JP2003039371A - Actuator, drive using it, robot, and flapping mobile device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator improved for realizing a microscopic robot or a lightweight robot. SOLUTION: The actuator includes a transmitting part and a driving part for driving the transmitting part. The driving part is formed of a gel 11 of an organic polymer layer which mechanically expands and contracts depending on controlled variables, and the transmitting part is formed of supports 12 and 13 supporting the gel 11. During drive, an infrared ray 15 is applied to the surfaces of the supports 12 and 13 which do not make contact with the gel 11. With the application of the infrared ray, the temperature of the supports 12 and 13 rises and this temperature rise is transmitted to the gel 11 which makes contact with the sides opposite to the application. The temperature rise causes a phase transfer of the gel 11, changing its nature from hydrophilic to hydrophobic properties and causing the gel to release moisture absorbed and contained, resulting in a reduction of its volume and contraction from its initial swollen state. The contraction of the gel 11 causes the supports 12 and 13 to bend in the direction of the gel 11, putting the actuator into operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention generally relates to an actuator, and more particularly, to an actuator improved so that a micro robot or a light robot can be realized. The present invention also relates to a driving body, a robot, and a fluttering movement device using such an actuator.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publication (Kokai) No. 5-123992 discloses a technique relating to a universal joint type surface wave manipulator that moves a rotor in two axial directions by utilizing surface wave type ultrasonic vibrations. Further, Japanese Patent Application Laid-Open No. 10-94275 discloses a technique relating to a multi-direction rotary drive type ultrasonic motor device in which ultrasonic vibration is generated by using a piezoelectric element and the rotor is rotationally driven by this high frequency vibration. Has been done.

[0003]

However, the above-mentioned JP-A-5-123992 and JP-A-10-94275.
In the configuration described in the publication, as shown in FIG. 6, it is necessary to have a curved surface structure in which the stator, the piezoelectric element, the polarized electrode, etc. are curved, and it is very difficult to manufacture.

When this function is implemented by a unit in the primary direction, it is necessary to use two or three motors corresponding to each axis. Alternatively, using one motor,
It is necessary to switch the direction of the rotational force with a clutch or a gear to drive the driving body in the biaxial or triaxial directions. Therefore, there is a drawback that the driving mechanism becomes complicated, the weight of the driving portion becomes large, and it becomes difficult to save space and reduce the cost of the device.

The power used for the actuators of the robot is a motor, and it is necessary to mount the motor on a fulcrum portion corresponding to each joint, so that there is a drawback that power consumption becomes large.

In addition, the number of actuators and motors increases in order to perform complicated functions. As a result, the weight of the battery and motor also increased, and it was not possible to make a micro robot or a light robot.

The present invention has been made to solve the above problems, and an object thereof is to provide an actuator improved so as to realize a minute robot and a light robot.

The present invention is to provide a driving body using such an actuator.

Still another object of the present invention is to provide a robot equipped with such an actuator.

Still another object of the present invention is to provide a fluttering moving device provided with such an actuator.

[0011]

An actuator according to a first aspect of the present invention relates to an actuator having a transmission portion for transmitting displacement and force to the outside and a drive portion for driving the transmission portion. The drive unit is formed of an organic polymer layer that mechanically expands and contracts according to a controlled amount, and the transmission unit is formed of a support that supports the organic polymer layer.

According to a preferred embodiment of the present invention, the organic polymer layer is a polymer gel layer containing poly (N-isopropylacrylamide) and water.

The organic polymer layer may be a hybrid material layer in which a polymer gel containing poly (N-isopropylacrylamide) and water and silica gel are molecularly dispersed.

According to a preferred embodiment of the present invention, the polymer gel layer has a thickness of 1 mm or less, the support is a sheet-like silicon film having a thickness of several hundred μm, and the polymer gel layer is the support. It is adhered and held on the body, and operates by temperature control of the above-mentioned polymer gel utilizing temperature and phase transition.

The actuator according to the second aspect of the present invention includes an organic polymer layer formed of a polymer gel containing poly (N-isopropylacrylamide) and water and having a thickness of 1 mm or less. A support supports the organic polymer layer. A tube contains the organic polymer layer and the support. The support divides the space inside the tube into a plurality of parts. A liquid or gas for control is introduced into the partitioned space.

An actuator according to a third aspect of the present invention is formed of a hybrid material in which a polymer gel containing poly (N-isopropylacrylamide) and water and silica gel are dispersed in a molecular form and has a thickness of 1 mm or less. An organic polymer layer is provided. A support supports the organic polymer layer. A tube contains the organic polymer layer and the support. The support divides the space inside the tube into a plurality of parts. A control liquid or gas is introduced into the partitioned space.

