JP2008079462A - Actuator and manufacturing method of actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently convert electrical energy applied to films to bending dynamic energy, in a soft actuator using a plurality of film sheets. <P>SOLUTION: The ion conductive polymer type actuator 100 includes a polymer layer with ion electric conductivity, a first electrode layer provided at one surface side of the polymer layer, and a second electrode layer provided at the other surface side. In the actuator, a plurality of film sheets are used, wherein when the electrical energy is applied between the first electrode layer and the second electrode layer, the films have such features as deform in a predetermined direction. In the actuator 100, a plurality of film sheets 10 are laminated in such a state as bending directions are idential. Moreover, the plurality of film sheets are cut off to form a plurality of lengthy regions along the bending direction, respectively. The actuator is braided in such a state as a plurality of the lengthy regions maintain the bending direction. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an actuator using an ion conductive polymer.

  An ion conductive polymer that is deformed by an electric signal is applied to a soft actuator that realizes an elastic feel and flexible movement. Patent Document 1 discloses an actuator using a film in which an ion conductive polymer layer is formed between two electrode layers. The actuator disclosed in Patent Document 1 applies electrical energy between electrode layers, and converts the electrical energy into dynamic energy called film bending. Patent Document 1 also discloses an actuator using a plurality of stacked films. When multiple films are stacked, the touch and movement when touched are similar to human muscles.

Special table 2003-505865 gazette

The degree of bending of this actuator is determined according to the amount of applied electric energy. However, when a plurality of films are used in an overlapping manner, friction occurs between the films when bent. Because energy is lost due to the friction, the electric energy is not converted into dynamic energy as expected. When multiple films are used in layers, excessive electrical energy must be applied to bend as desired.
The inventors have studied a method for overlaying the above films. And the lamination method which can ensure the dynamic energy of a bending | flexion, without making the electrical energy to apply excessively strong was discovered.
It is an object of the present invention to provide a soft actuator using a plurality of films and realizing a structure capable of efficiently converting electric energy applied to the film into bending dynamic energy and a method for manufacturing the same. To do.

  The present invention has a polymer layer having ionic conductivity, a first electrode layer provided on one side of the polymer layer, and a second electrode layer provided on the other side. An ion conductive polymer actuator in which a plurality of films having a property of deforming in a predetermined direction when electric energy is applied between the first electrode layer and the second electrode layer are used. In this actuator, a plurality of films are laminated in a state where the bending directions are aligned. The plurality of films are cut into a plurality of long regions along the direction of bending. This actuator is characterized in that a plurality of long regions are knitted in a state where the bending direction is maintained.

In the actuator of the present invention, a sheet-like film is cut into a long shape, and the long region is knitted. Since the knitted film becomes a woven fabric, the stitch portion functions as play, and the mesh portion expands and contracts in addition to the stretchability of the film, so it is easy to bend. For this reason, electric energy is efficiently converted into bending dynamic energy, and a desired bending motion can be obtained without applying excessive electric energy. Furthermore, forming into a woven fabric has the advantage that the degree of freedom of the shape of the actuator itself is improved.
Further, in the present actuator, since the films are knitted together, the long regions are constrained and the laminated films are not easily displaced. This makes it difficult for friction to occur between the laminated films. Since the long region is knitted while maintaining the bending direction, the bending direction does not change before and after the knitting.

As described above, the “film” according to the present invention has an electrode layer formed on both surfaces of a polymer layer having ionic conductivity, and has a property of bending when electric energy is applied between the electrode layers. There are no particular restrictions on the material of the resin that constitutes and the type of conductor that constitutes the electrode layer. Further, the configuration for bending by applying electric energy is not particularly limited. For example, when the positive electrode terminal is attached to the first electrode layer and the negative electrode terminal is attached to the second electrode layer, the electric energy is applied. In addition, the electric field generated in the polymer layer may be bent toward the first electrode layer.
In the present specification, the “long region” refers to a region that has been cut into a thin enough to be knitted. Therefore, the “long region” includes a fine thread-like material.
Further, “knitting” means that a plurality of long regions are alternately combined and combined into one, and the knitting method (weaving method) is not particularly limited. For example, a braid in which three long regions are knitted and a combination of long regions in a braid shape are also included.

