JP2015171225A - Actuator device and unit of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator device in which a positive electrode member and a gel layer are not peeled off and a unit of the same.SOLUTION: An actuator device 1 includes: an actuator 10 in which a plurality of positive electrode members 11 and negative electrode members 12 are alternately disposed, and a gel layer 13 composed of a polymer material having dielectric properties between the positive electrode members 11 and the negative electrode members 12 is provided; and an expansion prevention mechanism 40 for preventing an actuator 10 from expanding more than a preset dimension in a thickness direction of the actuator 10. The unit of the actuator device includes the actuator device 1.

Description

  The present invention relates to an actuator device and a unit of the actuator device, and more particularly to an actuator device using an actuator having a gel layer made of a polymer material and a unit of the actuator device using the actuator device.

  In recent years, research on human-friendly robots has been actively conducted, and the development of next-generation type actuators using a polymer material with dielectric properties that can move flexibly as a driving source instead of a motor is small. Has been.

  An actuator using a polymer material having dielectric properties is capable of small, light and flexible movement, and is expected to be applied to an artificial muscle. Polymeric materials expected as artificial muscle actuators include polyvinyl chloride and polymethyl methacrylate. Among them, the polyvinyl chloride gel containing a plasticizer is similar to biological muscles and causes creep deformation or bending deformation by electrical stimulation.

  In the technique proposed in Patent Document 1, a gel made of a polymer material having dielectric properties is provided between an anode and a cathode, and a voltage is applied between the anode and the cathode so that the thickness direction thereof is increased. This is a technology related to an actuator that contracts automatically. This technique is a technique for controlling the displacement X in the thickness direction of the actuator. Specifically, when the voltage E is applied to the actuator, the voltage E is feedback-controlled based on a specific expression from a sampling value for the displacement X.

  Since this actuator control method can control the displacement of the actuator with high accuracy, the actuator controlled by the actuator control method can be used as a control element for position control.

JP2012-130201A

  When an actuator is constructed by simply laminating a basic unit with a gel sandwiched between a cathode and an anode made of a member that can be expanded and contracted in the thickness direction, the anode is applied when a large tensile load is applied to the actuator. It was found that the gel and the gel might peel off.

  This will be specifically described with reference to the actuator 10 shown in FIG. The actuator 10 is configured by laminating a plurality of basic units each including an anode member 11, a cathode member 12, and a gel layer 13 provided between the anode member 11 and the cathode member 12. The actuator 10 expands and contracts in the thickness direction X when a voltage is applied between the anode member 11 and the cathode member 12 or the application of the voltage is stopped.

  When an external force F1 in the pulling direction is applied to the actuator 10 and the actuator 10 is extended to a certain length L1 or more in the thickness direction X, the anode member 11 and the gel layer 13 may be peeled off. When the anode member 11 and the gel layer 13 are peeled off, the actuator 10 does not expand and contract smoothly and cannot be used as a stable drive source.

  The present invention has been made to solve the above-mentioned problems, and its purpose is to use it as a stable driving source without a problem of separation between the anode member and the gel layer even when a tensile load acts on the actuator. It is an object of the present invention to provide an actuator device and a unit of the actuator device that can perform the above.

  In order to solve the above problems, an actuator device according to the present invention includes a pair of anode members and cathode members, or a plurality of anode members and cathode members arranged alternately, and the anode members and the cathodes. An actuator provided with a gel layer made of a polymer material having dielectric properties between the member and an extension preventing mechanism for preventing the actuator from extending beyond a predetermined dimension in the thickness direction of the actuator; And.

  According to the present invention, since the extension preventing mechanism that prevents the actuator from extending beyond a predetermined dimension in the thickness direction of the actuator is provided, the length to which a large tensile load is applied in the thickness direction of the actuator. It is prevented that the actuator is extended up to. Therefore, it can prevent that the anode member and gel layer which comprise the actuator peel. As a result, it can be used as a drive source that operates smoothly.

  In the actuator device according to the present invention, the extension preventing mechanism includes a housing that houses the actuator inside and a moving frame that houses the actuator inside, and the thickness direction of the actuator One end of the actuator is attached to the casing, the other end of the actuator in the thickness direction is attached to the moving frame, and the moving frame is configured to be movable in the thickness direction with respect to the casing. The moving frame is abutted against the casing at a position where the actuator is extended to a predetermined dimension.

  According to the present invention, since the extension preventing mechanism is configured as described above, it is possible to reliably prevent the actuator from extending at a position where the moving frame hits the casing.

  In the actuator device according to the present invention, the casing is provided on a first surface to which one end of the actuator in the thickness direction is attached, and on both sides of the actuator in a direction orthogonal to the actuator thickness direction. A second surface and a third surface disposed, and a fourth surface disposed on the other end side of the actuator and facing the first surface, and the moving frame includes: The actuator is disposed between the mounting plate to which the other end in the thickness direction is attached, the actuator, the second surface, and the third surface, and penetrates the first surface to form the housing. A side plate extending outward from the inside of the body, and a connection plate disposed outside the first surface and connectable to the outside.

  According to the present invention, since the casing and the moving frame of the extension preventing mechanism are configured as described above, the extension preventing mechanism is located at the position where the connecting plate of the moving frame is abutted against the first surface of the casing. The actuator can be prevented from extending.

  In the actuator device according to the present invention, a second actuator is disposed between the fourth surface of the casing and the mounting plate of the movable frame, and one end of the second actuator is attached to the mounting plate. The other end is attached to the fourth surface.

  According to the present invention, of two actuators, a voltage is applied to one actuator and no voltage is applied to the other actuator, and a voltage is applied to the other actuator and no voltage is applied to one actuator. By repeating this, the actuator device can apply the same or substantially the same external force in both directions in the thickness direction of the actuator.

  The actuator device according to the present invention is characterized in that gel is adhered to a peripheral surface constituting the actuator.

  According to the present invention, since the gel is adhered to the peripheral surface constituting the actuator, it is possible to prevent the actuator from expanding and contracting greatly. Therefore, when an external force is applied to the actuator device and the actuator is expanded and contracted to a predetermined size, the actuator can be maintained in an expanded or contracted state or can be displaced by a minute distance.