A drive body according to a fourth aspect of the present invention is characterized by including the above actuator.

A robot according to the fifth aspect of the present invention is
It is characterized by comprising the above-mentioned actuator.

A fluttering movement device according to a sixth aspect of the present invention is characterized by including the above-mentioned actuator.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

First Embodiment The first embodiment will be described below with reference to FIG.

A polymer gel formed by an appropriately crosslinked polymer and a liquid medium compatible with the polymer undergoes a phase transition phenomenon by the action of heat. When heat is locally applied to the polymer gel, the polymer gel undergoes rapid phase separation in its heated portion. When the polymer gel is a hydrophilic polymer gel, only the heated portion becomes relatively hydrophobic. In addition, the portion heated by cooling for a short time becomes hydrophilic.

When the polymer gel is a hydrophobic polymer gel, conversely, only the heated portion becomes relatively hydrophilic. In addition, the portion heated by cooling for a short time returns to hydrophobic. The polymer gel does not dissolve in an organic solvent or water to any extent, but absorbs and absorbs to change its volume.

Examples of the above crosslinked polymers include alkenes such as polypropylene, polydienes such as polyisoprene, vinyls such as polyacrylamide, styrenes such as polystyrene, other polyethers, polyimides, polyesters and polyamides. It does not dissolve in a solvent at all, and absorbs and incorporates a solvent to form a gel.

Examples of solvents used to make the polymer gel include water, ethanol, methanol, acetone,
Cyclohexane, benzene, formate ester, ethyl acetate, amides, or solutions of ammonium, iodine, glucose, etc. are available.

The organic polymer gel used in the present invention can be formed by a combination of the above-mentioned cross-linked polymer and a solvent. The gel thus produced undergoes phase transition by the action of heat, and its hydrophilicity and hydrophobicity to the solution change. Any one may be used as long as it is one.

The polymer gel most suitable for the present invention is
It is a polyacrylamide polymer which is a hydrophilic cross-linked polymer, particularly a polymer gel formed by poly (N-isopropylacrylamide) and water. The organic polymer gel composed of this crosslinked polyacrylamide and water reversibly undergoes a phase transition and a non-phase transition depending on the presence or absence of heat, and the temperature thereof is about 35 ° C. or higher, and its reactivity to heat is sensitive. . That is, it can be easily controlled even near the human body temperature. As the support when the polymer gel is used as a thin film or layer, any material may be used as long as it has a tape shape, a sheet shape, a film shape, or a drum shape.
Aluminum metal film due to its thermal conductivity, heat resistance, workability, etc.
A silicon film or the like is suitable.

By irradiating the support with a heat source, the temperature of the irradiated portion rises, and the polymer gel layer undergoes a phase transition to change its properties from hydrophobic to hydrophilic or from hydrophilic to hydrophobic. . When the temperature returns to its original value, it will return to the original state in a short time, so conversely, hydrophilicity → hydrophobicity or hydrophobicity →
The property changes reversibly with hydrophilicity. Further, it can be used repeatedly as many times as desired. As the heat source, infrared rays, visible light, magnetic force lines, laser beams, electron beams, liquid (high temperature), gas (high temperature), etc. can be considered.

Poly (N-isopropylacrylamide)
And a layer 11 of 1 mm or less of a polymer gel made of water and
Adhesion is held on the supports 12 and 13 of a sheet-like silicon film having a thickness of several hundred μm. At this time, the supports 12 and 13 are held by the joint portion 14. However, the joint portion 14 is not always necessary, and may be only one of the support 12 and the support 13. At room temperature of 35 ° C. or lower, the poly (N-isopropylacrylamide) gel 11 is hydrophilic.

At the time of driving, the support 1 of the silicon film on the surface where the poly (N-isopropylacrylamide) gel is not in contact with infrared rays, visible light, laser light or electron beam 15
Irradiate 2 and 13.

By being irradiated, the supports 12, 13
Temperature rises and the poly (N
-The temperature rise is transmitted to the gel 11 of (isopropylacrylamide). As the temperature rises, the poly (N-isopropylacrylamide) gel 11 undergoes a phase transition,
The property changes from hydrophilic to hydrophobic. As the property changes to hydrophobic, the poly (N-isopropylacrylamide) gel 11 absorbs and absorbs the released water.
By releasing water, the volume is reduced, and poly (N-isopropylacrylamide) gel 1 is used.
1 will shrink compared to when it was initially swollen. Poly (N-isopropylacrylamide) gel 1
When the layer 1 is shrunk, the supports 12 and 13 of the silicon film having a thickness of several hundred μm, which have been adhesively held, bend toward the layer of the gel 11 of poly (N-isopropylacrylamide),
It will act as an actuator. At this time, the presence of the joint portion 14 makes it easier to support the silicon film support 1
2 and 13 are poly (N-isopropylacrylamide)
The gel 11 will bend in the direction of the layer.

