JP2005034615A - Drive mechanism and drive method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive mechanism which is provided with a drive portion, an electrolyte, and opposed electrodes, and in which the drive portion includes a conductive polymer and is formed in an endless belt-like shape or a ring-like shape, the drive mechanism formed by installing the drive poetion on multiple support bodies can be easily fixed, the drive portion xan also be formed as a multi-layered body, and even in such a case the drive mechanism can be easily fixed. <P>SOLUTION: The drive mechanism is provided with: the drive portion which is formed in the endless belt-like shape, the ring-like shape or a winding body; a plurality of support bodies for installing the drive portion and the drive mechanism formed by installing the drive portion on the multiple support bodies. Alternatively the drive mechanism is provided with: the drive portion which is formed in the endless belt-like shape, or the ring-like shape; a drive portion installing support body for installing the drive portion; and auxiary support bodies for laying the drive portion. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a driving mechanism including a driving unit and a driving method thereof.

  It is known that a conductive polymer such as polypyrrole exhibits electrolytic stretching, which is a phenomenon that stretches or deforms by electrochemical redox. A molded article containing a conductive polymer can be driven by this electrolytic expansion and contraction by applying a voltage, and can be used as a drive part of an actuator or a drive mechanism. Actuators or drive mechanisms using this conductive polymer molded product are expected to be used for applications such as artificial muscles, robot arms, and artificial hands, and have attracted attention in recent years.

As an actuator using a conductive polymer molded product, a configuration of an actuator including an electrolytic solution, a counter electrode, and a polypyrrole film in a cell was reported in 1997 (for example, see Non-Patent Document 1). In this actuator, the polypyrrole film expands and contracts by applying a voltage between the counter electrode and the polypyrrole film while the polypyrrole film and the counter electrode are immersed in the electrolytic solution, and the polypyrrole film is subjected to a load of 14.6 MPa (45 g). Is also described as 1% expansion and contraction. That is, this actuator can generate a force of 14 MPa in the length direction by electrolytic expansion and contraction.
A. Della Santa, 2 others, “Performance and work capacity of a polymer conductor polymer scientist” (Elscvier Science), 1997, Vol. 90, P93-100.

  Since the molded article containing the conductive polymer is a film, the actuator needs to be sandwiched by a chuck or the like and fixed as an actuator when used as a drive unit.

  However, the method of fixing a film-like conductive polymer molded product by chucking with a chuck claw, etc., may cause insufficient film fixing when chucked with a strong force. There are cases where it is difficult for the conductive polymer molded product to be deformed and chucked due to the flexibility of the polymer. Therefore, it is difficult to fix the position by chucking the film-like conductive polymer molded product, and the member to be chucked is connected to a shaft or the like to drive the conductive polymer molded product as a driving force. It's also difficult.

  In addition, in order to obtain a large force with respect to the force generated by driving due to the expansion and contraction of the conductive polymer, when a device is obtained by laminating a plurality of conductive polymer thin films in the thickness direction, The method of fixing by chucking both ends is difficult to apply the same tension to all layers, and is inappropriate as a method of fixing an element (laminated body).

  Further, as a method used as a drive unit of a drive device or the like, a mechanical or electrical drive method such as traction by a wire or rotation by a motor is usually used. However, in the case of driving by pulling with a wire, the structure becomes complicated, such as screwing the wire or providing a pulley. When driven by a motor, vibration and sound are generated, which causes a problem in quietness, the structure becomes large, and weight reduction is difficult. Further, there is no known driving mechanism in which an element driven by an electrochemical expansion / contraction operation by applying a voltage to the element is hung on a plurality of supports and driven by the expansion / contraction operation of the element.

  An object of the present invention is to provide an actuator including a drive unit that can be easily fixed and can be easily fixed even in the case of a multilayer structure.

  As a result of intensive studies, the inventors have provided a drive unit that is an endless belt shape, a ring shape, or a wound body, and a plurality of supports for hanging the drive unit, and the drive unit includes the drive unit. By using a drive mechanism characterized in that the drive unit is stretched, it is easy to fix the drive unit. When the drive unit is driven, the drive force is transmitted to the support body, and the drive force is easily applied. The inventors have found that it can be obtained and have reached the present invention. In addition, the present inventors provide a driving mechanism including a driving unit that is a winding body and a plurality of supports for hanging the driving unit, and the space portion to be hung is driven by the driving unit. By using a drive mechanism that is provided on the inside of the unit and that has the drive unit stretched on the support, the drive unit can be easily fixed, and the support unit is driven when the drive unit is driven. As a result, the inventors have found that the driving force can be transmitted and the driving force can be easily obtained, leading to the present invention.

  In addition, the driving unit includes an endless belt-shaped or ring-shaped driving unit, a driving unit mounting support for hanging the driving unit, and an auxiliary support for stretching the driving unit. By using the drive mechanism, it is easy to fix the drive unit, and the drive unit is substantially S-shaped, substantially M-shaped or a continuous shape, zigzag shape, spiral shape, or the like on the auxiliary support. Since it is easy to hold in a folded shape, even if the drive unit is long, for example, 20 cm or longer, space can be saved, and the drive unit can be easily held in a compact state. it can.

  In the above-mentioned actuator, by using a driving body having a loop-shaped part at least one end as a driving part, the loop-shaped part is hung on a driving part mounting support body and wound around the support body. A driving unit which is a rotating body can be formed.

    Furthermore, the drive unit includes a conductive polymer having a maximum expansion / contraction rate of 8% or more by electrolytic expansion / contraction as a material, and the expansion / contraction rate of the drive unit during driving of the actuator is 50% or less of the maximum expansion / contraction rate. By using the actuator drive method that extends and contracts the drive unit, the amount of expansion and contraction can be increased by lengthening the drive unit, and it can be expanded and contracted by expanding and contracting at a stretch rate of 50% or less of the maximum stretch rate. Speed can be increased.

(First invention)
The invention of the present application is a drive mechanism including a drive unit and a plurality of supports for hanging the drive unit, and the drive unit is stretched over the support, and the drive unit is endless The drive part which may be a strip | belt shape or a ring shape, and was provided with the space part for hanging up inside the said drive part may be sufficient. A support body can be moved by the said drive part carrying out a self-expanding motion. The present invention is the first invention.

  The drive unit may be any one that can expand and contract. The drive unit is not particularly limited as long as the drive unit itself expands and contracts due to electricity, humidity, and the like, and may be a drive unit including a conductive polymer or a resin containing a conductive material. In particular, the driving unit is preferably a driving unit including a conductive polymer, and a voltage is applied in a state where an electrolyte is interposed between the driving unit and a counter electrode, thereby increasing the conductivity in the driving unit. Since the molecule performs an electrochemical stretching operation, the stretching control is easy. Since the drive unit includes a conductive polymer and can be hung on two or more supports, installation as a drive unit is easy, and the support can be held on the inner surface of the drive unit. Therefore, it can be driven easily.

  In the drive mechanism described above, the drive unit may be an endless belt or a ring, and is a drive unit that is a winding body that includes a space part to be hung inside the drive unit. There may be. Since the drive unit has these structures, it can be hung on two or more supports, so that it can be easily installed as a drive unit and can be held on the inner surface of the drive unit. Therefore, it can be driven easily, and the drive unit can be easily fixed.

  FIG. 1 is a schematic diagram of one embodiment of the first invention. In FIG. 1, supports 121 and 122 are provided on a base 11 so as to slide along slide grooves 131 and 132, respectively. A drive unit 14, which is an endless belt-shaped conductive polymer molded product, is hung on two supports. Further, grips 151 and 152 are provided on the two supports. In the drive mechanism of this embodiment, this drive mechanism is installed in the electrolyte solution, connected to the electrode via the lead in the drive unit, and a counter electrode is installed in the electrolyte solution, and the counter electrode is connected via the lead. By connecting the electrodes to the electrodes, applying a voltage to the drive unit and the counter electrode, and subjecting the drive unit to electrolytic expansion and contraction, the object can be held between the two grips.

  FIG. 2 is a schematic diagram of the second embodiment in the first invention. This embodiment is an example in the case where there are a plurality of drive units, and supports 221, 222, 223, and 224 are provided on the base 21, and two independent drive units 231 and 232 are suspended. Similar to the embodiment of FIG. 1, in this embodiment, the gripping portion is installed so as to face each pair of the support bodies 221 and 223 and the support bodies 222 and 224, so that the driving section is electrolytically expanded and contracted. The object can be sandwiched between the two sets of grips.

  FIG. 3 is a schematic view of the third embodiment in the first invention. The embodiment of FIG. 3 is a case where the support is arranged on a plurality of members and the drive unit is suspended on the support so as to straddle the plurality of members. In FIG. 3, the first member 31 is connected to the second member by a stop screw 33 so as to be able to turn while sliding with the second member 32. The drive unit 34 is suspended between a columnar or cylindrical support 35 serving as a first member and a columnar or cylindrical support 36 serving as a second member, and is pressed by bar-shaped auxiliary supports 37 and 38 to be stretched. It is built. When the driving unit contracts, the first member starts a turning motion, and when the driving unit extends, the first member returns to the original position and can be turned. This drive structure can be used as a joint mechanism for industrial robots and human bodies. Furthermore, a ball joint is used for the sliding part by turning, and the driving part is also provided on the side surface, thereby providing a joint mechanism for free turning movement. can do.

  FIG. 4 is a schematic diagram of the fourth embodiment in the first invention. FIG. 4 also shows a case where the support is arranged on a plurality of members and the drive unit is suspended on the support so as to straddle the plurality of members. The drive unit 44 is wound around and hung between the supports 451 and 452 of the first member 41, and is wound around and hung between the supports 461 and 462 of the second member 42. ing. By being wound a plurality of times between the supports 451 and 452 and between the supports 461 and 462, the length of the drive unit can be increased, and even when the drive unit is long, for example, 20 cm or more. The space can be saved, and the drive unit can be easily held in a compact state. By extending / contracting the expansion / contraction rate which is 50% of the maximum expansion / contraction rate, the driving unit produces an excellent expansion / contraction rate, so that the turning speed can be greatly improved.

(Second invention)
The drive mechanism according to the second aspect of the present invention includes an endless belt-shaped or ring-shaped drive unit and a drive unit mounting support for hanging the drive unit, and an auxiliary unit for stretching the drive unit. It is also a drive mechanism characterized by comprising a support.

  FIG. 5 is a schematic view from the side of one embodiment of the drive mechanism of the second invention. FIG. 5 is a side view of a finger-like structure to which the drive mechanism is applied. In this finger-like structure, two drive units are used, and the drive unit 51 is hung on the support 521 and the support 522, pressed by the auxiliary support 523, and stretched on the support. ing. In addition, the drive unit 53 is hung on the support body 524 and the support body 525, is pressed by the support body 522, and is stretched on the support body. The middle phalange portion 54 rotates while sliding at the joint portion 55 when the driving portion 51 contracts, and the distal phalange portion 56 rotates while sliding at the joint portion 57 when the driving portion 53 contracts. Bending and stretching of the finger can be realized by the turning motion of each of these bone parts, and can be applied to a prosthetic hand.

  The drive mechanism can artificially constitute a human body mechanism other than a finger. For example, the drive unit includes a conductive polymer, and can be used as an artificial muscle when the expansion / contraction rate by electrolytic expansion / contraction is 3% or more. When the drive mechanism is used as an artificial muscle, an artificial human body part can be created by using the support as a tendon portion of the human body. For example, in a finger, a support body is provided in a position corresponding to a tendon portion of a finger on an aggregate of a plurality of members provided with joint portions corresponding to a DIP joint, a PIP joint, and an MP joint. By stretching the driving units corresponding to the group and the extensor group on these supports, complicated movements of the fingers can be easily reproduced by the expansion and contraction of the driving unit.

  FIG. 6 is a perspective view of another embodiment of the drive mechanism of the second invention. The housing 61 houses a housing 62 having a drive mechanism. The casing 61 has a movable support 65 attached to an arm 641 provided in a lid portion of the casing. The box-shaped housing 62 includes a sliding groove 661 in which the movable support 65 slides. The sliding grooves are respectively provided on a pair of facing side surfaces. The movable support 65 is slidably attached to both sliding grooves. By moving the housing so that the sliding groove and the movable support slide, the rod 63 is driven to apply a force to the outside.

  FIG. 7 is a cross-sectional view taken along the line AA of the drive mechanism in FIG. The housing 62 is provided with driving unit mounting supports 681 to 687 inside, and the driving unit 67 is suspended on the driving unit mounting support. The endless belt-like drive unit 67 is stretched around the auxiliary supports 691 and 692 and the movable support 65. The drive unit 67 is held by the drive unit mounting supports 681 to 687 and the auxiliary supports 691 and 692 in a substantially S shape, a substantially M shape, or a continuous zigzag shape, a spiral shape, or a folded shape. Yes. When the driving unit 67 is driven by applying a voltage, the driving unit mounting support, the auxiliary support, and the movable support also have a function as an electrode, so that a voltage is applied to each support. By doing so, the drive part 67 expands and contracts and it drives. When the precursor driving unit is driven, the movable support 65 slides with the sliding groove 662, and the housing 62 is driven in the left-right direction in FIG. 7 while being supported by the lid of the housing 61. In this driving, when the driving unit 67 contracts, the movable support 65 is given a rightward force in FIG. Since this movable support is fixed to the housing because it is attached to the arm 642 of the lid 70, the housing that can slide relative to the housing is driven. The housing slid in the left direction in FIG. 7 slides in the right direction by the force of the spring member 72 by extending the drive unit 67. By driving the housing, the rod 63 provided in the housing can be driven in the left-right direction in FIG. 7 outside the housing, and a force generated by driving the driving unit can be applied to the outside. Note that the spring member 72 is not always necessary, and for example, it is possible to drive rightward in FIG. 7 by a method such as fixing the driving unit 67 to the movable support.

  FIG. 8 is a perspective view of a housing in the drive mechanism of FIG. The housing 62 includes driving unit mounting supports 681 to 687 and auxiliary supports 691 and 692. The drive unit mounting support and the auxiliary support are preferably mounted so that they can be rotated in the circumferential direction by driving the drive unit in order to eliminate friction between the drive unit and each support. And is attached to the housing by a pivot bearing.

  FIG. 9 is a cross-sectional view of the housing of FIG. 8 taken along the line BB. The housing 62 is provided with pivot bearings 711 to 714 on its side surface, and a drive unit mounting support 683 is mounted on the housing by pivot bearings 711 and 713. In addition, a drive unit mounting support 686 is mounted on the housing by pivot bearings 712 and 714. In FIG. 9, by adopting screw-type pivot bearings for the pivot bearings 711 and 712, the drive unit mounting support can be easily mounted on the housing. In addition, the auxiliary support body and the movable support body are also preferably attached to the housing by a pivot bearing, similarly to the drive section mounting support body, and more preferably, the pivot bearing is a screw-type pivot bearing.

  In the drive mechanism of FIG. 6, when the drive unit includes a conductive polymer and is driven by electrolytic expansion and contraction of the conductive polymer, the drive mechanism preferably includes a counter electrode and an electrolyte. The counter electrode and the electrolyte may be provided in a housing, a housing, or the like so that the driving unit can be driven by applying a voltage to each support as a working electrode. For example, by providing the counter electrode on the inner wall surface of the housing and filling the inside of the housing and the inside of the housing with an electrolytic solution, the drive unit is subjected to electrolytic expansion and contraction due to voltage application to each support pair, and is attached to the housing and the housing. The rod 63 thus driven is driven.

  In the second invention of the present application, the mechanism of expansion and contraction is not particularly limited as long as the drive unit expands and contracts itself, but the expansion and contraction amount of the drive unit can be controlled. Since it is easy, it is preferable that the said drive part contains a conductive polymer, and the said drive part expands and contracts by the electrochemical expansion-contraction operation | movement by the voltage application of this conductive polymer.

  The auxiliary support is in contact with the drive unit on the outer surface. Since the drive unit expands and contracts and the entire length of the drive unit expands and contracts, a force is applied to the object through a connecting member that is connected to the object such as towing. Therefore, the auxiliary support is a pivot bearing. In order to reduce the frictional resistance with the drive unit, it is preferable to provide a sleeve and / or a bearing. Since the drive unit is in contact with the auxiliary support in the sleeve and / or bearing of the auxiliary support, there is little friction that hinders expansion and contraction of the drive unit, so that the expansion / contraction speed can be improved. .

  In the drive mechanism of the second invention of the present application, an actuator that causes drive by electrolytic expansion and contraction can be provided by further providing an electrolyte and a counter electrode. That is, the actuator is an actuator including a drive unit, an electrolyte, and a counter electrode, and the drive unit has an endless belt shape or a ring shape, and a drive unit mounting support for hanging the drive unit is provided. And an auxiliary support for stretching the drive unit.

  The actuator using the drive mechanism according to the second invention of the present application is not particularly limited as long as it includes the drive mechanism and includes a drive unit, an electrolyte, and a counter electrode. For example, the actuator can be driven by immersing the drive mechanism body of FIGS. 1 to 5 in a solid or liquid electrolyte and applying a voltage to the drive unit and the counter electrode. In addition, the drive unit mounting plate described above can be used as a part of the housing so that the drive unit can be housed inside the housing. Further, the method for applying a voltage to the driving unit for driving the driving unit is not particularly limited.

(Drive unit containing conductive polymer)
When the driving unit includes a conductive polymer, the driving unit includes a conductive polymer and is driven by electrolytic expansion and contraction. Examples of the conductive polymer include polypyrrole, polythiophene, polyaniline, and polyphenylene. However, the conductive polymer containing pyrrole and / or a pyrrole derivative in the molecular chain is easy to manufacture and is not only stable as a conductive polymer but also excellent in electrolytic stretching performance. Therefore, it is preferable.

  The driving unit may include a conventional conductive polymer such as a conductive polymer including sodium p-toluenesulfonate as a dopant. When the actuator according to the first aspect of the invention is used for an application that requires large expansion and contraction, the drive unit is made of a conductive polymer produced by an electrolytic polymerization method. In the production method, the electrolytic polymerization method includes an organic compound containing at least one bond or a functional group among an ether bond, an ester bond, a carbonate bond, a hydroxyl group, a nitro group, a sulfone group, and a nitrile group, and / or Alternatively, an electrolytic solution containing a halogenated hydrocarbon as a solvent was used, and the electrolytic solution was produced by a method for producing a conductive polymer containing a trifluoromethanesulfonate ion and / or an anion containing a plurality of fluorine atoms with respect to a central atom. A conductive polymer is preferable. When the driving unit is a driving unit including a conductive polymer manufactured by the manufacturing method, the expansion / contraction rate per one oxidation-reduction cycle of the driving unit can be easily set to 3% or more. Can be used for applications such as artificial muscles that require a large stretch rate.

Further, the electrolyte solution may contain a known dopant, and contains a plurality of fluorine atoms bonded to the trifluoromethanesulfonate ion and / or the central atom in order to obtain a larger expansion / contraction rate per one redox cycle. It is preferable that an anion is included. Furthermore, in order to make the expansion / contraction rate per oxidation-reduction cycle of the obtained conductive polymer 16% or more, as the electrolytic solution, fluorine atoms are added to the trifluoromethanesulfonate ion and / or the central atom. Instead of multiple anions, the chemical formula (1)
(C _n F _{(2n + 1)} SO ₂ ) (C _m F _{(2m + 1)} SO ₂ ) N ⁻ (1)
(Here, n and m are arbitrary integers.)
It is preferable to use an electrolytic solution containing a perfluoroalkylsulfonylimide ion represented by the formula:

  Examples of the organic compound include 1,2-dimethoxyethane, 1,2-diethoxyethane, tetrahydrofuran, 2-methyltetrahydrofuran, 1,4-dioxane (an organic compound containing an ether bond), γ-butyrolactone, and ethyl acetate. , N-butyl acetate, t-butyl acetate, 1,2-diacetoxyethane, 3-methyl-2-oxazolidinone, methyl benzoate, ethyl benzoate, butyl benzoate, diethyl phthalate (including ester bond) Organic compound), propylene carbonate, ethylene carbonate, dimethyl carbonate, diethyl carbonate, methyl ethyl carbonate (an organic compound containing a carbonate bond), ethylene glycol, 1-butanol, 1-hexanol, cyclohexanol, 1-octanol, 1-octanol, Big Nord, 1-dodecanol, 1-octadecanol (above, organic compound containing hydroxyl group), nitromethane, nitrobenzene (above, organic compound containing nitro group), sulfolane, dimethyl sulfone (above, organic compound containing sulfone group) And acetonitrile, butyronitrile, and benzonitrile (an organic compound containing a nitrile group). Note that the organic compound containing a hydroxyl group is not particularly limited, but is preferably a polyhydric alcohol or a monohydric alcohol having 4 or more carbon atoms because the stretching ratio is good. In addition to the above-mentioned examples, the organic compound may have any two or more bonds or functional groups among the ether bond, ester bond, carbonate bond, hydroxyl group, nitro group, sulfone group and nitrile group in the molecule. The organic compound contained in the combination may be sufficient.

  In the above production method, the halogenated hydrocarbon contained as a solvent in the electrolytic solution is one in which at least one hydrogen in the hydrocarbon is substituted with a halogen atom, and exists stably as a liquid under electrolytic polymerization conditions. If it can do, it will not specifically limit.

  Examples of the halogenated hydrocarbon include dichloromethane and dichloroethane. Although only one kind of the halogenated hydrocarbon can be used as a solvent in the electrolyte solution, two or more kinds can be used in combination. The halogenated hydrocarbon may be used after being mixed with the above organic compound, or a mixed solvent with the organic solvent may be used as a solvent in the electrolytic solution.

  The electrolytic solution used for the electrolytic polymerization method includes an organic compound (for example, pyrrole) to be electropolymerized and a trifluoromethanesulfonate ion and / or an anion containing a plurality of fluorine atoms with respect to the central atom. By conducting electrolytic polymerization using this electrolytic solution, it is possible to obtain a conductive polymer excellent in the expansion / contraction rate per one oxidation-reduction cycle and / or the displacement rate per specific time in electrolytic expansion / contraction. By the electrolytic polymerization, trifluoromethanesulfonic acid ions and / or anions containing a plurality of fluorine atoms with respect to the central atom are taken into the conductive polymer.

  The content of the anion containing a plurality of fluorine atoms with respect to the trifluoromethanesulfonate ion and / or the central atom is not particularly limited, but is 0.1 to 30% by weight in the electrolyte. Preferably, it is contained in an amount of 1 to 15% by weight.

Trifluoromethanesulfonate ion is a compound represented by the chemical formula CF ₃ SO ₃ ^— . An anion containing a plurality of fluorine atoms with respect to the central atom has a structure in which a plurality of fluorine atoms are bonded to a central atom such as boron, phosphorus, antimony and arsenic. The anion containing a plurality of fluorine atoms with respect to the central atom is not particularly limited, but includes tetrafluoroborate ion (BF ₄ ⁻ ), hexafluorophosphate ion (PF ₆ ⁻ ), hexafluoroantimonate ion. (SbF ₆ ⁻ ) and hexafluoroarsenate ion (AsF ₆ ⁻ ) can be exemplified. Among these, CF ₃ SO ₃ ⁻ , BF ₄ ⁻ and PF ₆ ⁻ are preferable in consideration of safety to the human body and the like, and CF ₃ SO ₃ ⁻ and BF ₄ ⁻ are more preferable. In order to obtain a conductive polymer film having excellent film quality, CF ₃ SO ₃ ^— is particularly preferable. As the anion containing a plurality of fluorine atoms with respect to the central atom, one kind of anion may be used, or a plurality of kinds of anions may be used simultaneously. Furthermore, a trifluoromethanesulfonate ion and a plurality of kinds of central atoms may be used. Alternatively, an anion containing a plurality of fluorine atoms may be used simultaneously.

  The electrolytic solution used in the electrolytic polymerization method includes a single amount of a conductive polymer in a solution of the organic compound solvent and the trifluoromethanesulfonate ion and / or an anion containing a plurality of fluorine atoms with respect to a central atom. And may contain other known additives such as polyethylene glycol and polyacrylamide.

As the electropolymerization method, a known electropolymerization method can be used as the electropolymerization of the conductive polymer monomer, and any of a constant potential method, a constant current method, and an electric sweep method can be used. . For example, the electrolytic polymerization is performed under the conditions of a current density of 0.01 to 20 mA / cm ² and a reaction temperature of −70 to 80 ° C., preferably a current density of 0.1 to ² mA / cm ² and a reaction temperature of −30 to 30 ° C. Can be done.

In addition to the conductive polymer being included, the driving unit may appropriately include a conductive material such as a metal wire or a conductive oxide in order to reduce the resistance value as the driving unit. Alternatively, a composite structure of a conductive substrate and a conductive polymer may be formed by combining with a conductive substrate having an electric conductivity of 1.0 × 10 ³ S / cm or more.

The conductive substrate is not particularly limited as long as the conductive substrate has elasticity and the conductivity of the conductive substrate is 1.0 × 10 ³ S / cm or more. When the conductivity of the conductive substrate is 1.0 × 10 ³ S / cm or more, even if the size of the conductive polymer composite structure including the conductive substrate is increased, it is practical as an actuator. Large expansion and contraction can be obtained.

The material of the conductive substrate is not particularly limited as long as it exhibits stretchability and the conductivity is 1.0 × 10 ³ S / cm or more. The material is preferably a metal, a metal-plated polymer fiber, and a carbon material in terms of conductivity and mechanical strength. The structure of the conductive substrate is a structure that can expand and contract when the conductive substrate includes a non-stretchable material such as metal and has a conductivity of 1.0 × 10 ³ S / cm or more. It is preferable to do. Since the conductive substrate can be expanded and contracted, the conductive polymer composite structure in which the conductive substrate is combined with the conductive polymer can obtain a displacement such as expansion and contraction that can be used as an actuator. The conductive polymer composite structure can also improve mechanical strength because the conductive substrate can function as a core material in the conductive polymer composite structure.

  The stretchable structure is not particularly limited as long as it can be stretched. The stretchable structure is different from a plate-like or straight line-segmented structure, and has a structure having a space between members constituting a conductive substrate in a longitudinal section like a coil spring, a leaf spring, and a mesh. It is preferable that Typical examples of the stretchable structure include spring-like members, mesh-like members, and fiber structure sheets.

(Support)
The support in the drive mechanism of the first and second inventions of the present application is not particularly limited as long as the drive unit can be hung, and two or more of the supports are provided in the drive mechanism. . The shape of the support is a rod shape, but may be a desired shape such as a rod shape, a cylindrical shape, a columnar shape, a prismatic shape, etc., as long as the drive unit can be hung on an endless belt shape or a ring shape. it can.

  In these drawings, the support has conductivity, and is connected to a power source through a lead, so that a drive unit including a conductive polymer is hung on the support. A voltage can be applied to the drive unit. However, the support does not necessarily have conductivity, and when the support does not have conductivity, a lead connected to a power source is directly connected to the drive unit, so that the drive unit It is possible to apply a voltage to. In the case where the support has conductivity, any material that exhibits conductivity by including a material exhibiting conductivity may be used. For example, gold, platinum, tungsten, or nickel may be used. The material may be formed. When a plurality of the supports are installed, a potential can be applied from each support. Therefore, when the drive unit is long, the expansion / contraction speed can be improved, and in particular, the drive unit having a length of 50 mm or more. In such a case, it is possible to improve the expansion / contraction speed by applying an electric potential to each support within the interval between the supports within 50 mm.

  The number of the supports is not particularly limited as long as two or more supports are included in the drive mechanism. Since the drive unit is stretched, the support is preferably two or more. In the support, one drive unit may be stretched between two supports, or may be stretched between three or more supports. Moreover, the said support body may stretch two or more drive parts on one support body. Moreover, in the said drive mechanism, in order to stretch a drive part on a support body, auxiliary support bodies, such as a pin for pressing or pulling the said drive part, can be used.

  Although the lead wire and the power source are not clearly shown in FIGS. 1 to 9, the support has conductivity, and the conductive polymer is attached to the support by being connected to the power source through the lead. A voltage can be applied to the said drive part by hanging the drive part including. However, the support does not necessarily have conductivity, and when the support does not have conductivity, a lead connected to a power source is directly connected to the drive unit, so that the drive unit It is possible to apply a voltage to.

(Electrolytes)
The drive mechanisms of the first and second inventions include an electrolyte when the drive unit includes a conductive polymer. The electrolyte may be disposed so as to be in contact with the drive unit, and the drive unit and the counter electrode may be disposed via the electrolyte, similarly to an actuator using a normal conductive polymer as the drive unit. The electrolyte is not particularly limited, and may be a liquid or a solid electrolyte. When the electrolyte is in a liquid state, it may be an aqueous solvent or an organic solvent, but it is easy to handle because it is low in toxicity and has a relatively low volatilization rate, and can be greatly stretched. Since it can do, it is preferable that it is a water solvent. When the electrolytic solution is a solid electrolyte, it may be a gel polymer electrolyte or a completely solid polymer electrolyte, but a gel polymer electrolyte is preferred because of its high ionic conductivity in the electrolyte. As the gel used for the gel polymer electrolyte, polyacrylamide, polyethylene glycol, agar or the like is preferably used because it can be easily combined with an aqueous electrolyte to prepare a gel polymer electrolyte. The electrolyte may be an electrolyte containing at least one compound selected from the group consisting of a trifluoromethanesulfonate ion, an anion containing a plurality of fluorine atoms with respect to a central atom, and a sulfonate having 3 or less carbon atoms. This is preferable because the driving unit including the conductive polymer can generate a larger expansion and contraction per one oxidation-reduction cycle.

(Counter electrode)
The drive mechanisms of the first and second inventions of the present application include a counter electrode when the drive unit includes a conductive polymer. The said counter electrode should just be arrange | positioned so that a drive part and a counter electrode may interpose electrolyte like the actuator which uses a normal electroconductive polymer as a drive part, and is arrange | positioned. The shape of the counter electrode is not particularly limited as long as it is formed of a conductive material that can be used as an electrode, and may be a rod shape, a line shape, a film shape, or a plate shape. Moreover, the material of the said counter electrode is not specifically limited, The metal containing noble metals, such as gold | metal | money and platinum, may be sufficient as a kind, and electroconductive nonmetals, such as conductive resin and ITO glass, may be sufficient as it. However, since it is difficult to corrode and is easy to process, it is preferably a noble metal, more preferably platinum or gold.

(Surfactant)
In the drive mechanism of the present invention, it is preferable that the electrolyte contains a surfactant. When there is a member in contact with the driving unit such as the above-mentioned auxiliary support member or connecting member by driving the driving unit, the driving unit can be driven by including a surfactant in the electrolyte. Even in the case of rolling, it is possible to prevent the member in contact with the drive unit and the drive unit from being worn near the contact unit.

  The surfactant is not particularly limited, and anionic surfactants, cationic surfactants, nonionic surfactants, zwitterionic surfactants, and the like can be used. It is preferable to use a neutral surfactant because it hardly causes interaction with the dopant. Examples of the surfactant include polyoxyethylene (8) isooctyl phenyl ether (trade name “Triton X-114”, manufactured by Wako Pure Chemical Industries, Ltd.), polyoxyethylene (10) isooctyl phenyl ether (trade name “ Triton X-100 "(manufactured by Aldrich) can be used.

  The concentration of the surfactant is not particularly limited as long as it is contained in the electrolyte, and the concentration can be appropriately adjusted according to the type of the surfactant. For example, when polyoxyethylene (8) isooctyl phenyl ether is used as the surfactant, it can be contained in the electrolyte in a concentration range of 0.1 wt% to 50 wt%, and can be contained in the surface of the drive unit. In the case of using a surfactant having a small orientation, the content can be made larger than the above range. The electrolyte is not particularly limited, but is preferably a gel or liquid electrolyte.

(Driving method)
The present invention is also a driving method for driving the driving mechanism of the first to second inventions. In particular, when the driving unit includes a conductive polymer, the material includes a conductive polymer having a maximum expansion rate of 8% or more by electrolytic expansion and contraction, and the expansion rate of the driving unit during driving is maximized. It is preferable to use a driving method of an actuator that expands and contracts the driving unit so that the ratio is 50% or less because a desired length of displacement can be obtained in a shorter time. The expansion / contraction rate is the ratio (D / L) of the difference (displacement amount, D) of the length of the drive unit when displaced from the extended state to the contracted state with respect to the length (L) of the drive unit in the extended state. × 100 (%)), and the maximum expansion / contraction rate is the length of the drive unit when displaced from the most extended state to the most contracted state with respect to the length (Lmin) of the drive unit in the most extended state. The ratio (Dmax / Lmin × 100 (%)) of the difference (displacement amount, Dmax).

For example, for a conductive polymer (strip shape, length 14 mm, width 2 mm, thickness 0.02 mm) having an electrochemical expansion and contraction with a maximum expansion ratio of 12%, −0.7 V vs Ag / Ag ⁺ When this voltage is applied, this conductive polymer expands and contracts at a stretch rate (7.5%) which is 62.5% of the maximum stretch rate (12%). Cost. On the other hand, in this conductive polymer, the expansion / contraction of the expansion / contraction rate (6%), which is 50% of the maximum expansion / contraction rate (12%), can be carried out in 20 seconds from the start of driving, so it is large in a short time Expansion and contraction can be performed. Furthermore, by setting the expansion / contraction rate (6%), which is 50%, to the expansion / contraction rate (4%), which is 30%, the time required for expansion / contraction can be reduced to 7 seconds. The driving method for expanding / contracting the drive unit so that the expansion / contraction rate of the drive unit is 30% or less of the maximum expansion / contraction rate can be suitably used for practical applications because it expands / contracts in a shorter time.

  As a factor that the drive unit is driven in a shorter time than the maximum expansion / contraction rate, the conductive polymer having a maximum expansion / contraction rate of 8% or more in electrolytic expansion / contraction is the maximum. It can be considered that the structure has a structure in which ions in the electrolyte are easily taken in and out as compared with a conductive polymer which is electrolytic expansion and contraction with a stretch ratio of 1 to 3%. Therefore, the initial ion entry / exit at the time of expansion / contraction is fast, and as the expansion / contraction increases, the ion occupation amount in the conductive polymer increases or decreases, and it is considered that the ion input / output speed decreases due to ion repulsion or the like. .

  In the above driving method, in the conductive polymer having the maximum expansion / contraction rate of 12%, the expansion / contraction rate per unit time 20 seconds after the start of driving is 0.3% / s. The expansion / contraction rate per unit time 10 seconds after the start is about 0.47% / s, and the expansion / contraction rate per unit time becomes shorter as the driving time is shorter. That is, in the above driving method, in order to obtain a desired expansion / contraction length, the length of the conductive polymer (driving body) constituting the driving unit is lengthened, so that (1) the conventional expansion / contraction amount is increased. (2) Furthermore, when the length of the conductive polymer (driving body) is such that the desired expansion / contraction length is 50% or less than the maximum expansion / contraction rate, it is fast. It can be driven. A drive mechanism that has a large expansion / contraction rate and that performs a quick expansion / contraction operation is advantageous for practical applications such as robots and artificial hands, and is therefore suitable for drive devices of various devices.

(Use)
Since the drive mechanism in the first and second inventions can easily obtain a larger expansion / contraction rate, it can be used in applications where displacement is large in addition to applications such as switches and sensors that can be used even if displacement is small. It can also be suitably used as a certain artificial muscle. That is, the drive mechanism of the present invention can be used for a drive mechanism including a conductive polymer, which could only be used for applications with small displacements, for applications with large displacements of artificial muscles and the like. In the first and second inventions, a lead having a buffer function may be used. The drive mechanism can also be used as a linear actuator, and can be used as a drive device or a pressing device. In the driving mechanism, when the expansion / contraction rate per oxidation-reduction cycle of the driving unit is 3% or more, the shaft can expand and contract by 3% or more, and the driving mechanism can obtain 3% or more expansion and contraction. For example, it can be suitably used for applications that have large displacements. Since the drive mechanism of the present invention is a drive mechanism in which a conductive polymer is driven by electricity, and is silent during driving, it is suitable as a driving unit or a pressing unit in an indoor application device. In addition, the drive mechanism is lighter than conventional linear actuators due to fewer metal parts, so that the positioning device, the attitude control device, the lifting device, the transport device, the moving device, the adjusting device, the adjusting device, the guiding device, It can be suitably used as a drive unit for a joint device.

  In order to use the drive mechanism of the first invention and the second invention as an artificial muscle, the expansion / contraction ratio of the drive unit can obtain a large expansion / contraction as the drive mechanism. It is preferably 3% or more, more preferably 6% or more.

  The drive mechanism of the present invention can be suitably used for artificial muscles, robot arms, and artificial hands. In addition, medical instruments such as tweezers, scissors, forceps, snare, laser knife, spatula, and clips in microsurgery technology, various sensors or repair tools for inspection and repair, health instruments, hygrometers, hygrometer control devices, It can also be suitably used for articles used in water such as industrial equipment such as soft manipulators, underwater valves, and soft transport devices, underwater mobiles such as goldfish, or hobby equipment such as moving fishing baits and propeller fins. .

  In addition, the drive mechanism of the present invention described above is an OA device, an antenna, a device on which a person such as a bed or a chair is placed, a medical device, an engine, an optical device, a fixture, a side trimmer, a vehicle, a lifting device, a food processing device, a cleaning device. Device, measuring device, inspection device, control device, machine tool, processing machine, electronic device, electron microscope, electric shaver, electric toothbrush, manipulator, mast, game device, amusement device, riding simulation device, vehicle occupant pressing device and In an aircraft accessory equipment expansion device, a driving unit that generates a linear driving force or a driving unit that generates a driving force for moving a track-type orbit made of a circular arc, or a linear or curvilinear operation It can use suitably as a press part which performs. The drive mechanism and the drive mechanism include, for example, a drive unit or a circular arc unit that generates a linear drive force in a valve, a brake, and a lock device that are used in all machines including the above-described devices such as OA devices and measurement devices. It can be used as a driving unit that generates a driving force for moving a track-type track or a pressing unit that performs a linear operation. In addition to the above-mentioned devices, devices, instruments, etc., in general mechanical devices, a positioning device drive unit, a posture control device drive unit, a lifting device drive unit, a transport device drive unit, and a movement device drive unit It can be suitably used as a drive unit for an adjustment device such as an amount and a direction, a drive unit for an adjustment device such as a shaft, a drive unit for a guidance device, and a pressing unit for a pressing device. Moreover, the drive mechanism and drive mechanism of the present invention described above can be suitably used as a drive part in a joint device, such as a joint part that can be directly driven, such as a joint intermediate member, or a drive part that gives a rotational motion to the joint.

  The drive mechanism of the present invention includes, for example, a drive unit for an inkjet part in an inkjet printer such as a CAD printer, a drive unit for displacing the optical axis direction of the light beam of the printer, and a head of a disk drive device such as an external storage device It can be suitably used as a drive unit and a drive unit for paper pressing contact force adjusting means in a paper feeding device of an image forming apparatus including a printer, a copier, and a fax machine.

  The drive mechanism of the present invention described above is, for example, a measurement unit such as a high frequency power supply unit such as a frequency sharing antenna for radio astronomy, or a drive unit of a drive mechanism that moves and installs the power supply unit, and It can be suitably used for a drive unit of a lift mechanism in a mast such as a vehicle-mounted pneumatic operation mast (telescoping mast) or an antenna.

  The drive mechanism of the invention of the present application includes, for example, a drive unit of a massage unit of a chair-shaped massage machine, a drive unit of a nursing care or medical bed, a drive unit of a posture control device of an electric reclining chair, a massage machine, an easy chair, etc. Recliner backrest / Ottoman retractable rod drive unit used for stool, chair backrest, legrest, etc. It can be suitably used for a drive unit used for turning driving of a bed of a rest or a bed for nursing care, and a drive unit for posture control of a standing chair.

  The drive mechanism of the invention of the present application includes, for example, a drive unit of a testing device, a drive unit of a pressure measuring device such as a blood pressure used in an extracorporeal blood treatment device, a drive unit of a catheter, an endoscope device, forceps, etc. Driving unit of cataract surgery device using ultrasound, driving unit of exercise device such as jaw movement device, driving unit of means for relatively expanding and contracting member of hoist for sick person, and raising and lowering of care bed, It can be suitably used for a drive unit for movement, posture control, and the like.

  The drive mechanism according to the present invention includes, for example, a drive unit for a vibration isolator that attenuates vibration transmitted from a vibration generating unit such as an engine to a vibration receiving unit such as a frame, and a valve for an intake and exhaust valve of an internal combustion engine. It can be suitably used as a drive unit for a device, a drive unit for an engine fuel control device, and a drive unit for an engine fuel supply device such as a diesel engine.

  The drive mechanism of the present invention described above includes, for example, a drive unit of a calibration device of an image pickup apparatus with a camera shake correction function, a drive unit of a lens drive mechanism such as a home video camera lens, and a moving lens of an optical device such as a still camera or a video camera. Driving unit of mechanism for driving the group, driving unit of camera autofocus unit, driving unit of lens barrel used in imaging device such as camera, video camera, driving unit of auto guider for taking in light of optical telescope, stereoscopic camera Compressive force is applied to the wavelength conversion fiber of the lens-type wavelength tunable filter used for the lens drive mechanism of the optical device having two optical systems such as the binoculars or the like or the drive unit of the lens barrel, optical communication, optical information processing or optical measurement. It can be suitably used for a drive unit or a pressing unit, a drive unit of an optical axis alignment device, and a drive unit of a shutter mechanism of a camera.

  The drive mechanism of the present invention described above can be suitably used, for example, for a pressing portion of a fixture such as caulking and fixing a hose fitting to a hose body.

  The drive mechanism of the present invention described above includes, for example, a drive unit such as a winding spring of an automobile suspension, a drive unit of a fuel filler lid opener that unlocks a fuel filler lid of a vehicle, and a drive unit of a bulldozer blade extension and retraction drive It can be suitably used for a drive unit of a drive device for automatically switching the gear ratio of an automobile transmission or for automatically connecting and disconnecting a clutch.

  The drive mechanism of the present invention described above is, for example, a drive unit of a lift device of a wheelchair with a seat plate lift device, a drive unit of a lift for eliminating a step, a drive unit of a lift transfer device, a medical bed, an electric bed, an electric table, Suitable for motorized chairs, nursing beds, lift tables, CT scanners, truck cabin tilt devices, lifters and other drive units for lifts, and drive units for heavy vehicle transport special vehicles Can be used.

  The drive mechanism of the present invention can be suitably used for, for example, a drive unit of a discharge amount adjusting mechanism such as a food discharge nozzle device of a food processing apparatus.

  The drive mechanism of the present invention described above can be suitably used for a drive unit such as a carriage or a cleaning unit of a cleaning device.

  The drive mechanism of the present invention described above includes, for example, a drive unit of a measurement unit of a three-dimensional measurement apparatus that measures the shape of a surface, a drive unit of a stage device, a drive unit of a sensor part such as a detection system for a tire operating characteristic, The drive unit for the device that gives the initial speed of the device for evaluating the impact response of the sensor, the drive unit for the piston drive device of the piston cylinder of the device including the in-hole water permeability test device, and the drive unit for moving in the elevation angle direction in the concentrating tracking power generator Alignment is required in the drive unit of the tuning mirror vibration device of the sapphire laser oscillation wavelength switching mechanism of the measurement device including the gas concentration measurement device, the inspection device of the printed circuit board, and the flat panel display inspection device such as liquid crystal and PDP. XYθ table drive unit, electron beam (E beam) system or focused ion beam (FIB) Adjustable aperture device drive unit used in charged particle beam systems such as stems, support device or drive unit of measurement target in flatness measuring instrument, and assembly of micro devices, semiconductor exposure devices and semiconductors It can be suitably used for a driving unit of a precision positioning device such as an inspection device or a three-dimensional shape measuring device.

  The drive mechanism of the present invention can be suitably used for, for example, an electric razor drive unit and an electric toothbrush drive unit.

  The drive mechanism of the present invention described above is, for example, a three-dimensional object imaging device or a drive unit of a read depth optical system shared by CD and DVD, a drive target surface as an active curved surface by a plurality of drive mechanisms, and its shape A disk capable of linearly moving a moving unit having at least one of a magnetic head such as a variable mirror driving unit and an optical pickup that can easily change the focal position by forming a desired curved surface approximately by deforming Drive unit of device, drive unit of head feeding mechanism of magnetic tape head drive mechanism assembly such as linear tape storage system, drive unit of image forming apparatus applied to electrophotographic copying machine, printer, facsimile, etc., magnetic head member Optical disc master exposure that controls the drive of the mounting member such as the focusing lens group in the optical axis direction Drive unit, a drive unit of a head drive unit that drives an optical head, a drive unit of an information recording / reproducing apparatus that records information on a recording medium or reproduces information recorded on the recording medium, and a circuit breaker (power distribution) The circuit breaker can be suitably used as a drive unit for opening and closing operations.

  The drive mechanism of the invention of the present application includes, for example, a drive unit of a rubber composition press molding vulcanizing device, a drive unit of a component aligning device that aligns a transferred component into a single row / single layer and a predetermined posture , A drive unit of a compression molding device, a drive unit of a holding mechanism of a welding device, a drive unit of a bag making filling and packaging machine, a drive unit of a machine tool such as a machining center, a molding machine such as an injection molding machine or a press machine, a printing device, Driving unit for fluid application devices such as painting devices and lacquer spraying devices, driving unit for manufacturing devices for manufacturing camshafts, etc., driving unit for lifting devices for lining materials, driving devices such as tufted ear regulators in non-woven looms, Needle drive system of tufting machine, looper drive system, knife drive system, etc., drive unit of polishing device that polishes parts such as cam grinder and ultra-precision machined parts, brake device of hook frame in loom Of a moving part, a driving part of an opening device for forming an opening part of a warp for inserting a weft in a loom, a driving part of a protective sheet peeling device such as a semiconductor substrate, a driving part of a threading device, and an assembly device of an electron gun for CRT Drive unit of shifter fork drive selection linear control device and drive of horizontal movement mechanism of annealing window drive device in torsion race machine for manufacturing torsion race with application to drive unit, clothing decoration, table cloth and seat cover etc. , Glass melting furnace fore Haas support arm drive unit, drive unit for advancing / retracting the rack of the exposure apparatus such as the fluorescent screen forming method of the color picture tube, the drive unit of the torch arm of the ball bonding apparatus, and the bonding head in the XY direction Drive of components, mounting of chip components and driving of components in measurement using probes, etc. Moving part, raising / lowering driving part of the cleaning tool support of the substrate cleaning apparatus, driving part for moving the detection head scanned on the glass substrate forward / backward, driving part of the positioning apparatus of the exposure apparatus for transferring the pattern onto the substrate, precision processing, etc. Used when manufacturing circuit devices such as conductor circuit elements and liquid crystal display devices in the sub-micron order in the field, driving units for micro-positioning devices, positioning units for chemical mechanical polishing tool measuring devices, and conductor circuit elements and liquid crystal display elements. A driving unit for positioning a stage device suitable for an exposure apparatus and a scanning exposure exposure apparatus, a driving unit for means for conveying or positioning a workpiece, a driving unit for positioning and conveying a reticle stage, a wafer stage, etc. Drive part of precision positioning stage device in chamber, work piece in chemical mechanical polishing system For drive units of positioning devices for semiconductors or semiconductor wafers, drive units for semiconductor stepper devices, drive units for devices that position accurately in processing machine introduction stations, machine tools such as NC machines and machining centers, etc. or steppers in the IC industry A reference grating plate for a light beam scanning device is used in a drive unit of a passive vibration isolation device for various types of representative devices and an active vibration isolation device, an exposure device used in a lithography process for manufacturing semiconductor elements and liquid crystal display elements, etc. It can be suitably used for a drive unit that displaces the light beam in the optical axis direction and a drive unit of a transfer device that transfers the light beam into the article processing unit in the transverse direction of the conveyor.

  The drive mechanism of the present invention described above can be suitably used for, for example, a drive unit for a probe positioning device of a scanning probe microscope such as an electron microscope and a drive unit for positioning a sample micro-movement device for an electron microscope.

  The drive mechanism of the present invention described above is, for example, an automatic welding robot, a robot including an industrial robot or a nursing robot, or a joint mechanism represented by a wrist of a robot arm in a manipulator, a joint of a joint other than the direct drive type The drive part, the finger of the robot itself, the drive part of the motion conversion mechanism of the slide opening and closing chuck device used as the hand of the robot, etc., the minute object in any state in the cell micro operation or the assembly work of the micro parts, etc. It is suitably used for a drive unit of a micromanipulator for operation, a drive unit of a prosthesis such as an electric prosthesis having a plurality of fingers that can be opened and closed, a drive unit of a handling robot, a drive unit of a prosthesis, and a drive unit of a power suit be able to.

  The drive mechanism of the present invention can be suitably used for, for example, a pressing portion of a device that presses the upper rotating blade or the lower rotating blade of the side trimmer.

  The drive mechanism of the present invention described above is suitable for, for example, a drive unit for an accessory in a game machine such as a pachinko machine, a drive unit for an amusement device such as a doll or a pet robot, and a drive unit for a simulation device for a boarding simulation device. Can be used.

  The drive mechanism of the present invention described above can be used for, for example, a valve drive unit used in all machines including the above devices, etc., for example, a valve drive unit of an evaporative helium gas reliquefaction device, a bellows type feeling A valve incorporating a pressure control valve drive unit, an opening device drive unit for driving the eaves frame, a vacuum gate valve drive unit, a solenoid operation type control valve drive unit for a hydraulic system, and a motion transmission device using a pivot lever The drive unit of the rocket, the valve drive unit of the movable nozzle of the rocket, the drive unit of the suck back valve, and the drive unit of the pressure regulating valve unit can be suitably used.

  The drive mechanism of the present invention described above can be used as, for example, a brake pressing portion used in machines including the above devices, and is used, for example, for emergency, security, stopping, etc. brakes and elevator brakes. It can be preferably used for a pressing portion of a braking device and a pressing portion of a brake structure or a brake system.

  The drive mechanism of the present invention described above can be used as, for example, a pressing portion of a locking device used in all machines including the above-described devices. For example, a pressing portion of a mechanical locking device, a pressing portion of a vehicle steering lock device In addition, it can be suitably used for a pressing portion of a power transmission device having both a load limiting mechanism and a coupling release mechanism.

  The drive mechanism of the first or second invention of the present application can be easily fixed by hanging on the support, and even when the drive unit has a multilayer structure, the same tension is applied to each layer. Since it can be applied, it is suitable as a drive mechanism for obtaining a large generated force. In addition, the drive mechanism can be used for a complicated structure because the drive unit is suspended on a support and each drive unit can be driven independently, such as when the spatial space is narrow or the human body It is suitable for a structure having a complicated movement.

  As described above, the drive mechanism of the first and second inventions of the present application can be easily fixed, and since the conductive polymer is driven by electricity, it is silent during driving. It is suitable as a drive part or a pressing part in an indoor application device. Further, since the drive mechanism is lighter than conventional linear actuators due to fewer metal parts, a positioning device, a posture control device, a lifting device, a transport device, and a moving device can be used exclusively by utilizing this light weight property. Since it can be reduced in weight by using it as a drive unit for an adjustment device, an adjustment device, a guidance device, and a joint device, it can be suitably used.

The schematic diagram about one embodiment in 1st invention. The schematic diagram about the 2nd embodiment in 1st invention. The schematic diagram about the 3rd embodiment in 1st invention. The schematic diagram about the 4th embodiment in 1st invention. The schematic diagram from the side about one embodiment in the drive mechanism of 2nd invention. The perspective view about the other example of an embodiment in the drive mechanism of 2nd invention. It is AA sectional drawing of the drive mechanism in FIG. It is a perspective view of the housing in the drive mechanism of FIG. BB sectional drawing of the housing of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Drive mechanism 11 Base 121, 122 Support body 131, 132 Sliding groove 14 Drive part 151, 152 Grip part 221, 223 Support body 222, 224 Support body 231, 232 Drive part 31 First member 32 Second member 33 Stop screw 34 Drive unit 35, 36 Support body 37, 38 Auxiliary support body 41 First member 42 Second member 43 Stop screw 44 Drive unit 451, 452 Support body 461, 462 Support body 51, 53 Drive unit 521, 522 Support body 524, 525 Support 523 Auxiliary support 54 Middle phalanx 55, 57 Joint,
56 distal phalanx 61 housing 62 housing 63 rod 641 arm 65 movable support 661, 662 sliding groove 67 drive 691, 692 auxiliary support 70 lid 711, 712, 713, 714 pivot bearing 72 spring member

Claims (16)

A drive mechanism comprising: a drive unit that is an endless belt shape, a ring shape, or a wound body; and a plurality of supports for hanging the drive unit, and the drive unit is stretched over the support. The drive mechanism according to claim 2, wherein the winding body includes a space portion inside the drive portion, and the drive portion is stretched on the support body. The drive mechanism according to claim 1, wherein the drive unit includes a conductive polymer, and the drive unit is driven by performing an electrochemical stretching operation. The drive mechanism according to claim 1, comprising a plurality of the drive units. The drive mechanism according to any one of claims 1 to 4, wherein the support is a pin-shaped support. The drive mechanism according to claim 1, wherein the support has conductivity, and the drive unit is driven by applying a voltage to the drive unit via the support. The drive mechanism according to any one of claims 1 to 6, wherein the support is arranged on a plurality of members, and the drive unit is suspended on the support so as to straddle the plurality of members. One member is installed so as to be pivotable with respect to another member, the drive unit is wound so as to stretch between the support members of the one member, and the drive unit supports the other member. The drive mechanism according to claim 7, wherein the drive unit is stretched between the one member and the other member by being wound so as to be stretched between the bodies. A finger-like structure using the drive mechanism according to claim 7 or 8. A drive comprising: an endless belt-shaped or ring-shaped drive unit; a drive unit mounting support for hanging the drive unit; and an auxiliary support for stretching the drive unit mechanism. The drive unit is stretched so as to be in contact with the outer peripheral surface of the auxiliary support, and the drive unit is substantially S-shaped, substantially M-shaped or a continuous shape, zigzag, spiral, The drive mechanism according to claim 10, wherein the drive mechanism is held in a folded shape. The driving mechanism according to claim 10, wherein the driving unit includes a conductive polymer, and the driving unit expands and contracts by an electrochemical expansion and contraction operation by applying a voltage to the conductive polymer. The drive mechanism according to any one of claims 10 to 12, further comprising a sleeve or a bearing for allowing the drive unit to slide on the auxiliary support. The housing includes a housing,
The housing includes the drive unit, the drive unit mounting support, and an auxiliary support.
A movable support is attached to the housing,
The drive unit is hung on the drive unit mounting support, the auxiliary support and the movable support,
The housing includes a sliding groove that slides with the movable support,
The drive mechanism according to claim 10, wherein the housing includes a rod. The drive mechanism according to any one of claims 10 to 14, wherein the drive unit mounting support, the auxiliary support, and the movable support are mounted on a housing by a pivot bearing. The drive unit includes a conductive polymer having a maximum expansion / contraction rate of 8% or more by electrolytic expansion / contraction as a material, and the expansion / contraction rate of the drive unit during driving of the actuator is 50% or less of the maximum expansion / contraction rate. The method of driving an actuator according to claim 10, wherein the driving unit is expanded and contracted.

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