JP2005111245A - Cylindrical conductive polymer molding, its manufacturing method, actuator using the same, and its application - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator having excellent pressure resistance and durability and a large degree of freedom to applied uses, and to provide a conductive polymer molding which is a member for the actuator, and a method of manufacturing the molding. <P>SOLUTION: The actuator 40 in which the cylindrical conductive polymer molding is installed on an operating part 41 is used. To manufacture the actuator with the large degree of freedom using the operating part, an electrolyte 42 and a counter electrode 43 can be installed on the inside of the cylindrical operating part. If the molding including a metal conductor in a conductive polymer is used for the operating part 41, it is advantageous also in respect of response speed or the like. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a conductive polymer molded article and an actuator including the conductive polymer molded article in an operation portion.

  It is known that a conductive polymer such as polypyrrole exhibits electrolytic stretching, which is a phenomenon that stretches or deforms by electrochemical redox. Electrolytic expansion and contraction of this conductive polymer has been attracting attention in recent years because it is expected to be used for applications such as artificial muscles, robot arms, artificial hands and actuators.

  Regarding an actuator using a conductive polymer, 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.

Dela Santa (A. Della Santa), two others, “A. Della Santa et al.,“ Performance and workability of a polypyrrole conducting polymer, ” (Synthetic Metals), Elsevier Science, 1997, 90, P93-100.

  In general, the shape of the conductive polymer used as the operating member used in the actuator, including the above-described actuator, is in the form of a film. This is because a conductive film produced by an electrolytic polymerization method is used to obtain a high-quality conductive polymer. In other words, the electropolymerization method generally uses a conductive polymer laminated on a flat electrode, so that the conductive polymer necessarily has a film shape.

  However, when the actuator is expected to be applied to a part that requires a certain pressure or more, such as a pressing device, it cannot be said that the film shape is an appropriate shape for exerting pressure. In order to prevent this problem, it is desirable to have an appropriate shape with improved pressure resistance and durability.

  In addition, an actuator that uses a film-shaped conductive polymer for the operating portion has structural limitations due to its shape. That is, when the actuating member is in the form of a film, especially when a liquid electrolyte or a gel electrolyte is used as the electrolyte, a housing for holding the electrolyte on the outside is essential. For this reason, the structure of such an actuator restrict | limits the application range as a use of an actuator. In addition, since the surface area in contact with the electrolyte is small, it becomes a factor of slowing down the response speed of the operating part.

  In addition, an operating part using a conductive polymer, which is a material that expands and contracts electrochemically, has a resistance value, and the voltage is applied when voltage is applied from one end of the operating part. Due to the descent, it is difficult to apply a voltage to the other end (tip) of the predetermined operating part. Therefore, the amount of expansion / contraction near the tip becomes small, and it becomes difficult to obtain a desired amount of expansion / contraction, and the response speed until the expansion / contraction after applying a voltage near the tip becomes slow. Therefore, in order to obtain a desired expansion / contraction rate near the tip and to secure a predetermined response speed, a conductor for applying a voltage is placed along the expansion / contraction direction in parallel with the expansion / contraction direction of the operation unit. It is also conceivable that the lead wire is brought into contact with a plurality of parts and an appropriate voltage is applied to the tip of the operating part. However, according to this method, along with the expansion and contraction of the operating part, a large tension is applied to the conducting wire connected at the contact site. Further, when considering application as an actuator application, it can be said that the application range is narrowed due to a structural limitation that the conducting wire is outside the operating portion.

  These problems become more conspicuous when the conductive polymer of the operating part expands and contracts greatly, such as an expansion ratio of 3% or more. That is, since the expansion and contraction or displacement is large, the conductive wire connected at the contact site is more likely to be distorted and likely to come off.

  Further, the above-described film-like actuator is a light-weight and simple driving mechanism because the operating part is a film-like body made of a resin component. However, when the actuator is operated to press an object, it is thin film-like because it is thin, it becomes difficult to demonstrate the original force that the actuator can generate, If the film is thickened to make it difficult for the hips to break, the expansion / contraction rate for a specific time tends to decrease. In other words, it is desirable that the conductive polymer molded product does not need to be thickened and is less likely to be deformed which is disadvantageous for a pressing operation such as hip folding.

  An object of the present invention is to provide a conductive polymer molded article having a shape excellent in durability and pressure resistance, and a method for producing the same, which can be suitably used as an actuator operating portion using an operating portion containing a conductive polymer. It is to be. Another object of the present invention is to provide an actuator that uses a conductive polymer molded article of the shape and has few structural restrictions upon application, and an application thereof.

  Therefore, as a result of intensive studies, the present inventors have found that a cylindrical conductive polymer molded product improves pressure resistance and durability when used as an actuator operating portion. It has been found that a conductive polymer molded article provided with a metal conductor, preferably in a coil form, solves the structural problem as an actuator, and a conductive polymer mold containing the coiled metal conductor. A simple method for producing a body was found.

Furthermore, a suitable actuator structure when the cylindrical conductive polymer is used for the operating part is also found, and it is preferable for a case where a solid electrolyte is used as an electrolyte and a case where a gel or liquid electrolyte is used. A novel actuator structure was found.
In addition, when the actuator structure is an actuator having an expansion / contraction ratio of 3% or more as an actuator, a sufficient displacement can be taken out even if the operating portion is small. I found.

  Furthermore, these actuators are artificial muscles, positioning devices, posture control devices, elevating devices, transport devices, moving devices, adjusting devices, adjusting devices, guiding devices, or driving units of joint devices, and pressing units of pressing devices. It has been found that it can be suitably used for the application to.

  These aspects were obtained and the present invention was accomplished.

  By forming the conductive polymer molded product according to the first invention of the present application into a cylindrical shape, performance such as pressure resistance and durability is improved. In addition, the coiled metal lead wire is preferably provided in the molded product, so that it can be used as an operating portion of an actuator having an excellent expansion / contraction rate and a high response speed.

  Further, in the actuator of the second invention of the present application, which is an actuator having at least an operating part, a counter electrode and an electrolyte, and using the cylindrical conductive polymer molded product, the advantage of the molded product is Can be an advantage. Further, by adopting a configuration in which the electrolyte and the counter electrode are installed inside the cylindrical operating portion, the actuator can be provided with a high degree of freedom when used as an application.

  In addition, an electropolymerization method is performed using a coiled metal conductor as a working electrode, a conductive polymer layer is formed on the surface of the metal conductor, and the interval between the metal conductors spirally formed at a specific pitch is electrically conductive. By burying with a conductive polymer, a conductive polymer molded product can be easily obtained.

  Hereinafter, although this invention is demonstrated using figures, this invention is not limited to these.

(First invention)
The present invention is a cylindrical conductive polymer molded article. Hereinafter, the present invention is a first invention.

(First aspect of the first invention)
FIG. 1 is a diagram of a first embodiment of the cylindrical conductive polymer molded product 10 according to the first invention as seen from an oblique direction, and is a diagram schematically showing the shape of the molded product. In the present invention, the term “cylindrical shape” refers to a columnar shape having openings in the upper and lower bases, and a space that communicates from the upper bottom opening to the lower bottom opening. FIG. 1 shows a cylindrical example. The cylindrical conductive polymer molded product is preferably cylindrical in shape from the viewpoint of improving pressure resistance and durability, and can also be in the shape of a prismatic cylinder in relation to the application used as an actuator. Further, for example, the internal space portion may be cylindrical, and the shape viewed from the outside may be a prismatic cylinder. From the viewpoint of pressure resistance, a columnar structure that does not have a space inside can be considered, but if the inside is clogged, the contact surface with the electrolyte is only outside, and the response speed is slow. Furthermore, the cylindrical shape not only improves pressure resistance and durability, but also has an advantage that it can be suitably used as an operating portion of an actuator having a configuration described later.

  The conductive polymer that can be used is not particularly limited as long as the operating part expands and contracts due to electrolytic expansion and contraction of the conductive polymer, but examples include polypyrrole, polythiophene, polyaniline, and polyphenylene. Can do. Among them, a 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 has excellent electrolytic stretching performance. preferable. Further, these conductive polymers may contain conventional conductive polymers such as conductive polymers containing sodium p-toluenesulfonate as a dopant.

(Second aspect of the first invention)
FIG. 2 schematically shows a view of the cylindrical conductive polymer molded product 20 according to the first invention as seen from an oblique direction as representing the second form. In this embodiment, the metal conducting wire 21 is provided in the conductive polymer molded product. FIG. 2 shows an example in which the metal conductor is coiled and contained in the molded product. The metal conductor can also be used as an electrical path for applying a voltage from the power source to each part of the conductive polymer molded body. Moreover, since the said metal conducting wire can function also as a frame | skeleton of a cylindrical conductive polymer molded article, it has a further favorable pressure | voltage resistance and can be used suitably as an operation part for a press. In the case where the conductive polymer molded product is used for the actuator operating portion, it is preferable to apply a voltage to the entire conductive polymer molded product in order to increase the response speed and ensure a large expansion / contraction rate. Therefore, from this point of view, it is desirable that the metal conductor provided in the conductive polymer molded product is contained in the molded product.

  When electrolytically expanding and contracting using a conductive polymer molded product as an operating portion, it is particularly desirable to apply a voltage uniformly to the portion up to the tip in order to obtain a large expansion ratio. Therefore, from such a viewpoint, it is optimal that the metal lead is contained in the molded product as a coil. Other shapes may be used in relation to the structure of the intended use, and in this case as well, a certain effect can be obtained in that voltage can be applied to the entire conductive polymer molded product. In other words, a cylindrical conductive polymer molded product having a coiled metal conductor inside the conductive polymer molded product, that is, a cylindrical conductive material in which a spiral conductive substrate and a conductive polymer are combined. The polymer molded product can improve the expansion / contraction speed and expansion / contraction rate, and can be suitably used as a pressing member.

  The type of metal that can be used for the metal conductor 21 can be used regardless of the type because the metal is generally more conductive than the conductive polymer. From the viewpoint of preventing oxidation of the metal, etc., a metal conductor having a multilayer structure using a plurality of types of metals can also be used. An insulating film cannot be provided on the metal conducting wire for a portion where the metal conducting wire is present in the conductive polymer, but an insulating coating can be provided for a portion protruding from the conducting polymer. As the metal conductive wire, for example, a conductive substrate having electrical conductivity and having the metal conductive wire wound in a spiral shape can be used. In addition, the said conductive polymer molded article should just be cylindrical as an external appearance, and may have the unevenness | corrugation resulting from the spiral of a metal conducting wire on the surface. The conductive polymer molded product includes a conductive polymer composite structure having a polypyrrole layer on a spiral conductive substrate having a length of 25 mm, an outer diameter of 0.25 to 0.30 mm, and an inner diameter of 0.15 mm. It can also be a body.

(Second invention)
The present invention is an actuator provided with an operation part, a counter electrode, and an electrolyte, and is an actuator constituted by the cylindrical conductive polymer molded product according to the first invention. Hereinafter, the present invention is a second invention.

(First aspect of the second invention)
FIG. 3 schematically shows an oblique view of the actuator using the cylindrical conductive polymer molded product according to the second aspect of the invention, showing the first form.

  The actuator 30 includes at least an operating part 31, an electrolyte 32, and a counter electrode 33. A metal conductor 34 is connected to the operating part. The metal conductor and the counter electrode connected to the operating part are each connected to the power source 35. In the structure illustrated in FIG. 3, when the electrolyte is liquid or gel, a housing 36 that holds the electrolyte is essential. Moreover, in the illustration in FIG. 3, it has the structure by which the shaft 37 is provided in the edge part (front-end | tip part) of the action | operation part 31. FIG.

  For the operation part 31, it is necessary to use the conductive polymer molded product described in the first invention. Although each form shown in description of 1st invention can be used, each advantage demonstrated by each aspect can be utilized as an actuator by using those aspects.

The electrolyte 32 is not particularly limited, and may be a liquid electrolyte, a gel electrolyte, or a solid electrolyte. When the electrolyte is a liquid, it may be an aqueous solvent or an organic solvent, but it is easy to handle due to its low toxicity and relatively low volatilization rate, and it can obtain great expansion and contraction. Since it can do, it is preferable that it is a water solvent. As the gel used for the gel polymer electrolyte, it is preferable to use polyacrylamide, polyethylene glycol, agar or the like because it can be easily combined with an aqueous electrolyte to prepare the gel polymer electrolyte. It is preferable that the electrolyte is an electrolyte containing at least one compound selected from the group consisting of trifluoromethanesulfonate ions, anions containing a plurality of fluorine atoms with respect to the central atom, and sulfonates having 3 or less carbon atoms. Is preferable because it can cause further expansion and contraction per one redox cycle. The solid electrolyte, but are not particularly limited, from the viewpoint that a large effect can be exhibited as an actuator by operating portion is greatly displaced, polymer and NaPF _6, NaBF containing ether oxygen, such as polyethylene glycol ₄ , an ion conductive polymer in which LiCF ₃ SO ₃ or the like is combined can be used.

  The shape of the counter electrode 33 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.

  The kind of metal that can be used for the metal conductor 34 can be used regardless of the kind, as described in the first invention. Moreover, it can also be set as the metal conductor of a multilayer structure. An insulating film can be provided.

  The shape of the housing 35 is not particularly limited as long as the housing 35 can include an operation part, a counter electrode, and an electrolyte, and may be cylindrical, quadrangular, or polygonal, and may have a desired shape. it can. The material is not particularly limited, and may be a hard material such as hard plastic, metal, glass, ceramics, or a flexible material such as urethane rubber or silicon rubber. When the electrolyte is an electrolytic solution, it is preferable that the tip of the actuator is further capped.

  The shaft 37 provided at the end of the operating unit 31 is used to suitably transmit the force generated by the actuator to the outside. That is, when a voltage is applied to the working part and the counter electrode via the electrolyte, the working part is subjected to electrolytic expansion and contraction, and the shaft also moves up and down. Therefore, the force generated by the expansion and contraction of the operating portion can be transmitted to the outside of the actuator by the movement of the shaft.

(Second Aspect for Second Invention) FIG. 4 is a diagram of an actuator using a cylindrical conductive polymer molded product according to the second invention as viewed from an oblique direction as representing a second embodiment. It is shown schematically. In the actuator of this structure, the electrolyte 42 and the counter electrode 43 are installed inside the cylindrical operation unit 41.

  According to the structure, a housing for protecting the electrolyte is not essential, and a degree of freedom in configuration can be secured. If a solid electrolyte is used, it can be operated as an actuator with the structure. Even when a gel or liquid electrolyte is used, if the inner space is narrowed, the electrolyte may be retained by the capillary effect, and may be used as it is.

  It is also possible to protect the outer surface portion of the cylindrical operating portion 41 with a covering material. Since the covering material does not need to have the effect of maintaining the formability, in addition to a flexible material such as hard plastic, metal hard material, urethane rubber, silicon rubber, etc., poly film such as polyethylene, silicon resin A film-like covering material such as a sheet or a rubber sheet can also be used.

  FIG. 5 shows a second embodiment according to the second aspect of the present invention, in which protective members 58 are provided on the upper and lower bottoms of the cylindrical operating part, and a separator 59 is provided between the inner wall of the cylindrical operating part and the counter electrode. It is a longitudinal cross-sectional view about the actuator in the case of providing. By providing the protective member 59 on the bottom of the cylindrical operating portion, when the electrolyte is liquid or gel, the liquid electrolyte or the like can be used even if the internal space is not a narrow space where the capillary effect cannot be expected. . Further, by providing a protective member on the upper bottom and / or the lower bottom, the inside can be sealed, and the actuator can be used stably even when used for a large movement.

  The material of the protective member is not particularly limited as long as it can hold a liquid. For example, a plastic material such as PET or polyethylene, a ceramic material, or a metal material may be used. Further, the protection member 58 can also serve as the shaft of the operating portion 51. In the case of an actuator having such a structure that seals the inside, there is no leakage of electrolyte due to long-term use and excellent durability, so that it can be suitably used as a machine part such as an artificial muscle.

  In order to prevent an electrical short circuit due to the contact between the operating part 51 and the counter electrode 53, when a liquid or gel electrolyte is used, a separator 59 can be provided between the inner wall of the cylindrical operating part and the counter electrode. FIG. 5 illustrates the case where the counter electrode is protected by the separator 59. In addition to this, the inside of the operating part can be covered with a separator, or a separator can be installed between the operating part and the counter electrode. As the material of the separator, it is possible to use a material that avoids direct contact between the working part and the counter electrode and that can move the liquid when immersed in a liquid or the like. For example, a nonwoven fabric or the like is used. be able to. In an actuator having such a structure having a separator, even if there is a movement, even if there is vibration or the like, it is difficult to be electrically short-circuited.

  An actuator having these structures has a cylindrical operating part and has the above-mentioned various advantages, and particularly when the expansion / contraction rate as an actuator is 3% or more, compared to an actuator not having the above-described structure. Will have a great advantage. That is, a sufficient displacement can be taken out even if the operating portion is small, which is particularly advantageous in terms of easy miniaturization.

(Production method)
The present invention is a method for producing a cylindrical conductive polymer molded product having a coiled metal conductor in the molded product. Hereinafter, the manufacturing method will be described in detail with reference to FIG.

  A conductive polymer having good conductivity and a large expansion / contraction rate can be produced by an electrolytic polymerization method. Electrolytic polymerization is performed by immersing the coiled metal conductor 61 and the counter electrode 63 in the electrolytic solution 62 and applying a voltage by the power source 64.

The solvent used for the electrolytic solution 62 includes an organic compound and / or halogenated carbonization containing at least one bond or functional group of ether bond, ester bond, carbonate bond, hydroxyl group, nitro group, sulfone group and nitrile group. Preferably it is hydrogen. 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. The drive mechanism of the invention can be used for applications requiring a large expansion / contraction rate such as artificial muscle. 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 containing anions,
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:

  Specifically, as the organic compound, 1,2-dimethoxyethane, 1,2-diethoxyethane, tetrahydrofuran, 2-methyltetrahydrofuran, 1,4-dioxane (an organic compound containing an ether bond), γ- Butyrolactone, ethyl acetate, n-butyl acetate, t-butyl acetate, 1,2-diacetoxyethane, 3-methyl-2-oxazolidinone, methyl benzoate, ethyl benzoate, butyl benzoate, diethyl phthalate (above, Organic compound containing an ester bond), 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-decanol, 1-dodecanol, 1-octadecanol (above, organic compound containing hydroxyl group), nitromethane, nitrobenzene (above, organic compound containing nitro group), sulfolane, dimethyl sulfone (above, containing sulfone group) Organic compounds), 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 addition, the halogenated hydrocarbon contained in the electrolytic solution as a solvent is one in which at least one hydrogen in the hydrocarbon is substituted with a halogen atom and can exist stably as a liquid under electrolytic polymerization conditions. For example, there is no particular limitation. Specific 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 in a mixture 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 62 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 trifluoromethanesulfonate ion and / or the anion containing a plurality of fluorine atoms with respect to the central atom, and the sulfonylimide are not particularly limited in content in the electrolytic solution, but 0.1 to 0.1 in the electrolytic solution. 30% by weight is preferably contained, and more preferably 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. 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.

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.

  When such electrolytic polymerization is performed, the conductive polymer gradually precipitates around the coiled metal conductor 61 due to the polymerization. By continuing the electropolymerization, the coil and the coil space are filled with the conductive polymer. On the other hand, since the conductive polymer is difficult to fill in the space in the center of the coil, it is easy to arrange the shape in a cylindrical shape thereafter. By adjusting the shape of the outer wall and the inner wall of the cylindrical conductive polymer obtained in this way, the cylindrical conductive polymer provided with the coiled metal conductor in the molded product shown in FIG. A molded product can be obtained.

  In the manufacturing method, since a conductive polymer can be obtained on the metal conductor by the electrolytic polymerization in which a coiled metal conductor and a counter electrode are immersed in an electrolytic solution and a voltage is applied, a cylinder including the conductive polymer is obtained. It is a body, The said conductive polymer is obtained by electrolytic polymerization, The cylindrical body provided with the coil-shaped metal conducting wire in the said cylindrical body can be manufactured easily.

(Use)
The actuator using the cylindrical conductive polymer molded product of the present application for the operating part 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, The electrical conductivity of the present invention is also applied to 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 propulsion fins. Molecular molded products and laminates can be suitably used.

  In addition, the actuator of the present application is an OA device, an antenna, a device for placing a person such as a bed or a chair, 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, a measuring device. , Inspection equipment, control equipment, machine tools, processing machines, electronic equipment, electron microscopes, electric razors, electric toothbrushes, manipulators, masts, amusement equipment, amusement equipment, riding simulation equipment, vehicle occupant restraining equipment, and aircraft accessories In a stretching device, a driving unit that generates a linear driving force or a driving unit that generates a driving force for moving a track-type track composed of an arcuate portion, or a pressing unit that performs a linear operation or a curved operation Can be suitably used. The actuator is, for example, a track-type track formed of a drive unit or a circular arc unit that generates a linear drive force in valves, brakes, and lock devices 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 the sway, 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. The actuator can be suitably used as a drive unit in a joint device, such as a joint unit that can be directly driven, such as a joint intermediate member, or a drive unit that gives a rotational motion to the joint.

  The actuator includes, for example, a drive unit of an inkjet part in an inkjet printer such as a CAD printer, a drive unit that displaces the optical axis direction of the light beam of the printer, a head drive unit of a disk drive device such as an external storage device, and the like. It can be suitably used as 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 actuator includes, for example, a measurement unit for moving a high-frequency power supply unit such as a frequency sharing antenna for radio astronomy to the second focus, a drive unit for a drive mechanism for moving the power supply unit, and a vehicle-mounted pneumatic operation expansion / contraction It can be suitably used for a mast (telescope coping mast) or other mast or drive unit of a lift mechanism in an antenna.

  The actuator is, for example, a driving unit for a massage unit of a chair-shaped massage machine, a driving unit for a nursing or medical bed, a driving unit for an attitude control device of an electric reclining chair, a reclining chair used for a massage machine, an easy chair, etc. Backrest ottoman's retractable rod drive part, chair backrest, legrest, etc. It can be suitably used for the drive unit used for turning the bed, etc., and the drive unit for controlling the posture of the standing chair.

  The actuator uses, for example, a driving unit of a testing device, a driving unit of a pressure measuring device such as a blood pressure used in an extracorporeal blood treatment device, a driving unit of a catheter, an endoscope device or forceps, and an ultrasonic wave. Driving unit for cataract surgery device, driving unit for exercise device such as jaw movement device, driving unit for means for relatively expanding and contracting chassis member of hoist for sick people, and raising / lowering, moving and posture of care bed It can be suitably used for a drive unit for control or the like.

  The actuator includes, for example, a vibration isolator driving unit that attenuates vibration transmitted from a vibration generating unit such as an engine to a vibration receiving unit such as a frame, a driving unit driving unit for an intake and exhaust valve of an internal combustion engine, It can be suitably used as 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 actuator includes, for example, a driving unit of a calibration device of an imaging apparatus with a camera shake correction function, a driving unit of a lens driving mechanism such as a home video camera lens, and a mechanism that drives a moving lens group of an optical device such as a still camera or a video camera. 2 such as a camera driving unit, a camera auto-focusing unit driving unit, a lens barrel driving unit used in an imaging apparatus such as a camera or a video camera, an auto-guider driving unit that captures light from an optical telescope, a stereoscopic camera, binoculars, etc. Lens drive mechanism or lens barrel drive unit of an optical device having an optical system, drive unit or pressing unit that applies a compressive force to a wavelength conversion fiber of a fiber-type wavelength tunable filter used for optical communication, optical information processing, optical measurement, etc. It can be suitably used for the drive unit of the optical axis alignment device and the drive unit of the shutter mechanism of the camera.

  The actuator can be suitably used for a pressing portion of a fixture such as a caulking fixing of a hose fitting to a hose body, for example.

  The actuator 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, a drive unit of a bulldozer blade extension and retraction drive, and an automobile transmission. It can be suitably used for a drive unit of a drive device for automatically switching the gear ratio and for automatically connecting and disconnecting the clutch.

  The actuator includes, for example, a driving unit of a lifting device of a wheelchair with a seat plate lifting device, a driving unit of an elevator for level difference, a driving unit of a lifting / lowering transfer device, a medical bed, an electric bed, an electric table, an electric chair, a nursing care The present invention can be suitably used for a bed, a lifting table, a CT scanner, a truck cabin tilt device, a lifter and the like, a driving unit for lifting and lowering various lifting machines, and a driving unit for a heavy vehicle carrying special vehicle loading / unloading device.

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

  For example, the actuator can be suitably used for a drive unit such as a carriage or a cleaning unit of a cleaning device.

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

  The actuator can be suitably used for, for example, an electric razor drive unit and an electric toothbrush drive unit.

  The actuator is desired, for example, by changing the shape of the surface to be driven as an active curved surface by a driving unit of an imaging device for a three-dimensional object or a device for adjusting the depth of focus of a reading optical system shared by CDs and DVDs and a plurality of actuators The drive unit of the variable mirror that can form the curved surface approximately and easily change the focal position, the drive unit of the disk device that can linearly move the moving unit having at least one of the magnetic heads such as an optical pickup, and the linear Drive unit of head feeding mechanism of magnetic tape head actuator assembly such as tape storage system, drive unit of image forming apparatus applied to electrophotographic copying machine, printer, facsimile, etc., drive unit of mounting member such as magnetic head member , An optical disc original that controls the focusing lens group in the optical axis direction. Driving unit of exposure apparatus, driving unit of head driving means for driving optical head, driving unit of information recording / reproducing apparatus for recording information on recording medium or reproducing information recorded on recording medium, and circuit breaker ( It can be suitably used for a drive unit for opening / closing operation of a distribution circuit breaker).

  The actuator includes, for example, a driving unit of a rubber composition press molding vulcanizing device, a driving unit of a component aligning device that aligns a transferred component into a single row / single layer and a predetermined posture, and a compression molding device Drive unit, drive unit for welding device holding mechanism, drive unit for bag making filling and packaging machine, drive unit for machine tool such as machining center, molding machine such as injection molding machine and press machine, printing device, coating device and lacquer spraying Drive unit of fluid application device such as device, drive unit of manufacturing device that manufactures camshaft, etc., drive unit of lifting device of lining material, drive device such as tuft ear regulating body in non-woven loom, needle of tufting machine Drive units such as drive systems, looper drive systems, and knife drive systems, drive units for polishing devices that polish parts such as cam grinders and ultra-precision machined parts, and drive for brake devices for hook frames in looms , An opening device driving unit for forming a warp opening for weft insertion in a loom, a driving unit for a protective sheet peeling device such as a semiconductor substrate, a driving unit for a threading device, and a driving unit for an assembly device for an electron gun for CRT , A drive unit of a shifter fork drive selection linear control device in a torsion race machine for manufacturing a torsion race having application to a garment for clothing, a table cloth, a seat cover, etc., a drive unit of a horizontal movement mechanism of an annealing window drive device, Driving unit of glass melting furnace for hearth, driving unit for moving back and forth the rack of exposure device such as fluorescent screen forming method of color picture tube, driving unit of torch arm of ball bonding apparatus, driving of bonding head in XY direction Component mounting process and measurement / inspection process in mounting and chip component mounting and measurement using probes Fields such as the drive unit for moving the cleaning tool support of the substrate cleaning device, the drive unit for moving the detection head that scans the glass substrate forward and backward, the drive unit for the positioning device of the exposure device that transfers the pattern onto the substrate, and precision processing Used in the lithography process to manufacture micropositioning device drive units, chemical mechanical polishing tool measurement device positioning device drive units, conductor circuit elements, liquid crystal display elements and other circuit devices with submicron order A drive unit for positioning a stage device suitable for an exposure apparatus and a scanning exposure apparatus, a drive unit for transporting or positioning a workpiece, a drive unit for positioning and transporting a reticle stage, a wafer stage, etc., in a chamber Precision positioning stage drive unit, chemical mechanical polishing system work piece Or a drive unit for semiconductor wafer positioning device, a drive unit for semiconductor stepper device, a drive unit for device that accurately positions in the processing machine introduction station, a machine tool such as NC machine or machining center, or a stepper in the IC industry. The reference grating plate of the light beam scanning device in the drive unit of the passive vibration isolation device for various representative devices and the vibration isolation device for active vibration isolation, the exposure device used in the 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 for a transfer device that transfers the light beam into the article processing unit in the transverse direction of the conveyor.

  The actuator 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 an electron microscope sample fine movement device.

  The actuator 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 drive other than a direct drive type, a robot drive Micro for operating a minute object in an arbitrary state in a finger itself, a drive unit of a motion conversion mechanism of a slide opening / closing chuck device used as a hand of a robot or the like, a micro operation of a cell or an assembly of a micro part, etc. It can be suitably used for a drive unit of a manipulator, 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.

  The actuator can be suitably used for, for example, a pressing portion of a device that presses the upper rotary blade or the lower rotary blade of the side trimmer.

  The actuator can be suitably used for, for example, a driving unit for an accessory in a game machine such as a pachinko machine, a driving unit for an amusement device such as a doll or a pet robot, and a driving unit of a simulation device for a boarding simulation device. .

  The actuator can be used, for example, in a valve drive unit used in general machines including the above-described devices. For example, a valve drive unit of an evaporative helium gas reliquefaction device, a drive of a bellows pressure-sensitive control valve , Opening device drive unit for driving the frame, vacuum gate valve drive unit, solenoid operated control valve drive unit for hydraulic system, valve drive unit incorporating a motion transmission device using a pivot lever, rocket The movable nozzle valve drive unit, the suck back valve drive unit, and the pressure regulating valve unit drive unit can be suitably used.

  The actuator can be used, for example, as a brake pressing unit used in all machines including the above-described devices. For example, the braking device is suitable for use in an emergency brake, a safety brake, a stop brake, or an elevator brake. Can be suitably used for the pressing portion of the brake structure or the pressing portion of the brake structure or brake system.

  The actuator can be used, for example, as 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 steering lock device for a vehicle, and a load limiter It can be suitably used for a pressing portion of a power transmission device having both a mechanism and a coupling release mechanism.

  In particular, a cylindrical conductive polymer molded product having a coiled metal lead inside a cylindrical conductive polymer molded product, that is, a helical conductive substrate and a conductive polymer are combined. An actuator using a cylindrical conductive polymer molded product as the operating part is lightweight, has a simple device configuration, does not easily cause deformation that is disadvantageous to pressing operations such as hip folding, and easily generates a pressing force. Therefore, it can be suitably used as a pressing unit or a pressing device in an audiovisual device, a tactile device, a pressure device, a gripping device, an extrusion device, a bending device, a clamping device, a close-contact device, or a contact device.

  An actuator using a cylindrical conductive polymer molded product with a coiled metal conductor inside the cylindrical conductive polymer molded product as the operating part is for visually impaired persons whose pressing part forms braille. An audiovisual device or a tactile device, a pressing portion of a flexible variable endoscope, a pressing portion of a front fork for a two-wheeled vehicle, a pressing portion for blocking an opening portion of a high-frequency orifice passage in a pneumatically controlled fluid-filled vibration isolator, Pressing part for pressing the valve shaft end in the valve stopping device of a cylinder control type engine capable of stopping, a pressing part for pressing and pressing the plate-like member in the injection molding device to the mold side, TV camera, video camera, digital Pressing a chucking claw end of an information reproducing mechanism including a pressing unit that presses an image sensor in an imaging device such as a camera toward the lens seat, and a clamp mechanism Further, a pressing unit for releasing the holding of the recording medium, a pressing unit for bias application (including grounding) for locally conducting to the conductive substrate in the electric field drive type image display medium, driving in the main pressing device for the shield method And a pressing portion that presses in the propulsion direction, a pressing portion that is used as a conveying unit in the image forming apparatus, and a pressing member that presses a film-like polishing member in a plate-like member polishing apparatus.

An actuator using a cylindrical conductive polymer molded product with a coiled metal conductor inside the cylindrical conductive polymer molded product as the moving part is movable in a direction to contact a fixed contact in an electromagnetic relay A pressing part that presses the spring plate, a pressing part of a reduction mechanism with a large reduction ratio incorporated in an NC machine tool, etc., and a hollow member of a predetermined shape that is pressed and brought into contact with a blank tube in a hollow product manufacturing apparatus. The amount of leakage of perforations drilled in a pressing part for forming, a pressing part for pressing and holding a cylindrical article between the plate-like holding member and the pressing part in the cylindrical article holding apparatus, a cylinder block, etc. Pressing part that presses the masking plate in the leak test device to be measured, pressing part that presses the flexible tube in a tube pump that is suitable for quantitatively discharging a small amount of liquid, and driving from the motor By pressing the multi-plate clutch in the driving force distribution device that distributes the front wheel and the rear wheel with a predetermined distribution ratio with a predetermined pressing force, the driving force from the prime mover with the distribution ratio according to the predetermined pressing force and Controls the pressing part that transmits to the rear wheel, the pressing part of the pusher pressing unit in the coil insertion device, the pressing part for separating the end of the sealing part in the peeling device of the adhesive seal part from the release paper, and the conveying tension of the sheet material It can be used as a pressing portion that pressurizes the support arm by pressing the locking portion in the dancer roll device.

  In addition, an actuator using a cylindrical conductive polymer molded product having a coil-shaped metal conductor inside the cylindrical conductive polymer molded product as an operating part is driven by a transplanter of the rice transplanter. A pressing portion capable of pressing the side clutch pawl against the driving clutch pawl, a pressing portion of a stationary platen that presses a substantially central portion of a hot plate in a hot press device for obtaining a laminated body, and a lead folding in a lead forming device of a semiconductor device A lead pressing portion that forms a curved portion, a pressing portion that presses a detection lever for detecting the position of the disc tray in the disc tray position detection mechanism, a pressing portion that closely contacts a film crimping plate in a film carrier that reads an image, and a ground In order to pierce a new strainer hole in the pipe wall in the enforcement device of the function regeneration method of the middle drainage pipe, it can be used for the pressing portion that operates the drilling cone.

  In addition, the actuator using the cylindrical conductive polymer molded product having a coiled metal conductor inside the cylindrical conductive polymer molded product as the operating unit is not limited to the pressing unit of the above apparatus. , Shutter position detection device, boring bar with boring bar, laser welding device, kneaded product extrusion device, video tape cassette, industrial vehicle transmission device, plate end fixing device, reinforcement of concrete structure Repair material coating device, sheet folding and stacking device, paper discharge device, moving body drive device, printer, electric circuit interrupting device, heating device having temperature detection unit, liquid crystal display device, image forming device, recording device, and bread slicer 2-axis simultaneous tightening tool, powder forming device, paper sheet processing device, seamless belt fixing device, optical fiber connection device, shutter mechanism of vacuum press device, Vibration correction device, image reading device, medium storage mechanism, label sticking device, stencil printing device, press working device, workpiece peripheral edge deburring device, disk device, blade mounting structure, gaming machine winning device, wafer transfer container mounting device , Molding die for partial bonding of interior trim, drawing machine, clamping device, measuring instrument, heat treatment furnace, oil pump, bending device, motor with position switch, partition panel transport device, partition panel transport device, and It can be used for a camshaft material support device.

  The actuator using a cylindrical conductive polymer molded product with a coiled metal conductor inside the cylindrical conductive polymer molded product in the operating part has a simple structure and can be reduced in weight. Since the pressing force can be easily generated, the pressing device, the gripping device, the pushing device, the bending device, the clamping device, the contact device, and the contact device using the actuator as the pressing portion are pressed. It can be suitably used for the part.

The schematic diagram about the 1st aspect of the conductive polymer molded object which is 1st invention. The schematic diagram about the 2nd aspect of the conductive polymer molded object which is 1st invention. The schematic diagram about the 1st aspect of the actuator which is 2nd invention. The schematic diagram about the 2nd aspect of the actuator which is 2nd invention. The longitudinal cross-sectional view about the 2nd aspect of the actuator which is 2nd invention. The schematic diagram of the manufacturing method of the cylindrical conductive polymer molded product provided with the coil-shaped metal conducting wire in the molded product.

Explanation of symbols

10, 20 Conductive polymer molded article 21 Metal conductor 30, 40, 50 Actuator 31, 41, 51 Actuator 32, 42, 52 Electrolyte 33, 43, 53 Counter electrode 34, 44, 54 Metal conductor 35, 45, 55 Power supply 36 Housing 37 Shaft 58 Protective member 59 Separator 60 Electrolytic polymerization device 61 Coiled metal conductor 62 Electrolytic solution 63 Counter electrode 64 Power supply

Claims (17)

Cylindrical conductive polymer molded product. A cylindrical conductive polymer molded product having a metal lead in the molded product. A cylindrical conductive polymer molded product having a coil-shaped metal conductor in the molded product. An actuator comprising at least an operating part, a counter electrode and an electrolyte, wherein the operating part is composed of a cylindrical conductive polymer molded product according to any one of claims 1 to 3. The actuator according to claim 4, wherein an electrolyte and a counter electrode are installed inside the cylindrical operation unit. The actuator according to claim 5, wherein a protective member is provided on an upper bottom and / or a lower bottom of the cylindrical operating portion. The actuator according to any one of claims 5 and 6, further comprising a separator between an inner wall of the cylindrical operating portion and a counter electrode. The actuator according to any one of claims 4 to 6, wherein the electrolyte is a solid electrolyte. The actuator according to claim 6 or 7, wherein the electrolyte is a liquid electrolyte or a gel electrolyte. The actuator according to any one of claims 4 to 9, wherein an expansion / contraction ratio as the actuator is 3% or more. An artificial muscle using the actuator according to claim 4. A positioning device, an attitude control device, a lifting device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device, or a joint device using the actuator according to claim 4 as a drive unit. A pressing device using the actuator according to claim 4 as a pressing portion. A positioning device, an attitude control device, a lifting device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device, or a joint device using the actuator of claim 5 as a drive unit. A pressing device using the actuator according to claim 5 as a pressing portion. A method for producing a cylindrical body containing a conductive polymer,
Coiled metal conductor in the cylindrical body,
The conductive polymer is obtained by electrolytic polymerization,
In the electrolytic polymerization, a coiled metal conductor and a counter electrode are immersed in an electrolytic solution, and then a voltage is applied to obtain a conductive polymer on the metal conductor. An audio-visual device, a tactile device, a processing device using an actuator that uses a cylindrical conductive polymer molded product having a coiled metal conductor inside the cylindrical conductive polymer molded product as an operating part. Pressure device, gripping device, extrusion device, bending device, clamping device, contact device, or contact device.

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