When this is used in a fluttering moving device, the silicon film supports 12 and 13 become the portions corresponding to the wings, and the joint portion 14 corresponds to the dynamic portion such as insects and birds. The gel 11 of poly (N-isopropylacrylamide) adheres to the supports 12 and 13, and ultraviolet rays, visible light, laser light are applied from the surface of the supports 12 and 13 opposite to the gel 11 of poly (N-isopropylacrylamide). By intermittently irradiating with an electron beam, a magnetic field, or the like, it bends in the direction of the layer of the poly (N-isopropylacrylamide) gel 11 and moves the supports 12 and 13 corresponding to the blades. Infrared rays, visible light, laser, electron beam, magnetic field, etc. may be directly irradiated from the surface of the gel 11 of poly (N-isopropylacrylamide).

Since this reaction is a reversible reaction, when the temperature returns to its original value, the poly (N-isopropylacrylamide) gel 11 returns to the hydrophilic property, absorbs water and returns to the original length.

As a result, the silicon film supports 12 and 13 corresponding to the blades also return to their original positions. When it returns, infrared, visible light, laser, electron beam, or magnetism is applied for flapping in the next cycle.

Second Embodiment The second embodiment will be described below with reference to FIGS. 2 and 3.

Poly (N-isopropylacrylamide)
21, a layer of polymer gel less than 1 mm made of water and water,
22 and two layers, and a sheet-like support 23, 24 of a silicon film having a thickness of several hundreds of μm is used for adhesion and holding. At this time, it is held by the joint portion 25 at the center of the support body 23. However, the joint portion 25 is not always necessary.

Polymer gel 2 in the desired bending direction when driven
1 or 22 is irradiated with infrared rays, visible light, laser light, electron beam or the like 26. Due to the irradiation, the temperature of the gel 21 or 22 of poly (N-isopropylacrylamide) rises. As the temperature rises,
The gel 21 or 22 of poly (N-isopropylacrylamide) undergoes a phase transition and its properties change from hydrophilic to hydrophobic. By changing the property to hydrophobic, poly (N
-Isopropylacrylamide gel 21 or 2
2 releases the absorbed water. By releasing water, the volume will decrease, and poly (N-
Isopropylacrylamide) gel 21 or 22
Will shrink compared to when it was initially swollen.
When the layer of the gel 21 or 22 of poly (N-isopropylacrylamide) is shrunk, the supports 23 and 24 of the silicon film having a thickness of several hundreds of μm, which have been adhesively held, are bent in the irradiation direction.

At this time, if the joint 25 is provided, the silicon film supports 23 and 24 are bent more easily. Further, at this time, it is convenient if the air 27 at room temperature can be normally found for the polymer gel 21 or 22 which is not in the bending direction. The temperature of the air 27 at room temperature is 3
When the temperature is 0 ° C or lower, the temperature of the gel 21 or 22 of poly (N-isopropylacrylamide) is lowered, and the gel 21 or 22 of poly (N-isopropylacrylamide) undergoes a phase transition to become hydrophobic → hydrophilic. The nature changes. As the property changes to hydrophilic, the poly (N-isopropylacrylamide) gel 21 or 22 absorbs water and swells. Therefore, it moves in a direction that does not interfere with the bending direction.

In this embodiment, the gel layer of poly (N-isopropylacrylamide) is shown as two layers.
A multi-layer structure such as four layers or six layers may be formed by forming a large number of support films.

When the actuator according to the present invention is used in a robot, the joint 25 is an essential component. The supports 23 and 24 correspond to the upper leg or the lower leg, and are made of poly (N-
The layer of gel 21 or 22 of isopropylacrylamide corresponds to the muscle of a living body. The layers of poly (N-isopropylacrylamide) gels 21 and 22 are in opposite phase,
Since it needs to move, a heater 28 that irradiates the gel 21 to raise the temperature and a heater 29 that irradiates the gel 22 to raise the temperature
The on-time of is always in the opposite phase, and only the heater 28 or 29 for irradiating the gel in the desired bending direction is turned on.
The temperature of the gel of poly (N-isopropylacrylamide) with the heater turned on rises, a phase transition occurs, the property changes from hydrophilic to hydrophobic, the absorbed water is released, and the volume decreases. As a result, the poly (N-isopropylacrylamide) gel 21 or 22 contracts, and the support 23 or 24 with which it comes into contact bends.