  The unit of the actuator device according to the present invention for solving the above-described problem includes a pair of anode members and cathode members, or a plurality of anode members and cathode members arranged alternately, and the anode members An actuator provided with a gel layer made of a polymer material having a dielectric property between the cathode member and extension that prevents the actuator from extending beyond a predetermined dimension in the thickness direction of the actuator; Two actuator devices having a prevention mechanism are provided, the actuator devices are arranged to face each other in the thickness direction, and the extension prevention mechanisms are connected to each other.

  According to the present invention, the actuator device unit is arranged so that the actuator devices face each other in the thickness direction, and the extension preventing mechanisms are connected to each other. Repeatedly applying a voltage to the actuator and not applying a voltage to the actuator of the other actuator device, and applying a voltage to the actuator of the other actuator device and not applying a voltage to the actuator of one actuator device By this, the actuator device can apply the same or substantially the same external force in both directions in which the actuator device is connected.

  The unit of the actuator device according to the present invention for solving the above-described problem includes a pair of anode members and cathode members, or a plurality of anode members and cathode members arranged alternately, and the anode members An actuator provided with a gel layer made of a polymer material having a dielectric property between the cathode member and extension that prevents the actuator from extending beyond a predetermined dimension in the thickness direction of the actuator; A plurality of actuator devices having a prevention mechanism, wherein the plurality of actuator devices are arranged in a row in the thickness direction facing the same direction, and the extension prevention mechanisms are connected to each other.

  According to this invention, the unit of the actuator device includes a plurality of actuator devices, the plurality of actuator devices are arranged in a row in the thickness direction facing the same direction, and the extension preventing mechanisms are connected to each other. It can be displaced longer than in the case of only the actuator device. In addition, by operating only one or more arbitrarily selected actuator devices from among a plurality of actuator devices, the dimensions to be displaced can be set more freely than when all the actuator devices constituting the unit of the actuator device are operated. can do.

  According to the present invention, since the anode member and the gel layer can be prevented from peeling off, the actuator device can be used as a drive source that performs a stable operation.

It is a perspective view which shows the actuator apparatus of 1st Embodiment of this invention. It is explanatory drawing which shows the structure of an actuator. It is explanatory drawing for demonstrating the actuator provided with the gel layer different from the actuator of the actuator apparatus shown in FIG.1 and FIG.2. It is explanatory drawing used in order to demonstrate the effect | action of the actuator apparatus of 1st Embodiment. It is explanatory drawing used in order to demonstrate the structure and effect | action of an actuator apparatus using the actuator with which the gel was adhered to the surrounding surface. It is explanatory drawing used in order to demonstrate the structure and effect | action of the actuator apparatus of 2nd Embodiment. It is explanatory drawing used in order to demonstrate the structure and effect | action of a unit of a 1st type actuator apparatus. It is explanatory drawing used in order to demonstrate the structure and effect | action of a unit of a 2nd type actuator apparatus. It is explanatory drawing for demonstrating the operation principle of an actuator.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The technical scope of the present invention is not limited only to the following description and drawings.

[overall structure]
As shown in FIG. 1, the actuator device 1 according to the present invention includes an actuator 10 and an extension preventing mechanism 40 that prevents the actuator 10 from extending beyond a predetermined dimension in the thickness direction X of the actuator 10. It has. In the present specification, the thickness direction X means a direction in which a plurality of anode members 11 and cathode members 12 are alternately arranged as shown in FIG. The actuator device 1 uses an actuator in which a set of the anode member 11 and the cathode member 11 is arranged, in addition to the form using the actuator 10 in which a plurality of the anode members 11 and the cathode members 12 are alternately arranged. The form which was included is also included. However, the actuator device 1 will be described below by taking as an example a form using the actuator 10 in which a plurality of anode members 11 and cathode members 12 are alternately arranged.

  As shown in FIG. 2, the actuator 10 includes a plurality of anode members 11 and cathode members 12 arranged alternately, and a gel layer 13 made of a polymer material having dielectric properties between the anode members 11 and the cathode members 12. It is configured by being provided. In the example shown in FIG. 2, the anode member 11 is composed of a mesh-like mesh body. The actuator 10 is configured such that the anode member 11 and the cathode member 12 are alternately arranged by applying a voltage between the anode member 11 and the cathode member 12 or stopping the application of the voltage. It expands and contracts in the thickness direction X.

  The extension preventing mechanism 40 includes a housing 20 that houses the actuator 10 inside, and a moving frame 30 that houses the actuator 10 inside. The housing 20 is formed such that the first surface 21, the second surface 22, the third surface 23, and the fourth surface 24 are arranged so as to coincide with a quadrangular outline. The moving frame 30 is formed such that the mounting plate 34, the side plates 32 and 33, and the connection plate 31 are arranged so as to coincide with a quadrangular outline. The moving frame 30 is configured to be movable in the thickness direction X of the actuator 10 with respect to the housing 20.

  The actuator device 1 is configured by arranging the actuator 10 inside the housing 20 and the moving frame 30, and one end 18 in the thickness direction X of the actuator 10 is attached to the first surface 21 of the housing 20. The other end 19 in the thickness direction X of the actuator 10 is attached to the attachment plate 34 of the moving frame 30.

  The moving frame 30 constituting the extension preventing mechanism 40 moves in the thickness direction X of the actuator 10 with respect to the housing 20 as the actuator 10 expands and contracts. The actuator 10 is dimensioned in the thickness direction X. Is configured to be stopped by the housing 20 when is extended to a preset dimension.

  Since the actuator device 1 of the present invention can prevent the anode member and the gel layer from peeling off, the actuator device can be used as a drive source that performs stable operation.

  Hereafter, each structure of the actuator apparatus 1 is demonstrated in detail, referring drawings suitably.

[First Embodiment]
Hereinafter, the actuator device according to the first embodiment will be described with reference numeral 1A.

<Actuator>
As shown in FIG. 1 and FIG. 2, the actuator 10 includes a plurality of anode members 11 and cathode members 12 arranged alternately in the thickness direction X, and a high dielectric property between the anode member 11 and the cathode member 12. A gel layer 13 made of a molecular material is provided. The actuator 10 includes an anode member 11, a cathode member 12, and a gel layer 13 provided therebetween as one basic structural unit. The actuator 10 is configured by laminating 10 layers of such basic structural units. However, the number of layers of the basic structural unit can be 9 layers or less, or 11 layers or more, as necessary.

  The anode member 11 and the cathode member 12 constituting the actuator 10 are formed in a quadrangular shape in plan view, and the gel layer 13 has a peripheral edge that coincides with the peripheral edge of the anode member 11 and the negative electrode member 12. Is formed. In the example shown in FIG. 1, the shape of the actuator 10 in a plan view is formed in a quadrangle, but the shape of the actuator 10 in a plan view may be formed in a polygon or a circle other than the quadrangle.

(Anode member)
In the example shown in FIG. 1, the anode member 11 is configured by a mesh body in which metal fibers having conductivity are formed in a net shape. The anode member 11 is formed in a mesh size in which the number of wires per inch is 100 by metal fibers having a wire diameter of 0.1 mm. In addition, the cathode member 12 can use the mesh body formed in the appropriate mesh size with the metal fiber of the wire diameter as needed.

(Cathode member)
The cathode member 12 is formed of a conductive member having a small thickness. The example shown in FIG. 1 is formed of a conductive metallic member having a thickness of 0.01 mm.

(Gel layer)
The gel layer 13 is purified by mixing polyvinyl chloride (PVC) and dibutyl adipate (DBA) as a plasticizer in tetrahydrofuran (THF) as a solvent. The gel layer 13 can be adjusted in its rigidity by adjusting the weight composition ratio of polyvinyl chloride and dibutyl adipate. In the example shown in FIG. 1, a gel layer 13 purified by adjusting the weight composition ratio of polyvinyl chloride and dibutyl adipate to 10:40 is used.

  The gel layer 13 contracts in the thickness direction X when a voltage is applied between the anode member 11 and the cathode member 12, and returns to the original thickness when the voltage application is stopped. When a voltage is applied and the gel layer 13 contracts in the thickness direction X, the gel layer 13 is drawn into the mesh gap of the anode member 11. The contraction of the actuator 10 itself occurs when the gel layer 13 is drawn into the mesh gap of the anode member 11 and the entire thickness is reduced.

  As the gel layer 13 which performs such an action when a voltage is applied, in addition to the one purified by mixing polyvinyl chloride and dibutyl adipate, polyvinyl chloride, polymethyl methacrylate, polyurethane, polystyrene, poly Polymer materials having dielectric properties such as vinyl acetate, nylon 6, polyvinyl alcohol, polycarbonate, polyethylene terephthalate, polyacrylonitrile, silicone, and the like can be used.

  Such an actuator 10 has wiring 15 for connecting to the anode of the power source on one side of the laminated anode members 11 in the left-right direction, and serves as the cathode of the power source on the other side of the laminated cathode members 12 in the left-right direction. Each has a wiring 16 for connection.

  The actuator can also be configured as shown in FIG. 3 includes a base layer 113a and a gel layer 113b including a protrusion 113a provided on one surface thereof, an anode member 111 disposed in contact with the top of the protrusion 113b, and the anode member 111. A cathode member 112 disposed at a position sandwiching the portion 113b in the thickness direction X. When a voltage is applied to the actuator 110 between the anode member 111 and the cathode member 112, the actuator 110 creeps so that the protrusion 113b adheres to the anode member 111 side, and the gel 113 contracts in the thickness direction.

<Extension prevention mechanism>
Next, the extension preventing mechanism 40 will be described with reference to FIG. The extension preventing mechanism 40 includes a housing 20 that houses the actuator 10 inside, and a moving frame 30 that houses the actuator 10 inside. The extension preventing mechanism 40 prevents the actuator 10 from extending beyond a predetermined dimension so that the actuator 10 does not extend in the thickness direction X more than the natural length or substantially the natural length. The dimension of the actuator 10 in the thickness direction X is restricted.

  In this specification, the natural length of the actuator 10 refers to the time when no voltage is applied to the actuator 10 that expands and contracts in the thickness direction X when a voltage is applied or the voltage application is stopped. It means the dimension of the actuator 10 in the thickness direction X.

  The housing 20 is formed by arranging a first surface 21, a second surface 22, a third surface 23, and a fourth surface 24 so as to coincide with a quadrangular outline. The first surface 21 and the fourth surface 24 are parallel, and the second surface 22 and the third surface 23 are parallel. The housing 20 has a space inside the first surface 21, the second surface 22, the third surface 23, and the fourth surface 24, and the actuator 10 includes the first surface 21, the second surface 24, and the second surface 24. The surface 22, the third surface 23, and the fourth surface 24 are accommodated in a space formed inside.

  The first surface 21 is parallel to the anode member 11 and the cathode member 12 constituting the actuator 10, and one end 18 in the thickness direction X of the actuator 10 is attached to the first surface 21. . The first surface 21 includes an elongated through hole 36 for allowing side plates 32 and 33 of the moving frame 30 described later to pass therethrough. The length and width of the through hole 36 are formed larger than the width and thickness of the side plates 32 and 33 of the moving frame 30, and the thickness of the actuator 10 does not interfere with the side plates 32 and 33 of the moving frame 30. It can move smoothly in the vertical direction X. The second surface 22 and the third surface 23 are provided so that the side portions of the actuator 10 are separated by a certain distance, and the fourth surface 24 is on the other end 19 side of the actuator 10. The actuator 10 is provided so as to face the first surface 21 at a position away from the other end 19 of the actuator 10 by a certain distance.

  The second surface 22 of the housing 20 connects the anode member 11 constituting the actuator 10 and the anode of a power source (not shown) at a position corresponding to the center in the thickness direction X of the actuator 10. A communication hole 25 for passing the wiring 15 is provided, and the third surface 23 of the housing 20 is connected to the cathode member 12 constituting the actuator 10 and the power source at a position corresponding to the center in the thickness direction X of the actuator 10. A communication hole 25 is provided for passing the wiring 16 connecting the cathode (not shown). In the example shown in FIG. 1, the hole on the second surface 22 located on the left side of FIG. 1 is a communication hole 25 for passing the wiring connecting the anode member 11 and the anode of the power source. The hole on the third surface 23 located on the right side of the contact hole 25 is a communication hole 25 for passing the wiring connecting the cathode member 12 and the cathode of the power source. In addition, since the connection hole 25 should just be able to let the bundled wiring 15 and 16 pass, it is each formed in circular.

  The moving frame 30 is formed such that the mounting plate 34, the side plates 32, 33, and the connection plate 31 are arranged so as to coincide with the outline of the rectangle, and the inside of the mounting plate 34, the side plates 32, 33, and the connection plate 31 is a space. It is configured to be. The actuator 10 is accommodated in a space formed inside the mounting plate 34, the side plates 32 and 33, and the connection plate 31.

