 can be increased, and the force generated during expansion and contraction can be increased.

Further, it is preferable that the stretched element 1 and the counter electrode portion 7 which are thinned are each formed into a helical shape and arranged so that the centers of both spirals are common and the outer spiral of one spiral is along the other spiral. With such a configuration,
Even with actuators of the same size, the surface area of the expansion and contraction element 1 can be increased, and the force generated during expansion and contraction can be increased.
In addition, by arranging the two spirals so that they have the same center and the outer periphery of one spiral is along the other spiral, the oxidation-reduction reaction of the polymer is promoted and the stretching speed during stretching is increased.

[0032]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on embodiments shown in the accompanying drawings.

FIG. 1 shows the principle of the actuator of the present invention. The actuator according to the present invention includes a stretching element 1 made of a π-conjugated polymer material such as polyaniline and polypyrrole, a power supply unit 2 for applying a voltage to the stretching element 1 and a voltage applying unit 3, 1 comprises an electrolyte 4 for conducting from the outside to the outside, and a bias mechanism 5 such as a spring for generating a force in the extension direction when the expansion element 1 is extended. Here, the electrolyte 4 used in the present invention has a certain molecular weight as an anion, for example, H ₂ SO ₄ or Na ₂ SO ₄ which generates SO ₄ ^2−.
Or, Cl ^- HCl and causing, F ^- HPF ₆ produce, H
BF ₄ in which the like can be used.

When a positive potential voltage is applied to the voltage application unit 3, the ion doping amount of the expansion device increases due to the oxidation-reduction reaction, and the expansion device 1 expands. When a potential voltage is applied, the ion doping amount of the expansion and contraction element decreases, and the expansion and contraction element 1 contracts.

Thus, the actuator of the present invention is provided with the bias mechanism 5 such as a spring that generates a force in the extension direction when the expansion and contraction element 1 is extended, and as shown in FIG.
When a positive voltage is applied to the voltage applying unit 3 to expand the expansion / contraction element 1, a force in the expansion direction acts by the bias mechanism 5 such as a spring, so that the actuator force at the time of expansion can be expressed. Here, when the biasing mechanism 5 is a spring as an embodiment, a force for the spring to return to its natural length is generated in the extension direction when the extension element 1 is extended. on the other hand,
As shown in FIG. 1C, when the expandable element 1 contracts by applying a negative voltage to the voltage applying unit 3, the expandable element is pulled by a tensile force against a force in the expansion direction by a bias mechanism 5 such as a spring. 1 contracts and expresses the actuator force at the time of contraction.

FIG. 2 illustrates the function of the bias mechanism. That is, FIG. 2A shows a no-load state in which no voltage is applied to the voltage application unit 3, and the bias mechanism 5 such as a spring acts on the expansion element 1 in a direction to expand the expansion element 1. FIG. 2B shows a state in which the expandable element 1 is expanded by applying a positive potential voltage to the voltage applying unit 3, and a bias mechanism 5 such as a spring applies a force in a direction to expand the expandable element 1. I have. FIG. 2C shows a state in which the expandable element 1 is contracted by applying a negative voltage to the voltage applying unit 3. The expandable element 1 applies a tensile force in the contraction direction against a bias mechanism 5 such as a spring. Has been expressed. Thereby, when the expansion / contraction element 1 is extended, the force in the extension direction of the bias mechanism 5 is applied to generate an actuator force in the extension direction, and at the same time, a tensile force is developed at the time of contraction, and both actuator forces at the time of extension and contraction can be produced. It is.

FIG. 3A is a graph showing the relationship between the voltage and the amount of expansion and contraction. As is clear from this graph, the absolute value of the amount of expansion and contraction is changed by the absolute value of the voltage applied to the expansion and contraction element 1. Can be. FIG. 3B is an explanatory diagram for explaining the reversal of the expansion / contraction direction due to the polarity.
Switching of contraction is realized by changing the polarity of the voltage applied to the expansion element 1. The expansion element 1 is expanded by applying a positive potential voltage to the voltage application unit 3, and the voltage is applied to the voltage application unit 3. The expansion / contraction element 1 contracts when a negative potential voltage is applied, and an actuator capable of controlling expansion and contraction by simple control of changing the polarity of the voltage can be provided.

FIG. 4 shows an embodiment of the actuator of the present invention. A telescopic element 1 provided with a voltage application part 3 at one end is disposed in a cylindrical covering part 6 made of deformable silicon or the like, and upper and lower openings of the cylindrical covering part 6 are closed by closing parts 15. A spring that constitutes a bias mechanism 5 that closes and further extends in the direction in which the elastic element 1 is extended when the elastic element 1 is extended is disposed outside the elastic element 1, and a counter electrode section 7 is arranged vertically inside the covering section 6. And a space formed between the opposing electrode 7 and the telescopic element 1 (that is, in the covering 2).
The electrolyte 4 is sealed in the container. The power supply unit 2 is connected to the voltage application unit 3 and the counter electrode unit 7.

When a positive potential voltage is applied to the voltage applying unit 3 and a negative potential is applied to the counter electrode unit 7, the expansion and contraction element 1 expands (at this time, a force in the expansion direction is applied by the bias mechanism 5). To develop an actuator force in the extension direction). When a negative potential voltage is applied to the voltage applying unit 3 and a positive potential is applied to the counter electrode unit 7, the expansion element 1
Is contracted to generate a tensile force against the force in the extension direction by the bias mechanism 5, thereby expressing the actuator force in the contraction direction. In the present embodiment, the electrolyte 4 can be prevented from leaking to the outside with a simple configuration.
It can constitute a package type actuator.

FIG. 5 shows another embodiment of the actuator of the present invention. The basic configuration of this embodiment is the same as that of the embodiment shown in FIG. 4 described above, but differs from that shown in FIG. 4 in that the opposing electrode portion 7 is arranged around the expansion / contraction element 1. That is, in the present embodiment, the cylindrical covering portion 6 has a cylindrical shape, and the cylindrical counter electrode portion 7 is provided along the inner peripheral surface of the cylindrical covering portion 6. It is. The operation as an actuator in this embodiment is the same as that of the embodiment shown in FIG. 4 described above, and the description thereof will be omitted. However, in this embodiment, since the opposing electrode portion 7 is installed around the expandable element 1, The electric field to the element 1 becomes uniform, and the oxidation-reduction reaction is promoted. By promoting the oxidation-reduction reaction in this way, the expansion and contraction of the expansion element 1 is also promoted.

FIG. 6 shows still another embodiment of the actuator of the present invention. In the present embodiment, the only difference is that the counter electrode portion 7 has a stretchable mesh structure as shown in FIG.
And the operation as an actuator is also the same, so that the duplicated explanation is omitted.
In the present embodiment, the counter electrode portion 7 has a mesh structure, which is the state shown in FIG. 6C when the actuator is not expanded or contracted. As shown in FIG. 6D, when the opposing electrode portion 7 having a mesh structure follows and contracts and the actuator expands, the opposing electrode portion 7 having a mesh structure follows and expands as shown in FIG. 6E. is there. As described above, the voltage application unit 3 and the expansion / contraction element 1 and the opposing electrode unit 7 are provided in the vicinity thereof, and the opposing electrode unit 7 has a mesh structure. And can be deformed in shape. Although FIG. 6 shows an example in which the opposing electrode 7 having a mesh structure has a cylindrical shape, the opposing electrode 7 having a mesh structure may have a piece shape.

FIG. 7 shows still another embodiment of the actuator of the present invention. The present embodiment is characterized in that the voltage application unit 3 is installed at both ends of the expansion and contraction element 1 and the voltage application from the power supply unit 2 is performed from both ends of the expansion and contraction element 1. 6 has the same configuration as any of the embodiments shown in FIG. In addition, the operation as the actuator performs the same operation, and therefore, the duplicated description is omitted. According to the present embodiment, the voltage application unit 3 is installed at both ends of the expansion and contraction element 1 and the voltage is applied from the power supply unit 2 from both ends of the expansion and contraction element 1. The oxidation-reduction reaction of the element 1 is also promoted, and the speed of expansion and contraction of the expansion element 1 is increased.

In any of the embodiments shown in FIGS. 4 to 7 described above, the contact 16 between the voltage application unit 3 and the expansion element 1 is made of a metal such as copper or silver having a higher electrical conductivity than the expansion element 1. It is good to comprise (refer FIG. 8). With such a configuration, the charge injection speed is increased, the oxidation-reduction reaction of the expansion element 1 is promoted, and the expansion and contraction rate of the expansion element 1 is increased. Since the configuration and operation are the same as those of the above-described embodiments, the duplicate description will be omitted.

FIG. 9 shows still another embodiment of the present invention. In the present embodiment, the configuration other than the counter electrode unit 7 and the bias mechanism 5 is the same as the embodiment shown in any of FIGS. 4 to 8. Therefore, the description of the configuration common to the embodiment shown in any of FIGS. 4 to 8 and the description of the operation as the actuator will be omitted because they are duplicated, and only different configurations will be described. That is, in the present embodiment, the bias mechanism 5 is formed by a metal coil spring.
This embodiment is characterized in that the bias mechanism 5 also serves as the counter electrode 7. As a result, the bias mechanism 5 and the counter electrode portion 7 can be shared, and the number of components can be reduced.

FIG. 10 shows still another embodiment of the present invention. In the present embodiment, the configuration other than the covering portion 6 covering the outermost periphery and the bias mechanism 5 is the same as the embodiment shown in any of FIGS. 4 to 8. Therefore, the description of the configuration common to the embodiment shown in any of FIGS. 4 to 8 and the description of the operation as the actuator will be omitted because they are duplicated, and only different configurations will be described. That is, in the present embodiment, the covering portion 6 covering the outermost periphery
Is characterized in that it is made of an elastic material such as rubber and also serves as the bias mechanism 5. As a result, the covering part 6 and the bias mechanism 5 can also be used, and the number of parts can be reduced. Here, a bias mechanism that generates a force in the extension direction when the extension element is extended to the covering portion 6 by providing an elastic body such as rubber constituting the bias mechanism 5 with an initial resistance to extend in the extension direction. 5 can be provided.

Next, still another embodiment of the present invention will be described with reference to FIG.
It will be described based on. The embodiment shown in FIGS. 5 to 8 is an example in which the expandable element 1 is arranged at the center and the counter electrode 7 is arranged around the expandable element 1. In the embodiment shown in FIG. The configuration is different from the embodiment shown in FIGS. 5 to 8 in that the electrode unit 7 is provided, and the thinned elastic element 1 is arranged in the form of a roll around the counter electrode unit 7. Since the operation is the same as that of the embodiment shown in any of FIGS. 8A and 8B and the operation as the actuator is also common, the description of the common configuration and operation will be omitted. Thus, by forming the thinned elastic element 1 in a roll shape and arranging it around the opposing electrode portion 7, it is possible to increase the cross-sectional area of the elastic element 1 even with an actuator of the same size, thereby increasing the force generated during expansion and contraction. Can be done. Further, by disposing the opposing electrode portion 7 in the center, an electric field can be uniformly applied to the surrounding expansion / contraction elements 1.

Next, still another embodiment of the present invention will be described with reference to FIG.
It will be described based on. In the present embodiment, FIG.
In the embodiment shown in FIG. 1, a counter electrode portion 7 is additionally provided so as to surround the outer periphery of the elastic element 1 installed in a roll shape. Other configurations and operations are the same as those of the embodiment shown in FIG. It is omitted here. In the present embodiment,
The voltage application to the expansion element 1 becomes uniform on both sides, and the expansion element 1
Is promoted, and as a result, expansion and contraction of the expansion element 1 is promoted.

Next, still another embodiment of the present invention will be described with reference to FIG.
It will be described based on. In the present embodiment, in the embodiment shown in FIG. 12 described above, the stretchable element 1 and the counter electrode portion 7 arranged in a roll shape are arranged in a plurality of layers, and other configurations and operations are shown in FIG. The description is omitted because it is similar to the embodiment. In the present embodiment, since the expansion and contraction of the elastic elements 1 in all layers are promoted and the cross-sectional area of the elastic element 1 increases, the force generated in the expansion and contraction direction increases.

Next, still another embodiment of the present invention will be described with reference to FIG.
It will be described based on. In the present embodiment, the actuator in which the roll-shaped expansion / contraction element 1 and the counter electrode portion 7 are arranged in the radial direction has a tubular shape. That is, in FIG. 14, the inner peripheral surface portion and the outer peripheral surface portion of the tubular actuator are formed by the roll-shaped elastic covering portions 6, and the voltage applying portion 3 is provided between the inner and outer peripheral covering portions 6. The provided roll-shaped elastic element 1 and the roll-shaped counter electrode portion 7 are arranged to close the upper and lower ends between the coating portions 6 at the inner and outer peripheral portions, and to cover the inner and outer peripheral portions. An electrolyte 4 is sealed between the six. In the present embodiment, when a positive potential voltage is applied to the voltage application unit 3 and a negative potential is applied to the counter electrode unit 7, the roll-shaped elastic element 1 expands in the radial direction, and conversely, the voltage increases. When a negative potential voltage is applied to the application unit 3 and a positive potential is applied to the counter electrode unit 7, the roll-shaped elastic element 1 contracts in the radial direction. Here, although not shown in the present embodiment, a bias mechanism such as a spring that generates a force in the extension direction when the expansion / contraction element 1 is extended in the radial direction is provided, and the actuator force is applied in the radial direction during extension. Can be expressed. As described above, since the tubular actuator can be expanded and contracted in the radial direction, it can be used as, for example, a compression massage of a finger or an arm, a sphygmomanometer, or the like.

Next, FIG. 15 shows a principle diagram of another embodiment of the present invention. That is, in the present embodiment, a pair of the expansion / contraction elements 1 provided with the voltage application unit 3 is provided, and the electrolyte 4 is sealed between the two expansion / contraction elements 1. The two voltage applying units 3 are connected to the power supply unit 2 so that a negative potential is applied to the other voltage applying unit 3 when a voltage is applied. When a positive potential voltage is applied to the voltage application unit 3 of the one expansion element 1 and a negative potential voltage is applied to the voltage application unit 3 of the other expansion element 1, the one expansion element 1 expands. ,
The other expansion element 1 contracts, and different movements of expansion and contraction can be simultaneously realized by one actuator.

FIG. 16 shows an embodiment to which this principle is applied. In the present embodiment, the elastic element 8 curved in an arc shape is disposed on both sides of an elastic core material 8 having a natural state curved in an arc shape. Is covered with a covering portion 6, and both ends of the arcuate actuator are closed with closing portions 15, and an electrolyte 4 is sealed inside. Thus, when a positive potential voltage is applied to the voltage application unit 3 of one expansion element 1 and a negative potential voltage is applied to the voltage application unit 3 of the other expansion element 1, one arc-shaped expansion element 1 Expands, and the other arc-shaped expansion / contraction element 1 contracts. When the potential of the applied voltage is reversed, the opposite operation is performed, whereby the arcuate actuator expands or contracts in the radial direction. And perform a bending operation (operating in the direction of the arrow in FIG. 16). As described above, by applying a voltage between the two expandable elements 1, when a positive electric potential is applied to one expandable element 1 and expanded, a negative electric potential is applied to the other expandable element 1 and contracted. In this case, the actuator performs a bending operation. In this case, the other contracting telescopic element 1 is used to bias the one expanding telescopic element 1 to bend and expand. Therefore, the bending / extension force as an actuator can be exhibited without requiring a special bias mechanism 5 as a separate part.

FIG. 17 shows another embodiment to which the principle of the one shown in FIG. 15 is applied. That is, the telescopic element 1 having the voltage application unit 3 provided at the upper end on both outer sides of the straight elastic core material 8 at the center is installed, the outer periphery is covered with the covering unit 6, and the opening at the upper end is closed with the closing unit 15. And the electrolyte 4 is sealed inside to form an actuator. Then
When a positive potential voltage is applied to the voltage application unit 3 of one expansion element 1 and a negative potential voltage is applied to the voltage application unit 3 of the other expansion element 1, one expansion element 1 expands and the other expands. The arc-shaped expansion / contraction element 1 contracts, and when the potential of the applied voltage is reversed, an operation reverse to the above-described operation is performed. As a result, as shown by an arrow in FIG. It bends. As described above, the voltage applying portions 3 are provided at the upper end portions on both outer sides of the straight elastic core material 8 at the center portion.
Is installed, and by applying a voltage between the two elastic elements 1, when a positive electric potential is applied to one elastic element 1 and expanded, a negative electric potential is applied to the other elastic element 1. When the actuator is applied, the actuator contracts, whereby the actuator bends. In this case, the other contracting elastic element 1 constitutes a bias mechanism 5 for promoting bending and extension when the other elastic element 1 is bent and extended. , The bending and elongation of the actuator can be exhibited.

FIG. 18 shows still another embodiment in which the principle of the one shown in FIG. 15 is applied. That is, FIG.
In this embodiment shown in FIG. 17, at least two or more voltage applying units 3 are provided along the expansion and contraction direction of the expansion and contraction element 1 in the embodiment shown in FIG. The basic operation of the actuator of this embodiment is the same as that shown in FIG. 17, and the actuator bends right and left to swing. Then, each voltage application unit 3 and the power supply unit 2
Switches 20 are provided in each of the parallel circuit sections that connect the power supply section and the power supply section 3. By selecting on / off switching of these switches connected to the plurality of voltage application sections 3 provided in the expansion and contraction direction, the voltage application location is selected. Is switched. Since the amount of expansion / contraction of the expansion / contraction element 1 varies depending on the voltage application location, the bending rate of the actuator can be controlled as a result.

FIG. 19 shows another embodiment of the present invention. In the present embodiment, the expansion / contraction element 1 is
A voltage application unit 3 is provided at the end of each telescopic element 1 opposite to the insulating motion transmitting unit 9, the outer periphery is covered with the covering unit 6, and the upper and lower ends are closed with the closing unit 15. The actuator is constructed by enclosing the electrolyte 4 therein. Thus, in this embodiment, by applying a positive potential to one stretchable element 1 and applying a negative potential to the other stretchable element 1, one stretchable element 1 expands and the other stretchable element 1 expands. 1 contracts, whereby the insulating motion transmitting section 9 moves up and down. In this case, the other contractible expansion element 1
However, this constitutes the bias mechanism 5 for promoting the extension of the one expansion element 1 when the extension element 1 is extended. Therefore, the linear extension as the actuator is not required without the need for the separate bias mechanism 5. It will be able to express force.

FIG. 20 shows another embodiment of the present invention. In the present embodiment, the upper and lower rigid core members 10 are connected by a link portion 11, and the elastic element 1 having the voltage applying portions 3 provided on both sides of the rigid core member 10 connected by the link portion 11 is arranged. The actuator is formed by covering the outer periphery with the covering portion 6, closing the upper and lower openings at the upper and lower ends with the closing portions 15, and enclosing the electrolyte 4 therein. Thus, in this embodiment, when a positive potential is applied to one expansion element 1 to expand it, a negative potential is applied to the other expansion element 1 and contracts. The joint is bent at the eleventh portion to perform articulation. In this case, the other contracting elastic element 1 is
The bias mechanism 5 for promoting bending and extension when one of the expanding and contracting elements 1 is bent and extended is configured. Therefore, the bending and extension as an actuator is not required without the need for the separate bias mechanism 5. It will be able to express force. As described above, the present embodiment can provide an actuator that performs joint movement.

Next, FIG. 21 shows a principle diagram of still another embodiment of the present invention. That is, in the present embodiment, two or more expansion elements 1 are provided, and a switching unit 12 that switches the application of voltage to the two or more expansion elements 1 is provided.
The operation pattern of the expansion element 1 is generated by voltage switching. That is, a switch 20 is provided in each of the circuit sections that connect the expansion / contraction elements 1 and the power supply section 2, and a switching section 12 including these switches is configured. By switching the voltage application to the two or more expansion elements 1 in the switching unit 12, the voltage application switching pattern to the two or more expansion elements 1 can be variously changed, and all the expansion elements 1 can be changed. It is possible to provide a small actuator having a high degree of freedom by changing the combination of extension and contraction, such as simultaneously extending, contracting, or extending or contracting only an optional expansion element 1. is there.

Next, FIG. 22 shows still another embodiment of the present invention. In the present embodiment, the opposing electrode portion 7 is provided at the center portion, and at least three elastic elements 1 are provided on the outer peripheral portion of the opposing electrode portion 7. In FIG. 22, a plurality of elastic elements 1 are arranged in a ring, and an insulator 25 is arranged between adjacent elastic elements 1. Also in this embodiment, the outer periphery is covered with the covering portion 6, and the electrolyte 4 is sealed inside. Although not shown, the upper and lower openings are closed by closing portions, and the expandable element 1 is provided with a voltage applying section 3. A switch 20 is provided in each of the parallel circuit sections that connect each expansion element 1 and the power supply section 2, and a switching section 12 is configured. However, by changing the voltage application pattern to the three or more expansion elements 1 to make the whole the same potential, it contracts in the Z direction in FIG.
Alternatively, a part of the three or more expansion elements 1 has a positive potential,
By making the other part a negative potential, X, Y, θ (θ is X,
It is possible to provide an actuator capable of performing a three-dimensional bending operation (torsion angle with respect to Y). In this case, the contracting elastic element 1 constitutes the bias mechanism 5 for promoting the bending and extension when the expanding and contracting element 1 bends and extends, and therefore requires the bias mechanism 5 of another component. Thus, the bending and elongation of the actuator can be exhibited.

Next, still another embodiment of the present invention will be described with reference to FIG. In the present embodiment, the elastic core material 10 is connected by a link portion 11, and the elastic element 1 having the voltage applying portion 3 provided on one side of the rigid core material 10 connected by the link portion 11 is connected to the other A counter electrode portion 7 serving also as a bias mechanism 5 such as a spring is provided on the side. In the embodiment of FIG. 23, a bias mechanism 5 that also serves as the counter electrode portion 7 is configured by a metal tension spring. Also,
The outer periphery is covered with the covering portion 6, and the openings at both upper and lower ends are closed.
, And the electrolyte 4 is sealed inside to form an actuator. In this device, when a positive potential voltage is applied to the voltage applying unit 3 and a negative potential voltage is applied to the opposing electrode unit 7, the expandable element 1 expands and the opposing electrode unit 7 extends around the link unit 11. At this time, since the bias mechanism 5 serving also as the counter electrode portion 7 is formed of a tension spring, the force for bending the rigid core material 10 toward the counter electrode portion 7 around the link portion 11 is used. Acts, and a force in the extension direction of the expansion and contraction element 1 is applied. On the other hand, when a negative potential voltage is applied to the voltage applying unit 3 and a positive potential voltage is applied to the opposing electrode unit 7, the expandable element 1 contracts against the spring force of the bias mechanism 5, and the link expands. The rigid core material 10 is bent to the opposite side of the opposing electrode portion 7 about the portion 11. As described above, the actuator bends around the ring portion 11 toward the opposing electrode portion 7 or the telescopic element 1 by joint movement. In this embodiment, the bias mechanism 5 is used.
The number of components can be reduced by also using the counter electrode portion 7 which also serves as the counter electrode.

Here, in addition to the embodiment of FIG.
As shown in FIG. 24, a tension guide 13 for guiding a substantially central portion of the elastic element 1 may be provided in the link portion 11. By providing the tension guide 13 for guiding the substantially central portion of the elastic element 1 to the link portion 11 in this manner, the elastic element 1 is guided by the tension guide 13 when contracting, and the contraction amount can be reduced with a small amount of contraction. Large bends can be made.

Next, another embodiment of the present invention will be described with reference to FIG. In the present embodiment, a plurality of extendable elements 1 having the voltage application unit 3 are inserted into the cylindrical counter electrode unit 7, and the inner periphery of the counter electrode unit 7 and the voltage application inside the cylindrical counter electrode unit 7 are applied. Plural expandable elements 1 having portions 3
Is filled with an electrolyte 4 between itself and the outer surface. Here, the expansion / contraction element 1 has a rod-like or cylindrical shape, and has a voltage application unit 3 at one end, and the bundle is inserted into a cylindrical counter electrode unit 7. FIG. 25 is a schematic view, and illustration of a bias mechanism such as a spring is omitted, but a bias mechanism is provided similarly to each of the above-described embodiments. And the like, or a bias mechanism may be provided for the bundled elastic elements 1.

In the present embodiment, by applying a positive potential to the voltage applying unit 3 and applying a negative potential voltage to the counter electrode unit 7, the expandable element 1 expands, and the negative potential is applied to the voltage applying unit 3. When the voltage of a positive potential is applied to the counter electrode portion 7, the expandable element 1 contracts. Each expandable element 1 expands and contracts, the cross-sectional area and surface area of the expandable element increase, and a large generation force is generated. It can be a direct-acting actuator.

Next, another embodiment of the present invention will be described with reference to FIG. In the present embodiment, the opposing electrode portion 7 is disposed at the center, and the thinned elastic element 1 is folded into a pleated shape and disposed on the outer peripheral portion of the opposing electrode portion 7. Also in this embodiment, the stretching element 1 is expanded by applying a positive potential to the voltage applying unit 3 and applying a negative potential voltage to the opposing electrode unit 7, and applying a negative potential to the voltage applying unit 3 to the opposing electrode unit 7. When the voltage of the positive potential is applied, the elastic element 1 contracts.
By bending the thinned elastic element 1 into a pleated shape and arranging it on the outer periphery of the counter electrode portion 7, even with an actuator of the same size, the surface area of the elastic element 1 can be increased, and the force generated during expansion and contraction can be increased. Things. In addition, by disposing the counter electrode 7 at the center, an electric field can be uniformly applied to the surrounding expansion element 1.

Next, still another embodiment of the present invention will be described with reference to FIG. In the present embodiment, the counter electrode portion 7 arranged at the center is bent in a pleated shape as shown in FIG. 27 in the embodiment of FIG.
Also in this embodiment, the stretching element 1 is expanded by applying a positive potential to the voltage applying unit 3 and a negative potential to the opposing electrode unit 7, and applying a negative potential to the voltage applying unit 3. By applying a voltage of a positive potential to the elastic element 1, the elastic element 1 contracts. Also in this embodiment, similarly to the embodiment of FIG. 26, in addition to the fact that the actuator of the same size can increase the surface area of the expansion and contraction element 1 to increase the force generated during expansion and contraction, Part 7
By folding in a pleated shape, the oxidation-reduction reaction of a polymer (a π-conjugated polymer material such as polyaniline or polypyrrole that constitutes the stretching element 1) is promoted, and the stretching speed during stretching is increased.

Next, still another embodiment of the present invention will be described with reference to FIG. In the present embodiment, the opposing electrode portion 7 is arranged at the center, and the thinned elastic element 1 is spirally formed around the opposing electrode portion 7 and arranged around the opposing electrode. Also in this embodiment,
By applying a positive potential to the voltage application unit 3 and applying a negative potential voltage to the counter electrode unit 7, the expandable element 1 expands, and the voltage application unit 3
By applying a negative potential to the counter electrode 7 and applying a positive voltage to the counter electrode 7, the elastic element 1 contracts. By arranging them around the electrodes, even if the actuators have the same size, the surface area of the expansion / contraction element 1 can be increased, and the force generated during expansion / contraction can be increased.

Next, still another embodiment of the present invention will be described with reference to FIG. In the present embodiment, the thinned elastic element 1 and the opposing electrode portion 7 are each formed into a helical shape, and the centers of both spirals are common, and the spiral is arranged so that the other spiral follows the outer periphery of one spiral. ing. Also in this embodiment, the stretching element 1 is expanded by applying a positive potential to the voltage applying unit 3 and a negative potential to the opposing electrode unit 7, and applying a negative potential to the voltage applying unit 3. By applying a positive potential voltage to the elastic element 1, the elastic element 1 contracts. By making the elastic element 1 thinner, the surface area of the elastic element 1 can be increased even with an actuator of the same size, and the force generated during expansion and contraction can be increased. Can be increased. In addition, by arranging the two spirals so that their centers are common and the outer periphery of one spiral is along the other spiral,
It promotes the oxidation-reduction reaction of the polymer and increases the stretching speed during stretching.

[0066]

According to the first aspect of the present invention, there is provided a stretchable element made of a π-conjugated polymer material such as polyaniline or polypyrrole, and a power supply section for applying a voltage to the stretchable element. And a voltage application unit, and an electrolyte for conducting current from the expansion element to the outside. The expansion element expands when a positive potential is applied to the voltage application unit, and expands when a negative potential is applied to the voltage application unit. In the mechanism that contracts, a bias mechanism such as a spring that generates a force in the extension direction when the expansion / contraction element is extended is provided, and the power supply section that supplies the potential to the voltage application section is capable of switching between a positive potential and a negative potential and has a variable voltage. Since the amount of expansion and contraction of the expansion and contraction element is controlled by switching the absolute value and the polarity of the value, when a positive potential is applied to the voltage application unit, the ion doping amount of the expansion and contraction element increases and the expansion and contraction element tries to expand. A biasing mechanism such as a spring generates a force in the direction in which the expansion and contraction element is extended, and thereby, the actuator force in the expansion direction when used as an actuator can be developed. In addition, the expansion and contraction element is applied by applying a negative potential to the voltage application unit. When contracting, the ion doping amount of the expansion and contraction element is reduced, and the expansion and contraction element contracts against the force of the bias mechanism, so that the actuator force in the contraction direction can be expressed. As a result, both expansion and contraction operations are performed. It is possible to provide an actuator capable of performing the above operation with a simple configuration.

According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, a voltage application section, a telescopic element and a counter electrode section are provided near the extension element, and the outermost peripheral section is provided. Forming a covering part such as silicon and sealing the electrolyte in the space formed between the counter electrode part and the expansion / contraction element, preventing leakage of the electrolyte to the outside and providing a packaged actuator with a simple configuration. You can do it.

According to the third aspect of the present invention, in addition to the effects of the first and second aspects of the present invention, since the counter electrode portion is provided around the expansion and contraction element, The electric field to the electrode becomes uniform, and the oxidation-reduction reaction is promoted. The promotion of the oxidation-reduction reaction promotes the expansion and contraction of the expansion element.

According to a fourth aspect of the present invention, in addition to the effects of any one of the first to third aspects of the present invention, a voltage application section, a telescopic element and a counter electrode section in the vicinity thereof are provided. Since the counter electrode portion has a mesh structure, the counter electrode follows the expansion and contraction of the expansion and contraction element. As a result, it is possible to provide an actuator which can easily obtain a shape change in response to the expansion and contraction of the expansion and contraction element.

According to the fifth aspect of the present invention, in addition to the effect of the first aspect of the present invention, a voltage application section is provided at both ends of the expansion / contraction element, and the voltage application from the power supply section expands / contracts. Since the reaction is performed from both ends of the element, the charge injection speed is increased, and the oxidation-reduction reaction of the elastic element is promoted.

According to the sixth aspect of the present invention, in addition to the effect of the first aspect of the present invention, since the contact point between the voltage applying section and the expansion / contraction element is larger than the electric conductivity of the expansion / contraction element, the charge The injection speed is increased, and the oxidation-reduction reaction of the expansion element is also promoted.

According to a seventh aspect of the present invention, in addition to the effects of any one of the first to third aspects, a voltage application section, a telescopic element, and a counter electrode section in the vicinity thereof are provided. The bias mechanism has a coil spring shape, and the bias mechanism also serves as the counter electrode section. Therefore, the bias mechanism can also be used as the counter electrode section to provide an actuator having a small number of parts. It is.

According to the eighth aspect of the present invention, in addition to the effect of the first aspect of the present invention, since the covering portion covering the outermost periphery is formed of an elastic body and also serves as a bias mechanism. Further, the present invention can provide an actuator having a small number of parts, with the covering member also serving as the bias mechanism.

According to the ninth aspect of the present invention, in addition to the effect of the first aspect of the present invention, an opposing electrode portion is provided at a central portion, and a thinned elastic element is formed in a roll shape to be opposed. Since it is arranged around the electrode part, it is possible to increase the surface area of the stretching element and improve the expansion and contraction rate. Also, by installing the counter electrode part in the center part, the surrounding roll-shaped An electric field can be uniformly applied to the electrode portion.

In the invention according to claim 10,
In addition to the effect of the ninth aspect of the present invention, since the counter electrode portion is arranged so as to further surround the outer periphery of the roll-shaped elastic element, a uniform electric field can be applied to both the inner and outer surfaces of the roll-shaped elastic element. The redox reaction of the expansion element is promoted,
As a result, expansion and contraction of the expansion element can be promoted.

In the invention according to claim 11,
In addition to the effect of the tenth aspect of the present invention, since a plurality of roll-shaped expansion / contraction elements and counter electrode portions are arranged, the tensile force at the time of contraction can be improved.

According to the twelfth aspect of the present invention,
In addition to the effects of the invention described in claim 1 or claim 4,
Since the actuator in which the roll-shaped expansion / contraction element and the opposing electrode portion are arranged in the radial direction has a tubular shape, a tubular actuator that expands and contracts in the radial direction can be provided.

In the invention according to the thirteenth aspect,
In addition to the effect of the first aspect of the present invention, a pair of expansion and contraction elements are provided, and when one of the expansion and contraction elements is expanded, a positive voltage is applied to one of the expansion and contraction elements so that one of the expansion and contraction elements contracts. Apply a negative voltage to the other expansion element,
It is possible to provide an actuator capable of simultaneously realizing different movements of extension and contraction.

Further, in the invention according to claim 14,
In addition to the effects of the first or thirteenth aspect of the present invention, in addition to the expansion and contraction elements provided on both sides of the elastic core material whose natural state is in a curved shape, the actuator expands or contracts in the radial direction of the curved actuator. It is possible to realize a bending motion. In addition, by applying a voltage between the two expandable elements, when a positive potential is applied to one expandable element to expand the expandable element, a negative potential is applied to the other expandable element and the expandable element contracts. Performs a bending operation. In this case, the other contracting elastic element constitutes a bias mechanism for promoting bending and extension when the other elastic element 1 is bent and extended. In addition, the bending and elongation of the actuator can be exhibited without requiring a special bias mechanism as a separate part.

Further, in the invention according to claim 15,
In addition to the effects of the first or the thirteenth aspect of the present invention, since the expansion and contraction elements are installed on both outer sides of the straight elastic core material at the central portion, an actuator having a degree of freedom in bending in the left-right direction is provided. You can do it.

In the invention according to claim 16,
In addition to the effect of the invention according to claim 15, at least two or more voltage applying sections are provided along the expansion and contraction direction of the expansion and contraction element, and the voltage application locations can be switched, so that the change in the bending rate can be achieved with a simple configuration. Can be provided.

In the invention according to claim 17,
In addition to the effects of the first or thirteenth aspect, the telescopic element is provided via an insulating motion transmitting part, and a voltage applying part is provided at an end of each telescopic element opposite to the insulating motion transmitting part. Since an opposite potential is applied to the voltage applying unit of each expansion element to move the insulating motion transmitting unit up and down, it is possible to provide an actuator in which the insulating motion transmitting unit moves up and down with a simple configuration. Also, the other contracting telescopic element will constitute a biasing mechanism for promoting expansion when one of the expanding and contracting elements is extended, and therefore, without the need for a separate component biasing mechanism, It can exhibit bending and elongation as an actuator.

In the invention according to claim 18,
In addition to the effects of the first or thirteenth aspect of the present invention, the rigid core is connected by the link portion, and the elastic elements are provided on both sides of the rigid core connected by the link portion. It is possible to provide an actuator that bends by articulation. Also, the other contracting elastic element is
This constitutes a bias mechanism for promoting bending and extension when one of the expanding and contracting elements is bent and extended, and therefore, exhibits bending and tension as an actuator without requiring a separate component bias mechanism. You can do it.

In the invention according to claim 19,
In addition to the effects of the first aspect of the present invention, two or more telescopic elements are provided, and a switching unit for switching the application of a voltage to the two or more telescopic elements is provided. Since it is generated, by changing the voltage application switching pattern to two or more expansion elements in various ways, all expansion elements can be expanded or contracted at the same time, or the combination of expansion and contraction can be changed to change the degree of freedom. It is possible to provide an actuator with high performance.

Further, in the twentieth aspect,
In addition to the effect of the first aspect of the present invention, a counter electrode portion is provided at a central portion, at least three expansion elements are provided on an outer peripheral portion of the counter electrode portion, and a voltage applied to three or more expansion elements is provided. Since the application is switched, an actuator capable of performing a three-dimensional bending operation can be provided. In addition, the contracting elastic element constitutes a bias mechanism for promoting bending and extension when the expanding and contracting element expands and contracts.Therefore, as an actuator without the need for a separate component bias mechanism. Can be expressed.

In the invention according to claim 21,
In addition to the effects of the first aspect of the present invention, the rigid core member is connected by a link portion, and a telescopic element is provided on one side of the rigid core member connected by the link portion, and a spring or the like is provided on the other side. Since the opposing electrode portion also serving as the bias mechanism is provided, it is possible to provide an actuator that bends at the link portion to perform articulation. In addition, the number of components can be reduced by using the counter electrode portion also serving as the bias mechanism.

Further, in the invention according to claim 22,
In addition to the effect of the invention according to claim 21, since the link portion is provided with a tension guide for guiding a substantially central portion of the expansion and contraction element, the expansion and contraction element is guided by the tension guide when contracting. It is possible to provide an actuator that can bend more with a small amount of contraction.

According to the twenty-third aspect of the present invention,
In addition to the effects of the first aspect of the present invention, a plurality of expansion / contraction elements having a voltage application section are inserted into the cylindrical counter electrode, and the inner periphery of the counter electrode is formed inside the cylindrical counter electrode. Since the space between the outer surfaces of the plurality of expandable elements having the voltage application unit is an electrolyte, each expandable element performs an expansion and contraction operation, and can be a direct-acting actuator having a large generated force as a whole.

In the invention according to claim 24,
In addition to the effect of the invention of the above-mentioned claim 1, in addition to the arrangement of the opposing electrode portion at the center portion, the thinned elastic element is folded in a pleated shape and arranged on the outer peripheral portion of the opposing electrode portion, so that it is expanded and contracted by the fold The surface area of the element increases, and as a result, the force generated during expansion and contraction can be increased even with an actuator of the same size, and by installing the counter electrode in the center,
An electric field can be uniformly applied to the surrounding expansion element.

In the invention according to claim 25,
In addition to the effect of the invention described in claim 24, since the opposing electrode portion disposed in the center portion is bent in a pleated shape, the surface area of the expandable element is increased by the fold, and as a result, even if the actuator has the same size, The generation force at the time of expansion can be increased, and the counter electrode portion is also folded in a pleated shape to promote the oxidation-reduction reaction of the polymer, thereby increasing the expansion and contraction speed at the time of expansion and contraction. It is possible to provide an actuator having a high expansion / contraction speed at the time of expansion / contraction.

In the invention according to claim 26,
In addition to the effect of the first aspect of the present invention, the counter electrode portion is disposed at the center portion, and the thinned elastic element is spirally formed around the counter electrode portion and disposed around the counter electrode. Also, even with actuators of the same size, the surface area of the expansion and contraction element can be increased, and the force generated during expansion and contraction can be increased.

Further, in the invention according to claim 27,
In addition to the effect of the first aspect of the present invention, the thinned elastic element and the counter electrode are spirally formed so that the centers of both spirals are common and the outer circumference of one spiral is along the other spiral. Since they are arranged, even with actuators of the same size, the surface area of the expansion element can be increased, and the force generated during expansion and contraction can be increased. In addition, the center of both spirals is common, and the outer circumference of one spiral is along the other spiral By arranging in such a way, the redox reaction of the polymer is promoted,
The expansion / contraction speed at the time of expansion / contraction is increased. As a result, it is possible to provide an actuator having a large force at the time of expansion / contraction and a high expansion / contraction speed at the time of expansion / contraction.

[Brief description of the drawings]

1A is a diagram illustrating the principle of the present invention, FIG. 1B is an explanatory diagram illustrating expansion of a telescopic device, and FIG. 1C is an explanatory diagram illustrating contraction of a telescopic device.

FIGS. 2A to 2C are explanatory diagrams of the operation of the bias mechanism according to the first embodiment.

FIG. 3A is a graph showing the relationship between the voltage and the amount of expansion and contraction, and FIG. 3B is an explanatory diagram for explaining the reversal of the direction of expansion and contraction due to polarity.

4A and 4B show one embodiment of the present invention, in which FIG. 4A is a schematic front sectional view, and FIG. 4B is a schematic plan sectional view.

5A and 5B show another embodiment of the present invention, in which FIG. 5A is a schematic front sectional view, and FIG. 5B is a schematic plan sectional view.

6A and 6B show still another embodiment of the present invention, wherein FIG. 6A is a schematic front sectional view, FIG. 6B is a schematic plan sectional view,
(C) is a perspective view showing a counter electrode having a mesh structure,
(D) is a perspective view showing a contracted state of the mesh-structured counter electrode, and (e) is a perspective view showing an expanded state of the mesh-structured counter electrode.

FIG. 7 is a schematic front sectional view of still another embodiment of the present invention.

FIG. 8 is a schematic front sectional view of still another embodiment of the present invention.

FIG. 9 is a schematic front sectional view of still another embodiment of the present invention.

FIG. 10 (a) is a schematic front sectional view at the time of extension according to still another embodiment of the present invention, and FIG. 10 (b) is a schematic front sectional view at the time of contraction.

11A and 11B show still another embodiment of the present invention, wherein FIG. 11A is a schematic front sectional view, and FIG. 11B is a schematic plan sectional view.

FIGS. 12A and 12B show still another embodiment of the present invention, in which FIG. 12A is a schematic front sectional view, and FIG. 12B is a schematic plan sectional view.

13A and 13B show still another embodiment of the present invention, wherein FIG. 13A is a schematic front sectional view, and FIG. 13B is a schematic plan sectional view.

FIG. 14 is a schematic plan sectional view showing still another embodiment of the present invention.

FIG. 15 is a principle view of still another embodiment of the present invention.

FIG. 16 is a schematic sectional view of still another embodiment of the present invention.

FIG. 17 is a schematic front sectional view of still another embodiment of the present invention.

FIG. 18 is a schematic front sectional view of still another embodiment of the present invention.

FIG. 19 is a schematic front sectional view of still another embodiment of the present invention.

FIG. 20 (a) is a front sectional view showing still another embodiment of the present invention, and FIG. 20 (b) is a front sectional view showing a bent state.

FIG. 21 is a principle view of still another embodiment of the present invention.

FIG. 22 (a) is a plan sectional view showing still another embodiment of the present invention, and FIG. 22 (b) is a perspective view showing bending.

FIG. 23 (a) is a front sectional view showing still another embodiment of the present invention, and FIG. 23 (b) is a front sectional view showing a bent state.

FIG. 24 is a front sectional view showing a bent state according to still another embodiment of the present invention.

25A and 25B show still another embodiment of the present invention, wherein FIG. 25A is a schematic plan sectional view, and FIG. 25B is a schematic front schematic sectional view.

26A and 26B show still another embodiment of the present invention, wherein FIG. 26A is a schematic plan sectional view and FIG. 26B is a schematic front sectional view.

27A and 27B show still another embodiment of the present invention, wherein FIG. 27A is a schematic plan sectional view, and FIG. 27B is a schematic front sectional view.

28 (a) is a schematic plan sectional view, and FIG. 28 (b) is a schematic front sectional view, showing still another embodiment of the present invention.

29A and 29B show still another embodiment of the present invention, wherein FIG. 29A is a schematic plan sectional view, and FIG. 29B is a schematic front sectional view.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Expansion element 2 Power supply part 3 Voltage application part 4 Electrolyte 5 Bias mechanism 6 Covering part 7 Counter electrode part 8 Elastic core material 9 Insulation motion transmission part 10 Rigid core material 11 Link part 12 Switching part 13 Tension guide

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takashi Shindo 1048 Kadoma Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Works Co., Ltd. 72) Inventor Yukihiko Kitano 1048 Kazuma Kadoma, Osaka Prefecture F term in Matsushita Electric Works Co., Ltd. 5H680 AA00 AA01 AA08 BB01 BB13 BB20 DD01 DD15 DD39 DD53 DD73 DD74 DD83 DD88 DD92 EE07 GG11 GG41

Claims (27)

[Claims] 1. A stretchable element made of a π-conjugated polymer material such as polyaniline or polypyrrole, a power supply section and a voltage applying section for applying a voltage to the stretchable element, and a current is conducted from the stretchable element to the outside. And an electrolyte for causing
A bias such as a spring that generates a force in the extension direction when the expansion and contraction element is extended in a mechanism in which the expansion and contraction element expands when a positive potential is applied to the voltage application section and contracts when the negative potential is applied to the voltage application section. A mechanism is provided, and a power supply unit that supplies a potential to the voltage application unit is capable of switching between a positive potential and a negative potential, and controls the amount of expansion and contraction of the expansion and contraction element by switching the absolute value and polarity of the voltage value. Actuator. 2. A voltage application section, a telescopic element, and a counter electrode section are provided in the vicinity of the telescopic element, and a coating section made of silicon or the like is formed on the outermost peripheral section. 2. The actuator according to claim 1, wherein an electrolyte is enclosed. 3. The actuator according to claim 1, wherein the opposing electrode portion is provided around the expansion / contraction element. 4. The actuator according to claim 1, further comprising a voltage application section, a telescopic element, and an opposing electrode section provided in the vicinity of the telescopic element, wherein the opposing electrode section has a mesh structure. 5. The actuator according to claim 1, wherein the voltage application sections are provided at both ends of the expansion and contraction element, and the voltage application from the power supply section is performed from both ends of the expansion and contraction element. 6. The actuator according to claim 1, wherein a contact point between the voltage applying unit and the expansion element is larger than an electric conductivity of the expansion element. 7. A voltage application section, a telescopic element, and an opposing electrode section provided in the vicinity thereof, wherein the bias mechanism has a coil spring shape, and the bias mechanism also serves as the opposing electrode section. The actuator according to any one of claims 1 to 3, wherein 8. The actuator according to claim 1, wherein the covering portion covering the outermost periphery is made of an elastic body and also serves as a bias mechanism. 9. The actuator according to claim 1, wherein an opposing electrode portion is provided at a central portion, and the thinned elastic element is arranged in a roll shape around the opposing electrode portion. 10. The actuator according to claim 9, wherein the counter electrode portion is arranged so as to further surround the outer periphery of the roll-shaped expansion / contraction element. 11. The actuator according to claim 10, wherein a plurality of rolled elastic elements and a counter electrode portion are arranged. 12. The actuator according to claim 1, wherein the actuator in which a roll-shaped expansion / contraction element and a counter electrode are disposed in a radial direction has a tubular shape. 13. A pair of expansion and contraction elements are provided. When a positive voltage is applied to one of the expansion and contraction elements so that one of them expands when the other expands, the other expansion and contraction element is provided. The actuator according to claim 1, wherein a negative voltage is applied. 14. An elastic element is provided on both sides of an elastic core material having a curved natural state.
Or the actuator according to claim 13. 15. The actuator according to claim 1, wherein a telescopic element is provided on both outer sides of a straight elastic core material at a central portion. 16. The actuator according to claim 15, wherein at least two or more voltage applying portions are provided along the expansion and contraction direction of the expansion and contraction element, and the voltage application locations can be switched. 17. A telescopic element is installed via an insulating motion transmitting section, a voltage applying section is provided at an end of each telescopic element opposite to the insulating motion transmitting section, and a reverse voltage is applied to the voltage applying section of each telescopic element. 14. The actuator according to claim 1, wherein an electric potential is applied to move the insulating motion transmitting portion up and down. 18. A rigid core material is connected by a link portion,
14. The actuator according to claim 1, wherein an expansion element is provided on both sides of the rigid core member connected by the link portion. 19. A method according to claim 19, further comprising the step of: providing two or more expansion / contraction elements, providing a switching unit for switching the application of voltage to the two or more expansion / contraction elements, and generating an operation pattern of the expansion / contraction element by voltage switching. Item 7. The actuator according to Item 1. 20. A counter electrode portion is provided at a center portion, and at least three expansion elements are provided at an outer peripheral portion of the counter electrode portion,
The actuator according to claim 1, wherein application of voltage to three or more expansion elements is switched. 21. A rigid core material is connected by a link portion,
2. The rigid core member connected by the link portion is provided with a telescopic element on one side and a counter electrode portion also serving as a bias mechanism such as a spring on the other side. Actuator. 22. The actuator according to claim 21, wherein a tension guide for guiding a substantially central portion of the telescopic element is provided at the link portion. 23. A plurality of expansion / contraction elements having a voltage application section are inserted into a cylindrical counter electrode section, and a plurality of expansion / contraction sections having an inner periphery of the counter electrode section and a voltage application section inside the cylindrical counter electrode section. The actuator according to claim 1, wherein an electrolyte is provided between the element and an outer surface thereof. 24. The actuator according to claim 1, wherein an opposing electrode portion is disposed at a central portion, and the thinned elastic element is bent into a pleated shape and disposed on an outer peripheral portion of the opposing electrode portion. 25. The actuator according to claim 24, wherein the opposing electrode portion disposed at the center is bent in a pleated shape. 26. An apparatus according to claim 1, wherein an opposing electrode portion is disposed at a central portion, and the stretched element having a reduced thickness is spirally formed around the opposing electrode portion and disposed around the opposing electrode portion. An actuator as described. 27. The thinned elastic element and the counter electrode portion are each formed in a spiral shape, and are arranged such that the centers of both spirals are common and the outer spiral of one spiral is along the other spiral. The actuator according to claim 1, wherein