The actuator according to the present invention is connected to the tip of the main body of the driving body such as tweezers, forceps, and a scalpel, and the actuator in the direction to be delicately moved is heated by a thermal head or a finger, so that poly (N-isopropylacrylamide) The gel of 1) undergoes a phase transition and shrinks by releasing water. Therefore, it will move minutely and easily in the warmed direction.

Third Embodiment The third embodiment will be described below with reference to FIGS. 4 and 5.

Referring to FIG. 4, 1 mm of a polymer gel made of poly (N-isopropylacrylamide) and water.
The following layers are 31 and 32, and there are 2 layers.
It is adhered and held by the support 33 of the silicon film.

As shown in FIG. 5, a sheet-shaped support 33 of a silicon film of several hundred μm is partitioned in the center, and polymer gel layers 31 and 32 of 1 mm or less and a support 3 of several hundred μm.
3 is covered with the tube 34. At this time, silicone rubber, vinyl chloride, or the like is suitable as the material of the tube.

Liquid and gas having different temperatures are poured into two spaces in the tube partitioned by the support. In particular,
If the space 36 is in the desired bending direction, the space 36 in the bending direction
A liquid or gas of 40 ° C. or higher is poured into the chamber, and a fluid or gas of 30 ° C. or lower is poured into the other space 35 that is not in the bending direction.

In the space 36 in which a liquid or gas of 30 ° C. or higher is poured, the poly (N-isopropylacrylamide) gel in contact with the high temperature gas or liquid undergoes a phase transition and has a property of hydrophilicity → hydrophobicity. It changes, absorbs and releases the contained water, and decreases in volume. As a result, poly (N
-Isopropylacrylamide gel 31 will shrink and the silicone rubber tube or vinyl chloride tube will bend in the direction of space 36. On the other hand, 3
The gel of poly (N-isopropylacrylamide) in the space 35 into which the liquid or gas at 0 ° C. or lower is poured does not shrink because it remains hydrophilic.

In the present embodiment, the inside of the tube 34 is divided into two spaces by a silicon support, but a large number of partition plates are used to form a multi-chamber structure such as four or six chambers. Good. The multi-chamber configuration enables control in a finer direction.

By connecting the actuator having the structure according to the present invention to the tip of the main body of the driving body such as the optical fiber introducing tube, the sensor, the suction tube, etc., it can be inserted into the target position while preventing dirt and infection by bacteria. This makes it possible to easily and safely perform the delicate movement with respect to the target position.

In the above embodiment, the speed of movement of the actuator, the magnitude of the strength of force, etc. are controlled by controlling the thickness of the polymer gel layer, the thickness of the silicon film support, infrared rays, visible light, and laser light. Alternatively, fine control can be performed by the electron beam, magnetic strength, irradiation area, irradiation time, thermal head on time, contact area, and gas or liquid temperature.

Embodiment 4 In the above embodiment, an example of poly (N-isopropylacrylamide) is shown as the most suitable organic polymer material when it is used as an actuator.

However, when poly (N-isopropylacrylamide) is used as an actuator, it can be considered that durability is further enhanced against mechanical changes and thermal changes.

For that purpose, poly (N-isopropylacrylamide) is used as an organic polymer material, silica gel is used as an inorganic material, and the above materials are molecularly dispersed by a sol-gel method.

The sol-gel method is in this case a hydrolysis-condensation reaction of silicates, which results in the formation of a three-dimensionally crosslinked silica gel matrix with silicon-oxygen bonds as repeating units. By allowing an organic polymer to coexist in this sol-gel reaction, an organic-inorganic hybrid material in which an organic polymer and silica gel are molecularly dispersed can be synthesized.

The flexibility or mechanical strength of the hybrid material depends on how much the organic polymer is contained in the hybrid, and in the organic-inorganic hybrid material, the organic polymer does not aggregate but is dispersed in the molecule. is doing.

According to a molecular composite material of an organic-inorganic polymer hybrid of an organic polymer (poly (N-isopropylacrylamide)) and an inorganic material (silica gel), the phase transition of poly (N-isopropylacrylamide) with respect to temperature was observed. Properties are almost unchanged, mechanical changes,
It can be used as a power driving unit of an actuator having improved durability against heat change.

In addition to amides, the organic polymers that act in this way can also be used, for example, in polyurea, polyurethane, polyimide, polycarbonate, etc., to obtain a polymer-inorganic hybrid uniform with silica gel.