  The attachment plate 34 is parallel to the anode member 11 and the cathode member 12 constituting the actuator 10, and the other end 19 in the thickness direction X of the actuator 10 is attached to the attachment plate 34. The side plate 32 is located at a certain distance from the side of the actuator 10 and the second surface 22 of the housing 20 between the side of the actuator 10 and the second surface 22 of the housing 20. It is arranged in. Similarly, the side plate 33 is spaced a certain distance from the side of the actuator 10 and the third surface 23 of the housing 20 with respect to the side of the actuator 10 and the third surface 23 of the housing 20. It is arranged at the position. The side plates 32 and 33 are respectively provided through the first surface 21 so as to extend from the inside to the outside of the housing 20 through the through holes 36 formed in the first surface 21 of the housing 20. ing. The connection plate 31 is disposed outside the first surface 21 of the housing 20 and parallel to the first surface 21. The connection plate 31 is a member to which a connection member 50 for connecting to an external support member, another actuator device, or the like separate from the actuator device 1A is attached.

  One side plate 32 of the moving frame 30 communicates with the wiring 15 connecting the anode member 11 constituting the actuator 10 and the anode of a power source (not shown) at a position corresponding to the actuator 10. The other side plate 33 is provided with a hole 35, and the other side plate 33 of the moving frame 30 is a communication hole for passing the wiring 16 connecting the cathode member 12 constituting the actuator 10 and the cathode of the power source at a position corresponding to the actuator 10. 35. The communication hole 35 is formed in an elongated rectangle extending in the thickness direction X of the actuator 10. In the example shown in FIG. 1, the hole in the side plate 32 located on the left side in FIG. 1 is a communication hole 35 for passing the wiring 15 connecting each anode member 11 and the anode of the power source, and located on the right side in FIG. 1. A hole in the side plate 33 is a communication hole 35 through which the wiring 16 connecting each cathode member 12 and the cathode of the power source is passed. The connecting hole 35 is formed in a long and narrow rectangle extending in the thickness direction X of the actuator 10 so that a plurality of radially extending wirings 15 and 16 can be passed therethrough.

  The moving frame 30 having such a configuration moves in the thickness direction X of the actuator 10 with respect to the housing 20 as the actuator 10 expands and contracts. At that time, the housing 20 and the moving frame 30 are provided with connecting holes 25 and 35 through which the wiring 15 connected to the anode member 11 and the wiring 16 connected to the cathode member 12 pass. It is possible to prevent the wires 15 and 16 connected to the cathode member 12 from being entangled with the actuator device 1A.

<Operation of actuator device>
Next, the operation of the actuator device 1A having the above configuration will be described with reference to FIG.

  FIG. 4A shows a state where no voltage is applied to the actuator 10. When no voltage is applied to the actuator 10, the dimension of the actuator 10 in the thickness direction X is maintained at a natural length or a substantially natural length. When no voltage is applied to the actuator 10, the moving frame 30 is maintained at a position where a slight gap is formed between the connection plate 31 and the first surface 21 of the housing 20. When a voltage is applied to the actuator 10 from this state, the actuator 10 is contracted as shown in FIG. As the actuator 10 contracts, the moving frame 30 moves upward in FIG. 4 and the distance between the connection plate 31 of the moving frame 30 and the first surface 21 of the housing 20 increases. When application of voltage to the actuator 10 is stopped from this state, as shown in FIG. 4C, the actuator 10 extends to a natural length or substantially natural length, and the moving frame 30 moves downward in FIG.

  The actuator device 1A uses the action of the actuator 10 extending to a natural length or a substantially natural length as shown in FIG. 4C from the contracted state of the actuator 10 as shown in FIG. An external object (not shown) connected to the connection member 50 provided at 31 is moved.

  Even when a force that pushes down the moving frame 30 downward from the outside of the actuator device 1A acts on the moving frame 30, the actuator device 1A includes the extension preventing mechanism 40. Pulling to such a length that a pulling load such that 11 and gel layer 13 are peeled off is prevented.

  Specifically, the operation of the extension preventing mechanism 40 will be described. It is assumed that a force that pushes down the moving frame 30 from the outside of the actuator device 1 </ b> A acts on the moving frame 30. In that case, one end 18 in the thickness direction X of the actuator 10 is attached to the first surface 21 of the housing 20 and the other end 19 of the actuator 10 is attached to the attachment plate 34 of the moving frame 30. As the moving frame 30 moves, the actuator 10 expands. However, when the moving frame 30 moves downward, the connection plate 31 of the moving frame 30 hits the first surface 21 of the housing 20. Therefore, the moving frame 30 is prevented from moving below the position where the connection plate 31 hits the first surface 21 of the housing 20. As a result, the actuator 10 is prevented from extending beyond the position where the connection plate 31 hits the first surface 21 of the housing 20.

  The position where the connection plate 31 abuts against the first surface 21 is not particularly limited as long as the dimension in the thickness direction of the actuator 10 is within a range where the anode member 11 and the gel layer 13 constituting the actuator 10 do not peel off. . However, the position where the connection plate 31 abuts against the first surface 21 is such that when the actuator 10 extends to a natural length or a substantially natural length in the thickness direction X of the actuator 10, the connection plate 31 extends to the first surface 21. It is preferable to set the extension preventing mechanism 40 so as to abut. By setting in this way, the actuator 10 is used only in the region where it is contracted, and the tensile load does not act on the actuator 10.

  As a result of the actuator 10 being prevented from extending beyond the position where the connection plate 31 abuts against the first surface 21 of the housing 20, the tensile load does not act on the actuator 10, and the positive electrode constituting the actuator 10. The member and the gel layer 13 are prevented from being peeled off.

  Next, referring to FIG. 5, an actuator device 1 </ b> A in which gel is attached to the peripheral surface of the actuator 10 will be described. The configuration of the actuator device 1A shown in FIG. 5 is the same as that of the actuator device 1A shown in FIGS. 1 to 4 except that gel is attached to the peripheral surface of the actuator 10. Therefore, in the actuator device 1A shown in FIG. 5, the same components as those in the actuator device 1A shown in FIGS. Further, the gel attached to the peripheral surface of the actuator 10 is not particularly shown in the drawing. The actuator device 1A uses an actuator in which a set of the anode member 11 and the cathode member 11 is arranged in addition to the form using the actuator 10 in which a plurality of the anode members 11 and the cathode members 12 are alternately arranged. The form which was included is also included. However, the actuator device 1A will be described below by taking as an example a form using the actuator 10 in which a plurality of anode members 11 and cathode members 12 are alternately arranged.

  In the present specification, the peripheral surface of the actuator 10 means a surface formed by the peripheral edges of the anode member 11, the cathode member 12, and the gel layer 13 constituting the actuator 10.

  In the actuator 10 of the actuator device 1A, the gel made of a polymer material is attached to the peripheral surface, whereby the rigidity of the actuator 10 is improved as compared with the case where the gel is not attached. The gel attached to the peripheral surface of the actuator 10 allows the actuator 10 to be displaced in the thickness direction X by a minute distance t. As the gel attached to the peripheral surface of the actuator 10, for example, polyvinyl chloride can be used. In addition to polyvinyl chloride, the gel to be used is a high dielectric material such as polymethyl methacrylate, polyurethane, polystyrene, polyvinyl acetate, nylon 6, polyvinyl alcohol, polycarbonate, polyethylene terephthalate, polyacrylonitrile, silicone, etc. Molecular materials can be used.

  Next, the operation of the actuator device 1A will be described with reference to FIG.

  FIG. 5A shows a state where no voltage is applied to the actuator 10. When no voltage is applied to the actuator 10, the dimension of the actuator 10 in the thickness direction X is maintained at a natural length or a substantially natural length. When no voltage is applied to the actuator 10, the moving frame 30 is maintained at a position where a slight gap is formed between the connection plate 31 and the first surface 21 of the housing 20. From this state, an external force F is applied to the actuator device 1A as shown by an arrow in FIG. 5A, and the actuator 10 is contracted by a minute distance t as shown in FIG. 5B. As the actuator 10 is contracted by a minute distance t, the moving frame 30 moves upward by a minute distance t in FIG. When a voltage is applied to the actuator 10 from this state, as shown in FIG. 5B, a force f for contracting the actuator 10 acts on the actuator. However, since the contraction of the actuator 10 is restrained by the gel attached to the peripheral surface, the actuator 10 does not contract as shown in FIG. The contracted state is maintained. For this reason, the moving frame 30 does not move downward, and the position of the moving frame 30 is maintained. That is, the state of the actuator device 1A shown in FIG. 5C hardly changes from the state of the actuator device 1A shown in FIG. 5B, and the state shown in FIG. 5B is maintained as it is. .

  The actuator device 1A can be applied to devices that support various parts of the body, such as waist wear assist wear and leg support assist spats.

[Second Embodiment]
Next, the actuator device 1B of the second embodiment will be described with reference to FIG. In addition, about the actuator apparatus 1B of 2nd Embodiment, only the outline | summary is demonstrated about the same structure as the actuator apparatus 1A of 1st Embodiment, and only a different structure is demonstrated in detail. The actuator device 1B uses an actuator in which a pair of anode members 11 and cathode members 11 are arranged, in addition to a form using the actuator 10 in which a plurality of anode members 11 and cathode members 12 are alternately arranged. The form which was included is also included. However, hereinafter, the actuator device 1B will be described by taking as an example a form using the actuator 10 in which a plurality of anode members 11 and cathode members 12 are alternately arranged.

<Configuration of actuator device>
In this actuator device 1B, two actuators 10a and 10b, which are a first actuator 10a and a second actuator 10b, are used in one actuator device 1B. The basic configuration is the same as that of the actuator device 1A of the first embodiment, and the actuators 10a and 10b and the actuators 10a and 10b extend from the preset dimensions in the thickness direction X of the actuators 10a and 10b. The extension preventing mechanism 40b prevents this.

  The basic configuration of the two actuators 10a and 10b used in this actuator device 1B is the same as that of the actuator 10 used in the actuator device 1A of the first embodiment, and the anode member 11, the cathode member 12, Are arranged alternately, and a gel layer 13 made of a polymer material having dielectric properties is provided between the anode member 11 and the cathode member 12. Moreover, the anode member 11 is comprised with the net-like mesh body. The actuators 10a and 10b are configured such that the anode member 11 and the cathode member 12 are alternately arranged by applying a voltage between the anode member 11 and the cathode member 12 or stopping the applied voltage. The actuators 10a and 10b expand and contract in the thickness direction X.

  The extension preventing mechanism 40b includes a housing 20b that houses the first actuator 10a and the second actuator 10b inside, and a moving frame 30 that houses the first actuator 10a inside. . The housing 20b is formed by being arranged such that the first surface 21b, the second surface 22b, the third surface 23b, and the fourth surface 24b coincide with a quadrangular outline. The moving frame 30 is formed such that the mounting plate 34, the side plates 32 and 33, and the connection plate 31 are arranged so as to coincide with the outline of the quadrangle, and the two actuators 10a and 10b are connected to the housing 20b. It is configured to be movable in the thickness direction X. The mechanism by which the moving frame 30 of the actuator device 1B moves in the thickness direction X of the actuators 10a and 10b with respect to the housing 20b is the same as the mechanism of the actuator device 1A of the first embodiment.

  The housing 20b and the moving frame 30 accommodate the first actuator 10a inside them so as to be arranged in the upper half region of the actuator device 1B. One end 18a in the thickness direction X of the first actuator 10a is attached to the first surface 21b of the housing 20b, and the other end 19a in the thickness direction X is attached to the surface of the mounting plate 34 of the moving frame 30. ing. Further, the housing 20b is arranged in the lower half region of the actuator device 1B and accommodates the second actuator 10b inside thereof. One end 18b in the thickness direction X of the second actuator 10b is attached to the back surface of the mounting plate 34 of the moving frame 30, and the other end 19b in the thickness direction X is attached to the fourth surface 24b of the housing 20b. .

  The second surface 22b of the housing 20b is located at a position corresponding to the center in the thickness direction X of the first actuator 10a and the anode member 11 constituting the first actuator 10a and the anode of the power source (not shown). And the anode member 11 constituting the second actuator 10b at a position corresponding to the center in the thickness direction X of the second actuator 10b. A communication hole 25b is provided for passing the wiring 15b connecting the anode of the power source. The communication holes 25a and 25b are each formed in a circular shape.

  Further, the third surface 23b of the housing 20b has the cathode member 12 constituting the first actuator 10a and the cathode of the power source at a position corresponding to the center in the thickness direction X of the first actuator 10a. A connecting hole 25a for passing the connected wiring 16a is provided, and the cathode member 12 constituting the second actuator 10b and the power source are arranged at a position corresponding to the center in the thickness direction X of the second actuator 10b. A communication hole 25b is provided for passing the wiring 16b connecting the cathode. The communication holes 25a and 25b are each formed in a circular shape.

One side plate 32 of the moving frame 30 is connected to pass the wiring connecting the anode member 11 constituting the first actuator 10a and the anode of the power source at a position corresponding to the first actuator 10a. A wiring having a hole 35 and connecting the cathode member 12 constituting the first actuator 10a and the cathode of the power source to the other side plate 33 of the moving frame 30 at a position corresponding to the first actuator 10a. The communication hole 35 for letting it pass is provided. The communication hole 35 is formed in a long and narrow rectangle extending in the thickness direction X of the actuator 10a so that a plurality of radially extending wirings can be passed therethrough.
<Operation of actuator device>
Next, the operation of the actuator device 1B will be described.

  FIG. 6A shows a state of the actuator device 1B in which a voltage is applied to the first actuator 10a and no voltage is applied to the second actuator 10b. Since the voltage is applied to the first actuator 10a, the first actuator 10a is contracted in the thickness direction X. On the other hand, since no voltage is applied to the second actuator 10b, the second actuator 10b is not contracted in the thickness direction X and is maintained in a natural length or substantially natural length state.

  The moving frame 30 is raised upward in FIG. 6 because the first actuator 10a is contracted and the second actuator 10b is maintained at a natural length or a substantially natural length.

  Next, the application of voltage to the first actuator 10a is stopped from the state of FIG. 6A, and the voltage is applied to the second actuator 10b. In that case, as shown in FIG. 6B, the first actuator 10a expands from the contracted state, and the dimension in the thickness direction X becomes a natural length or a substantially natural length. The second actuator 10b contracts from a state where the second actuator 10b is maintained at the natural length or substantially natural length, and the dimension in the thickness direction X becomes shorter than the natural length or substantially natural length.

  When the first actuator 10a is extended, the mounting plate 34 is pushed down by the first actuator 10a, and the moving plate 30 is pulled down by the second actuator 10b when the second actuator 10b is contracted. It is done. Therefore, the moving frame 30 is lowered downward in FIG.

  The actuator device 1B uses the operation of moving the moving frame 30 downward as shown in FIG. 6B from the state where the moving frame 30 is raised as shown in FIG. 6A. An external object (not shown) is moved toward the actuator device 1B side via a connection member 50 provided on the connection plate 31.

  Next, the voltage is applied to the first actuator 10a from the state of FIG. 6B, and the application of the voltage to the second actuator 10b is stopped. In this case, as shown in FIG. 6C, the first actuator 10a contracts from a state where the first actuator 10a is maintained at the natural length or substantially natural length, and the dimension in the thickness direction X is larger than the natural length or substantially natural length. Will also be shorter. The second actuator 10b extends from the contracted state, and the dimension in the thickness direction X becomes a natural length or a substantially natural length.

  When the first actuator 10a contracts, the moving frame 30 is pulled up by the first actuator 10a, and the second actuator 10b extends to push the mounting plate 34 up by the second actuator 10b. It is done. Therefore, the moving frame 30 is raised upward in FIG.

  The actuator device 1B uses the operation of moving the moving frame 30 as shown in FIG. 6C from the state where the moving frame 30 is lowered as shown in FIG. An external object (not shown) is moved in a direction away from the actuator device 1B via a connection member 50 provided on the connection plate 31.

  The actuator device 1B includes, for example, a voltage applied to one actuator 10a and a voltage not applied to the other actuator 10b of the two actuators 10a and 10b, and a voltage applied to the other actuator 10b. By repeatedly performing no voltage application to one actuator 10a, the actuator device 1B can apply the same or substantially the same external force in both directions in the thickness direction of the actuators 10a and 10b.

  When gel is adhered to at least a part of the peripheral surface constituting the actuator, an external force is applied to the actuator device 1B to displace the moving frame by a minute distance, and the moving frame 30 is maintained at the displaced position. Can be made.

[Actuator unit]
Next, the unit of the actuator device of the present invention will be described. The unit of the actuator device can be roughly divided into the following two. In addition, the actuator device of the unit 100A of the first type actuator device and the unit 100B of the second type actuator device which will be described below is configured such that the actuator has a plurality of anode members 11 and cathode members 12 arranged alternately. In addition to the form, a form in which a pair of anode member 11 and cathode member 11 are arranged is also included. However, hereinafter, the units 100A and 100B of the actuator device will be described by taking as an example a form using an actuator in which a plurality of anode members 11 and cathode members 12 are alternately arranged.

  The unit 100A of the first type actuator device 1 is configured by using two actuator devices 1, and the actuator devices 1 are arranged side by side in the thickness direction X and are arranged to face each other. . The actuator device 1 includes an actuator in which a plurality of anode members 11 and cathode members 12 are alternately arranged, and a gel layer 13 made of a polymer material having dielectric properties is provided between the anode members 11 and the cathode members 12. 10 and an extension preventing mechanism 40 that prevents the actuator 10 from extending beyond a predetermined dimension in the thickness direction X of the actuator 10. The extension preventing mechanism 40 includes a housing 20 that houses the actuator 10 inside, and a moving frame 30 that houses the actuator 10 inside. The actuator device 1 is connected to the extension preventing mechanisms 40. Details of the connection between the extension preventing mechanisms 40 will be described later.

  The unit 100B of the second type actuator device 1 is configured by a plurality of actuator devices 1, and the plurality of actuator devices 1 are arranged in a row in the thickness direction X in the same direction. The actuator device 1 includes an actuator 10 in which a plurality of anode members 11 and cathode members 12 are alternately arranged, and a gel layer made of a polymer material having dielectric properties is provided between the anode members 11 and the cathode members 12. And an extension preventing mechanism 40 that prevents the actuator from extending beyond a predetermined dimension in the thickness direction X of the actuator 10. The extension preventing mechanism 40 includes a housing 20 that houses the actuator 10 inside, and a moving frame 30 that houses the actuator 10 inside. The actuator device 1 is connected to the extension preventing mechanisms 40. Details of the connection between the extension preventing mechanisms 40 will be described later.

  First, the unit 100A of the first type actuator device 1 will be described with reference to FIG.

<Configuration of Unit of First Type Actuator Device>
The unit 100A of the actuator device 1 is configured by using two actuator devices 1A shown in FIGS. Since each actuator device 1A constituting the unit 100A of the actuator device 1 has the same configuration as the actuator device 1 shown in FIGS. 1 to 4, the same reference numerals are given to the same components in FIG. Is omitted.

  In the unit 100 </ b> A of the actuator device 1, two actuator devices 1 </ b> A are arranged in the thickness direction X. The two actuator devices 1A are arranged to face each other, and the extension preventing mechanisms 40 are connected to each other. Specifically, in the two actuator devices 1 </ b> A, the connection plates 31 constituting the moving frame 30 face each other, and the connection plates 31 are connected by the connection member 50.

<Operation of the unit of the first type actuator device>
The unit 100A of the actuator device 1A applies a voltage only to the actuator 10 of one actuator device 1A of the two actuator devices 1A and does not apply a voltage to the actuator 10 of the other actuator device 1A. Conversely, a voltage is applied only to the actuator 10 of the other actuator device 1A, and a state in which no voltage is applied to the actuator of the one actuator device 1A is alternately created and used.

  For example, a voltage is applied only to the actuator 10 of the actuator device 1A located on the upper side of FIG. 7, and no voltage is applied to the actuator 10 of the actuator device 1A located on the lower side of FIG. In this case, as shown in FIG. 7A, in the upper actuator device 1A, the actuator 10 contracts and the moving frame 30 is pushed downward in FIG. On the other hand, in the lower actuator device 1A, the actuator 10 is maintained in a natural length or a substantially natural length. Therefore, there is no gap or a slight gap is formed between the connection plate 31 of the moving frame 30 and the first surface 21 of the housing 20.

  Next, the application of voltage to the actuator 10 of the actuator device 1A located on the upper side of FIG. 7 is stopped, and the voltage is applied to the actuator 10 of the actuator device 1A located on the lower side of FIG. In that case, as shown in FIG. 7B, in the upper actuator device 1A, the actuator extends to the natural length or substantially the natural length, and the moving frame 30 is pushed upward in FIG. On the other hand, in the lower actuator device 1A, the actuator 10 contracts and the moving frame 30 is pulled up. As a result, the gap between the connection plate 31 of the actuator device 1A located on the upper side and the first surface 21 of the housing 20 is almost or slightly formed, and is located on the lower side. The gap between the connecting plate 31 of the actuator device 1A and the first surface 21 of the housing 20 is widened.

  The unit 100A of the actuator device 1A has a thickness of an object or the like (not shown) connected between the actuator devices 1A by alternately repeating the state of FIG. 7A and the state of FIG. 7B. The reciprocation is performed within a preset range in the direction X. At this time, the unit 100A of the actuator device 1A applies a voltage to the actuator 10 of one actuator device 1A of the two actuator devices 1A and does not apply a voltage to the actuator 10 of the other actuator device 1A. By repeatedly applying a voltage to the actuator 10 of the other actuator device 1A and not applying a voltage to the actuator 10 of the one actuator device 1A, the actuator device 1A is connected in both directions. The actuator device can apply the same or substantially the same external force.

  For each actuator device 1A constituting the unit 100A of the actuator device 1A, when gel is attached to the peripheral surface of the actuator 10, the actuator 10 expands and contracts by a minute distance. Therefore, by attaching gel to the peripheral surface of the actuator 10, the unit 100A of the actuator device 1A reciprocates an object or the like by a minute distance.

<Configuration of the unit of the second type actuator device>
Next, the unit 100B of the second type actuator device 1A will be described with reference to FIG. The unit 100B of the actuator device 1A is configured by using three actuator devices 1A shown in FIGS. Since each actuator device 1A constituting the unit 100B of the actuator device 1A has the same configuration as the actuator device 1A shown in FIGS. 1 to 4, the same reference numerals are given to the same components in FIG. The description is omitted.

  In the unit 100B of the second type actuator device 1A, the three actuator devices 1A are arranged in a line in the thickness direction X in the same direction, and the extension preventing mechanisms 40 are connected to each other. Specifically, in the unit 100B of the actuator device 1A shown in FIG. 8, the actuator device 1A located at the uppermost side in FIG. 8 and the actuator device 1A located at the center are the housing 20 of the actuator device 1A. Is connected to the connecting plate 31 constituting the moving frame 30 of the actuator device 1A by the connecting member 50. Similarly, the actuator device 1A located at the center and the actuator device 1A located at the lowermost side in FIG. 8 include the fourth surface 24 constituting the housing 20 of the actuator device 1A and the actuator device. The connection plate 31 constituting the 1A moving frame 30 is connected by a connection member 50.

  The connection plate 31 constituting the moving frame 30 of the actuator device 1A is connected to an external member that is separate from the unit 100B of the actuator device 1A by a connection member 50. The fourth surface 24 constituting the housing 20 of the actuator device 1A is connected to an external member that is separate from the unit 100B of the actuator device 1A by a connection member 50.

(Operation of Unit of Second Type Actuator Device 1A)
The unit 100B of the second type actuator device 1A includes a case where the connecting member 50 that connects the actuator devices 1A is a soft member such as a string, and a hard member such as a metal rod. There are two types of actions depending on the case.

  When the connecting member 50 that connects the actuator devices 1A is a soft member such as a string, the unit 100B of the actuator device 1A includes external members that are separate from the unit 100B of the actuator device 1A. An external member is moved in one direction of drawing.

  For example, a voltage is applied to the actuator 10 from the beginning in any of the three actuator devices 1A. In that case, as shown in FIG. 8A, the actuator 10 of each actuator device 1A is contracted. Therefore, the moving frame 30 of each actuator device 1A is pushed upward by the actuator 10 in FIG. Next, the application of voltage to the actuator 10 of each actuator device 1A is stopped. When the application of voltage is stopped, the actuator 10 of each actuator device 1A is extended to a natural length or a substantially natural length. Therefore, the moving frame 30 of each actuator device 1A is pushed down by the actuator 10 to the lower side in FIG. As a result, as shown in FIG. 8B, the member connected to the actuator device 1A is pulled down to the lower side of FIG. 8 by the unit 100B of the actuator device 1A.

  The voltage application is stopped not only simultaneously for all the actuators 10 of the three actuator devices 1A, but also the actuators 10 of one or two actuator devices 1A arbitrarily selected from the three actuator devices 1A. You may go at different times. Further, the voltage application is stopped not only on all the actuators 10 of the three actuator devices 1A, but also on one or two actuator devices 1A arbitrarily selected from the three actuator devices 1A. You may just go.

  On the other hand, when the connecting member 50 that connects the actuator devices 1A is a hard member such as a metal rod, the unit 100B of the actuator device 1A is an external part that is separate from the unit 100B of the actuator device 1A. The external member is moved in two directions: a direction in which the member is moved closer to the unit 100B of the actuator device 1A and a direction away from the unit 100B in the actuator device 1A.

  For example, initially, no voltage is applied to the actuator 10 in any of the three actuator devices 1A. In that case, as shown in FIG. 8B, the actuator 10 of each actuator device 1A is maintained at a natural length or a substantially natural length. Therefore, the moving frame 30 of each actuator device 1A is pulled downward in FIG. Next, a voltage is applied to the actuator 10 of each actuator device 1A. When a voltage is applied to the actuator 10, the actuator 10 contracts, and the moving frame 30 of each actuator device 1 </ b> A is pushed up to the upper side in FIG. 8 by the actuator 10 as shown in FIG. As a result, the external member is pushed upward in FIG. Next, the application of voltage to the actuator 10 of each actuator device 1A is stopped. When the application of voltage is stopped, the actuator 10 of each actuator device 1A is extended to a natural length or a substantially natural length. Therefore, the moving frame 30 of each actuator device 1A is pushed down by the actuator 10 to the lower side in FIG. As a result, as shown in FIG. 8B, the member connected to the actuator device 1A is pulled down to the lower side of FIG. 8 by the unit 100B of the actuator device 1A.

  The voltage application is not only simultaneously performed on all the actuators 10 of the three actuator devices 1A, but is also different for one or two actuator devices 10A arbitrarily selected from the three actuator devices 1A. You may go on time. Similarly, the application of voltage is stopped not only simultaneously for all the actuators 10 of the three actuator devices 1A, but also the actuators of one or two actuator devices 1A arbitrarily selected from the three actuator devices 1A. 10 may be performed at different times. Further, the application and stop of the voltage is not only performed on all the actuators 10 of the three actuator devices 1A, but also on one or two actuator devices 1A arbitrarily selected from the three actuator devices 1A. You may just go.

  The case where the unit 100B of one actuator device 1A is configured by the three actuator devices 1A has been described above. However, the unit 100B of one actuator device 1A can be constituted by two actuator devices 1A, or can be constituted by four or more actuator devices 1A.

  When the gel is attached to at least a part of the peripheral surface constituting the actuator, an external force is applied to the actuator device 1B to move the moving frame, and the moving frame 30 is maintained at the moved position. It can be returned by a minute distance.

  The case where the unit of the actuator device is configured by the actuator device 1A of the first embodiment has been described above. However, the unit of the actuator device can also be configured using the actuator device 1B of the second embodiment.

1, 1A, 1B Actuator device 10 Actuator 11 Anode member 12 Cathode member 13 Gel layer 15, 16 Wiring 18 One end in thickness direction of actuator 19 Other end in thickness direction of actuator 20 Housing 21 First surface 22, 23 Side surface 24 Fourth surface 25, 25a, 25b Connecting hole 30 Moving frame 31 Connecting plate 32, 33 Side plate 34 Mounting plate 35 Connecting hole 40 Extension preventing mechanism 50 Connecting member 100A, 100B Actuator unit

Claims (7)

A gel comprising a set of anode members and cathode members, or a plurality of anode members and cathode members arranged alternately, and a dielectric polymer material between the anode members and the cathode members An actuator provided with a layer;
An actuator device, comprising: an extension preventing mechanism that prevents the actuator from extending beyond a predetermined dimension in the thickness direction of the actuator. The extension prevention mechanism is configured by a housing that houses the actuator inside, and a moving frame that houses the actuator inside,
One end of the actuator in the thickness direction is attached to the housing, and the other end of the actuator in the thickness direction is attached to the moving frame,
The moving frame is configured to be movable in the thickness direction with respect to the housing;
2. The actuator device according to claim 1, wherein the moving frame is abutted against the housing at a position where the actuator extends to a predetermined dimension. 3. The housing includes a first surface to which one end of the actuator in the thickness direction is attached, a second surface disposed on both sides in a direction orthogonal to the thickness direction of the actuator, and a third surface. And a fourth surface disposed on the other end side of the actuator and facing the first surface,
The moving frame is disposed between a mounting plate to which the other end of the actuator in the thickness direction is mounted, the actuator, the second surface, and the third surface, respectively, 3. The actuator device according to claim 2, comprising: a side plate that extends through the surface from the inside to the outside of the housing; and a connection plate that is disposed outside the first surface and is connectable to the outside. . A second actuator is disposed between the fourth surface of the housing and the mounting plate of the movable frame;
4. The actuator device according to claim 3, wherein one end of the second actuator is attached to the attachment plate and the other end is attached to the fourth surface.   The actuator device according to any one of claims 1 to 4, wherein a gel is attached to at least a part of a peripheral surface constituting the actuator. A gel comprising a set of anode members and cathode members, or a plurality of anode members and cathode members arranged alternately, and a dielectric polymer material between the anode members and the cathode members An actuator provided with a layer;
Two extension devices having an extension preventing mechanism that prevents the actuator from extending beyond a predetermined dimension in the thickness direction of the actuator,
A unit of an actuator device, wherein the actuator devices are arranged facing each other in the thickness direction, and the extension preventing mechanisms are connected to each other. A gel comprising a set of anode members and cathode members, or a plurality of anode members and cathode members arranged alternately, and a dielectric polymer material between the anode members and the cathode members An actuator provided with a layer;
A plurality of actuator devices having an extension preventing mechanism that prevents the actuator from extending beyond a predetermined dimension in the thickness direction of the actuator;
A unit of an actuator device, wherein a plurality of the actuator devices are arranged in a row in the thickness direction facing the same direction, and the extension preventing mechanisms are connected to each other.

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