In a preferred actuator of the present invention, a non-cut portion is formed at one end of a plurality of long regions of each film, and the plurality of long regions of each film are connected by a non-cut portion. And
If the film is completely cut and cut into long regions, each long region may be dispersed. When the film is completely cut, it becomes difficult to handle when a plurality of films are stacked, long regions are knitted, or an electrode for applying electric energy is attached.
If a non-cut portion is left at the end without completely cutting each long region, the processing for constructing the actuator becomes easy. In addition, an electrode for applying electric energy is easily attached to the non-cut portion. Furthermore, since it is not completely cut for each long region, it is possible to reliably apply electric energy to each long region when the electrodes are mounted.
In addition, it is preferable that several elongate area | regions are knitted at least in the lamination direction of a film. By interweaving a plurality of long regions in the film stacking direction, friction between the stacked films can be efficiently suppressed.

Another invention disclosed herein is a method of manufacturing an ion conductive polymer actuator.
This manufacturing method has a polymer layer having ionic conductivity first, a first electrode layer provided on one side of the polymer layer, and a second electrode layer provided on the other side. A plurality of films having the property of bending in a predetermined direction when electric energy is applied to the two electrode layers are prepared. Next, the plurality of films are cut into a plurality of elongated regions along the direction of bending, respectively, and the plurality of films are stacked with the bending directions aligned. In this method, the plurality of long regions are knitted together while maintaining the bending direction.
Although the actuator manufactured by the above method uses a plurality of films, electric energy is efficiently converted into dynamic energy, and the degree of bending can be suitably maintained.

First, the main features of the embodiments described below are listed.
(Feature 1) Carbon powder is interposed between overlapping films. By interposing carbon powder, the friction between films can be further reduced. Since the friction is reduced, the power efficiency of the actuator is improved.
(Characteristic 2) A supporting electrode is mounted between the overlapping films. By mounting the support electrode, it is possible to reliably apply electric energy to each film.
(Feature 3) In the film, metal layers are formed on the upper and lower surfaces of the ion conductive polymer layer. The ion conductive polymer layer is composed of a fluorine-based polymer having a sulfonic acid group. The electrode layer is made of platinum.
(Feature 4) The laminated film of the actuator is formed in a cylinder shape.
(Characteristic 5) A hand type actuator having a plurality of fingers is formed by gathering a plurality of grips. When a plurality of fingers are provided, an object can be gripped in the same manner as a human finger.

<First embodiment>
This embodiment is a soft actuator 100 having a structure in which three films 10a, 10b, and 10c are knitted in a laminated state. The soft actuator 100 will be described with reference to FIGS.

  FIG. 1 is a plan view of the soft actuator 100. The soft actuator includes an electrode part 40 and a grip 10. The grip 10 is composed of films 10a, 10b, and 10c described later. When electric energy is applied to the grip 10 through the electrode unit 40, the soft actuator 100 bends the grip 10 forward in the drawing in FIG. The grip 10 bends like a human joint. The grip 10 is excellent in elasticity because a laminated body of soft films 10a, 10b, and 10c is knitted.

Next, the manufacturing method of the soft actuator 100 is explained in full detail using FIGS.
First, the films 10a, 10b, and 10c of the soft actuator 100 are prepared.
FIG. 2 shows the film 10a. The other films 10b and 10c of the soft actuator 100 have the same structure as the film 10a. The film 10a has a property of bending in the direction of arrow X when electric energy is applied between the first electrode layer 12a and the second electrode layer 16a.
The film 10a includes a polymer layer 14a made of an ion conductive resin, a first electrode layer 12a made of platinum, and a second electrode layer 16a. The ion exchange polymer constituting the polymer layer 14a is a fluororesin-based polymer having a sulfonic acid group.
The film 10a is cut along the cutting lines 31, 32, 33, 34, and 35, leaving the non-cutting portion 20a, and the long regions 21a, 22a, 23a, 24a, 25a, and 26a are formed. . The surface of the film 10a is insulated, including the cut surface, except for the portion where the electrode is attached. The films 10b and 10c are also insulated.

Next, as shown in FIG. 3, the three films 10a, 10b, and 10c are overlapped. At this time, the first electrode layers 12a, 12b, and 12c of the films 10a, 10b, and 10c and the second electrode layers 16a, 16b, and 16c are overlapped so as to coincide with each other. In addition, the cut lines 31, 32, 33, 34, and 35 of each film are overlapped so as to coincide with each other.
By superimposing as described above, the bending directions (arrows X) of the three films 10a, 10b, and 10c coincide. Further, the long regions 21a to c, 22a to c, 23a to c, 24a to c, 25a to c, and 26a to 26c are overlapped to form unit regions 21, 22, 23, 24, 25, and 26. The Carbon powder is previously sprinkled on both surfaces of the films 10a, 10b, and 10c. By being sprinkled with carbon powder, the friction between the portions where the films 10a, 10b, and 10c are in contact with each other is reduced, and the power efficiency is increased.

  Next, the electrode 40 is attached to the laminated films 10a, 10b, and 10c. FIG. 4 shows a state in which the electrode 40 is attached to the laminated films 10a, 10b, and 10c. The electrode 40 includes a terminal electrode 42 attached to the first electrode layer 12a of the film 10a, a support electrode 44 sandwiched between the second electrode layer 14a of the film 10a and the first electrode layer 12b of the film 10b, and the film 10b. The support electrode 46 is sandwiched between the second electrode layer 14b and the first electrode layer 12c of the film 10c, and the terminal electrode 48 is attached to the second electrode layer 14c of the film 10c. The terminal electrode 42 is connected to the wire 52, and the wire 52 is connected to the positive electrode of the power supply 50. The terminal electrode 48 is connected to the wire 53, and the wire 53 is connected to the negative electrode of the power supply 50. One of the wires 52 and 53 is provided with a switch (not shown) so that voltage application to the films 10a, 10b, and 10c can be turned ON / OFF. Further, by sandwiching the support electrode 44 between the film 10a and the film 10b and sandwiching the support electrode 46 between the film 10b and the film 10c, the connection state between the terminal electrode 42 and the terminal electrode 48 is reliably maintained. . Further, when the support electrodes 46 and 48 are sandwiched, the application of electrical energy to the films 10a, 10b, and 10c can be reliably realized.

After the electrode 40 is mounted, the long regions 1a, 22a, 23a, 24a, 25a, 26a, 21b, 22b, 23b, 24b, 25b, 26b, 21c, 22c, 23c of the films 10a, 10b, 10c overlapped , 24c, 25c, and 26c are distributed to the unit areas 21, 22, 23, 24, 25, and 26. Next, the distributed unit areas 21, 22, 23, 24, 25, and 26 are knitted together. In the knitting, the first electrode layers 12a, 12b, 12c and the second electrode layers 16a, 16b, 16c of the films 10a, 10b, 10c are knitted in a state where the vertical relationship is maintained. When the vertical relationship is maintained, the first electrode layer 12a of the film 10a is exposed on the surface exposed to the terminal electrode 42 side as before the knitting. Further, the second electrode layer 16c of the film 10c is exposed on the surface exposed to the electrode 48 side.
The soft actuator 100 of this embodiment shown in the plan view of FIG.

Next, an example of the control system 70 of the soft actuator 100 according to the present embodiment is shown in FIG.
The soft actuator 100 is connected to the power supply unit 56 through the electrode 40 and wires 52 and 53. The power supply unit 56 includes a power supply 50 and an AD converter 54. A single-phase power source having a voltage value of 4 to 8 V is applied to the power source 50. The grip 10 typically carries a current of 100 to 150 mA. The control system 70 includes a PC controller 60, and the soft actuator 100 converts the digital signal output from the PC controller 60 by the AD converter 54 of the power supply unit 56 and adjusts the output by the PC controller 60. The electric energy applied to the soft actuator 100 is adjusted. When the electric energy is adjusted, the bending force (gripping force) of the soft actuator 100 can be adjusted. As described above, the grip 10 has a structure of film knitting. The friction between the films in contact is suppressed by the knitting. The electric energy applied to the grip 10 is efficiently converted into dynamic energy and reflected in the bending of the grip 10.
The grip 10 of the soft actuator 100 shown in FIGS. 1 and 5 is formed by weaving soft films. If the electric energy applied from the electrode 40 is large, the degree to which the grip 10 is bent increases. If the degree of bending is large, the gripping force of the soft actuator 100 becomes strong.

<Second embodiment>
This modification is obtained by modifying the shape of the grip 10 in the soft actuator 100 of the first embodiment. A schematic diagram of the soft actuator 200 of the second embodiment is shown in FIG.
The soft actuator 200 of this modification has a cylindrical grip 110. The grip 110 is composed of two half grips 112 and 114 formed in a semicircular shape. The half grip 112 and the half grip 114 are joined at a joint portion 115 to form a cylindrical grip 110.
The semicircular semi-grip 112 is knitted so that the bending direction faces the outer curved surface side. The semicircular semi-grip 114 is knitted so that the bending direction faces the inner curved surface. When electric energy is applied from the power supply unit 156 to the grip 110 in which two semicircular half grips 112 and 114 are combined, the soft actuator 200 bends in the direction of the arrow Y.

<Modification 1 of the second embodiment>
This modification shows an example in which the bending configuration of the grip 110 is modified in the soft actuator 200 of the second embodiment. A schematic diagram of the soft actuator 300 of this modification is shown in FIG.
The soft actuator 300 of this modification has a cylindrical grip 210. The grip 210 includes two half grips 212 and 214 formed in a semicircular shape. The half grip 212 and the half grip 214 are joined by a joint portion 215 to form a cylindrical grip 210. The half grips 212 and 214 are provided with electrode portions 240 and 241. The electrode parts 240 and 241 are provided with two terminals for applying electric energy to the half grips 212 and 214.

A power supply unit 256 is provided at the end of the grip 210. The power supply unit 256 includes a power supply 250, wires 252, 253, 254, 255, 258, and 259 and a switch 257. One end of the wire 252 is connected to one terminal of the electrode portion 241 of the half grip 214, and the other end is connected to the positive electrode of the power source 250 through the wire 259. One end of the wire 253 is connected to the other terminal of the electrode portion 241 of the half grip 214, and the other end is connected to the negative electrode of the power source 250 via the switch 257 and the wire 258.
One end of the wire 254 is connected to one terminal of the electrode part 240 of the half grip 212, and the other end is connected to the positive electrode of the power source 250 via the wire 259. One end of the wire 255 is connected to the other terminal of the electrode portion 241 of the half grip 212, and the other end is connected to the negative electrode of the power source 250 via the switch 257 and the wire 258.

When switch 257 is connected to wire 255, electrical energy is applied to half grip 212. At this time, the cylindrical grip 210 of the soft actuator 201 follows the half grip 212 and bends in the direction of arrow A.
When switch 257 is connected to wire 253, electrical energy is applied to half grip 214. At this time, the cylindrical grip 210 of the soft actuator 201 follows the half grip 214 and bends in the direction of arrow B.
The actuator 201 of this modification can change the bending direction of the grip 210 to the opposite direction by switching the switch 257, and can change the bending angle in a wide range. Further, the bending angle can be adjusted by switching the switch 257 and adjusting the output of the power source 250.

<Third embodiment>
This example illustrates a gripping system 370 having two soft actuators 300, 400. A schematic diagram of the gripping system 370 is shown in FIG. The gripping system 370 includes two soft actuators 300 and 400, a support base 320, supports 330 and 340, wires 352, 353, 452, and 453, and power supplies 350 and 450. The soft actuator 300 is attached to the support post 330, and the soft actuator 400 is attached to the support post 430. The soft actuator 330 and the soft actuator 400 are adjusted to the same height. The grip 310 of the soft actuator 300 bends in the direction of the arrow M. The grip 410 of the soft actuator 400 bends in the direction of arrow N. The soft actuator 300 and the soft actuator 400 can grip an object by contacting the grip 310 and the grip 410 to which electric energy is applied.
The gripping system 370 is suitable for gripping fragile objects and easily damaged objects because the grips 310 and 410 are soft to touch and flexible in movement.

<Fourth embodiment>
This example illustrates a hand-type soft actuator 500 having three grips 510, 610 and 710. A schematic diagram of the soft actuator 500 is shown in FIG. The soft actuator 500 includes a palm part 506, a thumb part 501, an index finger part 502, a middle finger part 503, a ring finger part 504, and a little finger part 505. The actuator 500 is provided with grips 710, 610, 510 on the index finger 502, middle finger 503, and ring finger 504. The thumb part 501, the little finger part 505, and the palm part 506 other than the index finger part 502, the middle finger part 503, and the ring finger part 504 are made of an elastic material such as rubber or elastomer. A cover 501 is covered outside the actuator 500.

  The grips 710, 610, and 510 are provided with electrode portions 740, 640, and 540, respectively. The electrode portions 740, 640, and 540 each have two terminal electrodes. When electric energy is applied between these two terminal electrodes, the grips 710, 610, 510 are bent toward the front side of the sheet of FIG. One terminal of the electrode unit 740 is connected to the positive electrode of the power supply unit via a wire 752, and the other terminal is connected to the negative electrode of the power supply unit via a wire 753. One terminal of the electrode unit 640 is connected to the positive electrode of the power supply unit via a wire 652, and the other terminal is connected to the negative electrode of the power supply unit via a wire 653. One terminal of the electrode unit 540 is connected to the positive electrode of the power supply unit via a wire 552, and the other terminal is connected to the negative electrode of the power supply unit via a wire 553. The wires 752, 753, 652, 653, 552, and 553 are connected to a power supply unit (not shown) through the palm portion 506 and the wrist portion 507. The grips 710, 610, 510 provided on the index finger 502, the middle finger 503, and the ring finger 504 have the same configuration as the grip 110 of the soft actuator 200 of the second embodiment, and a description thereof will be omitted.

  When electrical energy is applied to the grips 710, 610, and 510 from the power supply unit, the index finger unit 502, the middle finger unit 503, and the ring finger unit 504 are bent. The soft actuator 500 can hold an object between the index finger 502, the middle finger 503, the ring finger 504, and the palm 506. The soft actuator 500 can grip a heavy, hard object, a light, soft object, or a fragile object by controlling the bending state of the index finger 502, the middle finger 503, and the ring finger 504. Therefore, the soft actuator 500 can be applied not only to the hand portion of a humanoid robot but also to a human prosthetic hand.

  Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.

For example, an actuator 800 shown in FIG. 10 is an example in which the actuator 200 of the second embodiment is applied. The actuator 800 includes two electrode portions 856 and 857 and a sine type grip 830. The sign-type grip 830 is composed of two grips 810 and 820. The grip 810 has two half grips 812 and 814 joined at a connection portion 815. The grip 810 is deformed in the direction of arrow K when electric energy is applied from the power supply unit 856.
The grip 820 has two half grips 822 and 824 joined at a joint 825. The grip 820 is deformed in the direction of arrow H when electric energy is applied from the power supply unit 856. The two grips 820 and 810 are joined at a joint portion 817 to form a sign-type grip 830.
In the actuator 800, the power source unit 856 and the power source unit 857 alternately apply electric energy to the grips 810 and 820, so that the sine-type grip 830 is waved. By adjusting the output adjustment and switching speed of the power supply units 856 and 857, the speed and height of the wave can be adjusted. Since the sign-type grip 830 is made of a film mainly composed of an ion exchange polymer, it has flexibility. Therefore, the actuator 800 can be applied to a belt member used in a production line for fragile and delicate objects.

  In the first embodiment described above, the long regions 21a to 26c of the laminated films 10a, 10b, and 10c are distributed to the unit regions 21, 22, 23, 24, 25, and 26, and the distributed unit regions are distributed. 21, 22, 23, 24, 25, and 26 were knitted together. However, the present invention is not limited to such a knitting method, and for example, the long regions 21a to c, 22a to c, 23a to c, 24a to c, 25a to c, and 26a to constitute the unit regions 21 to 26. Each of c may be knitted, and the unit region thus knitted may be further knitted. By knitting the long regions constituting the unit regions 21 to 26, the long regions are also knitted in the laminating direction of the films 10a to 10c, and friction between the laminated films can be efficiently suppressed. .

  The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology illustrated in the present specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

It is a top view of an actuator concerning one example of the present invention. It is a perspective view which shows a film. It is a perspective view which shows the state which laminated | stacked the film. It is a figure which shows a mode that the electrode was mounted | worn with the laminated | stacked film. It is a schematic diagram which shows the control system of an actuator. It is a schematic diagram of the actuator which concerns on one Example of this invention. It is a schematic diagram of the actuator which concerns on one Example of this invention. It is a schematic diagram which shows the control system of an actuator. It is a schematic diagram of the actuator which concerns on one Example of this invention. It is a schematic diagram of an actuator.

Explanation of symbols

10, 110, 210, 510, 610, 710, 810, 820: grips 10a, 10b, 10c: films 12a, 12b, 12c: first electrode layers 14a, 14b, 14c: polymer layers 16a, 16b, 16c: first Electrode layer 20: Uncut regions 21a, 21b, 21c, 22a, 22b, 22c, 23a, 23b, 23c, 24a, 24b, 24c, 25a, 25b, 25c, 26a, 26b, 26c: long regions 31, 32, 33, 34, 35: Cutting line 40: Electrode section 42, 48: Terminal voltage 44, 46: Support voltage 50: Power supply 70, 370: Control system 100, 200, 300, 400, 500: Actuator

Claims (4)

An ion conductive polymer layer; a first electrode layer provided on one side of the polymer layer; and a second electrode layer provided on the other side of the first electrode. An ion conductive polymer actuator in which a plurality of films having a property of deforming in a predetermined direction when electric energy is applied between the layer and the second electrode layer are used,
The plurality of films are laminated in a state where the bending direction is aligned,
The plurality of films are cut into a plurality of long regions along the direction of bending,
The actuator according to claim 1, wherein the plurality of long regions are knitted while maintaining a bending direction.   The plurality of films have a non-cut portion at one end of a plurality of long regions, and the plurality of long regions of each film are connected by a non-cut portion. 1 actuator.   The actuator according to claim 1 or 2, wherein the plurality of long regions are knitted at least in a film stacking direction. It is a manufacturing method of an ion conductive polymer type actuator,
An ionic conductive polymer layer; a first electrode layer provided on one side of the polymer layer; a second electrode layer provided on the other side; Preparing a plurality of films having the property of bending in a predetermined direction when electric energy is applied to the layer;
Cutting the plurality of films into a plurality of elongated regions along the direction of bending, respectively;
Laminating the plurality of films in a state where the bending direction is aligned;
A step of knitting the plurality of long regions while maintaining a bending direction.

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