The organic polymer (poly (N-isopropylacrylamide)) and inorganic material (silica gel)
The inorganic polymer hybrid molecular composite material can be used in place of the polymer gel layer made of poly (N-isopropylacrylamide) and water of Embodiments 1 to 3, and has durability against mechanical changes and thermal changes. Can be raised.

It should be considered that the embodiments disclosed this time are exemplifications in all points and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope.

[0059]

By using the actuator according to the present invention as an actuator of a robot, it is possible to realize a space-saving micro robot and a lightweight robot which have a simple structure and do not have a large weight even when performing complicated movements. be able to.

Further, by connecting the actuator according to the present invention to the tip of the main body of the driving body and controlling the phase transition of the organic polymer or the organic-inorganic polymer hybrid by heat, it is possible to easily realize a minute fluctuation. You can Therefore, by introducing this actuator into the tip of the driving body, it is possible to improve the work of introducing tweezers, forceps, a scalpel, an optical fiber introduction tube, a sensor, a tool, etc. to a target position, and to perform a minute movement of the actuator. Can be easily performed.

The method of preparing the organic-inorganic hybrid material is as simple as mixing the materials in air and leaving them for several days. Therefore, an actuator having higher mechanical strength and thermal strength can be used. It can be easily made and is easy to use industrially.

[Brief description of drawings]

FIG. 1 is a diagram showing an actuator according to a first embodiment.

FIG. 2 is a diagram showing an actuator according to a second embodiment.

FIG. 3 is a diagram showing an actuator according to another aspect of the second embodiment.

FIG. 4 is a side view of an actuator according to a third embodiment.

FIG. 5 is a top view of the actuator according to the third embodiment.

FIG. 6 is a diagram showing a conventional actuator.

[Explanation of symbols]

11 polymer gel layer, 12 silicon membrane support,
13 silicon film support, 14 joints, 15 infrared for control.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) C08L 33/26 C08L 33/26 (72) Inventor Yoshimi Ota 22-22 Nagaike-cho, Abeno-ku, Osaka-shi, Osaka F-term in Sharp Corporation (reference) 3C007 AS00 BS30 CS08 CY36 HS07 WA05 WA26 XG01 4F100 AA20A AB11B AK01A AK46A AT00B BA02 BA07 GB90 JA02A JA03A JK08A JL03 YY00A YY00B 4J002 BG131 DE026 DJ017 GM00

Claims (10)

[Claims] 1. An actuator comprising a transmission section for transmitting displacement and force to the outside, and a drive section for driving the transmission section, wherein the drive section is an organic polymer layer that mechanically expands and contracts according to a controlled amount. An actuator, wherein the actuator is formed, and the transmission part is formed of a support that supports the organic polymer layer. 2. The actuator according to claim 1, wherein the organic polymer layer is a polymer gel layer containing poly (N-isopropylacrylamide) and water. 3. The actuator according to claim 1, wherein the organic polymer layer is a hybrid material layer in which a polymer gel containing poly (N-isopropylacrylamide) and water and silica gel are molecularly dispersed. 4. The polymer gel layer has a thickness of 1 mm or less, the support is a sheet-like silicon film having a thickness of several hundreds of μm, and the polymer gel layer is adhered and held on the support. The actuator according to claim 2, which operates by temperature control of the polymer gel using a temperature-dependent phase transition. 5. The hybrid material layer has a thickness of 1 mm.
The following is, the support is a sheet-like silicon film having a thickness of several hundred μm, the polymer gel layer is adhered and held on the support, and the phase transition of the polymer gel depending on temperature is used. The actuator according to claim 3, which operates with the temperature control described above. 6. An organic polymer layer formed of a polymer gel containing poly (N-isopropylacrylamide) and water and having a thickness of 1 mm or less, a support for supporting the organic polymer layer, and the organic polymer. A layer and a tube for accommodating the support, wherein the support divides the space in the tube into a plurality of parts, and a control liquid or gas is introduced into the partitioned space; Actuator. 7. An organic polymer layer having a thickness of 1 mm or less, which is formed of a hybrid material in which a polymer gel containing poly (N-isopropylacrylamide) and water and silica gel are molecularly dispersed, and the organic polymer. A support for supporting a layer, and a tube for accommodating the organic polymer layer and the support, the support is dividing the space in the tube into a plurality of parts, in the partitioned space An actuator in which a control liquid or gas is introduced. 8. A driving body, comprising the actuator according to claim 1. 9. A robot comprising the actuator according to any one of claims 1 to 7. 10. A fluttering moving device comprising the actuator according to claim 1. Description: