JP2021191048A - Actuator - Google Patents

Abstract

To realize lower voltage and increase of an extension rate.SOLUTION: An actuator comprises: a PVC gel sheet 21 formed like a sheet by gelatinous polyvinyl chloride; and sheet-like electrodes 22 having flexibility arranged, respectively on both sides of the PVC gel sheet 21. The actuator is constituted so that the PVC gel sheet 21 can extend in a surface direction when voltage is supplied to the PVC gel sheet 21 via the respective electrodes 22, in which a plurality of regulation members 23 which are formed like a belt by a material having inflexibility, and arranged to extend in a width direction on both sides of a dielectric sheet to regulate extension of the PVC gel sheet 21 in the width direction, are arranged in parallel along a length direction on both sides of the PVC gel sheet 21.SELECTED DRAWING: Figure 1

Description

The present invention relates to an actuator in which a dielectric sheet extends in the plane direction when a voltage is applied to the dielectric sheet through electrodes arranged on both sides of the dielectric sheet.

As an actuator of this type, the applicant discloses a dielectric actuator in Patent Document 1 below. This dielectric actuator is configured to include a PVC gel sheet as a dielectric sheet and flexible electrodes provided on both sides of the PVC gel sheet, and extends in the plane direction when a voltage is supplied to the PVC gel sheet via the electrodes. Then, when the voltage supply is stopped, it returns to the initial state. That is, this dielectric actuator is configured to expand and contract in the plane direction as the voltage is supplied and stopped. Further, in this dielectric actuator, the ratio (expansion / contraction) between the difference in the area of the electrodes before and after applying the voltage and the area of the electrodes in the state where the voltage is not applied is compared with the dielectric actuator using the dielectric elastomer instead of the PVC gel sheet. The rate) is large, and it is possible to obtain a stretch rate of 12% when the applied voltage is 3000 V.

JP-A-2017-108601

However, the above-mentioned dielectric actuator has the following problems to be solved. Specifically, the dielectric actuator using the PVC gel sheet described above can obtain a large expansion / contraction ratio as compared with the dielectric actuator using the dielectric elastomer, but a voltage of 3000 V is applied to obtain the expansion / contraction ratio of 12%. Need to apply. On the other hand, this type of dielectric actuator is expected to be applied to devices worn by humans by taking advantage of its flexibility. In order to realize the application to such equipment, it is necessary to reduce the voltage and generate a large expansion / contraction rate. However, in the above-mentioned dielectric actuator, it is necessary to apply a high voltage of 3000 V, and the expansion / contraction ratio is not sufficient at 12%. Therefore, lowering the voltage and increasing the expansion / contraction ratio are desired.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an actuator capable of realizing a low voltage and an increase in expansion / contraction rate.

The actuator according to claim 1 for achieving the above object is a dielectric sheet formed in the form of a gel-like polyvinyl chloride sheet and a flexible sheet disposed on both sides of the dielectric sheet. An actuator that is provided with a shaped electrode and the dielectric sheet extends in the plane direction when a voltage is supplied to the dielectric sheet through each of the electrodes, and is made of a flexible material and has a linear or strip shape. A regulatory member is formed on the dielectric sheet and is arranged so as to extend in one direction on at least one surface of the dielectric sheet to regulate the extension of the dielectric sheet in the one direction. It is characterized in that a plurality of pieces are juxtaposed along the crossing direction intersecting with the one direction in the above.

The actuator according to claim 2 is the actuator according to claim 1, characterized in that the dielectric sheet is prestrained in one direction.

Further, the actuator according to claim 3 is characterized in that, in the actuator according to claim 1 or 2, a plurality of the regulating members are arranged side by side on both sides of the dielectric sheet.

The actuator according to claim 4 is the actuator according to any one of claims 1 to 3, wherein the regulating member is made of paper.

The actuator according to claim 5 is the actuator according to any one of claims 1 to 4, wherein the electrodes are formed of a conductive oil compound.

The actuator according to claim 6 is the actuator according to any one of claims 1 to 4, wherein the electrode is formed of a mixture of gel-like polyvinyl chloride and powder carbon.

According to the actuator according to the present invention, a plurality of regulatory members extending in one direction of the dielectric sheet are arranged side by side along an intersecting direction intersecting with one direction, whereby the dielectric sheet expands and contracts in one direction. It is possible to sufficiently increase the expansion / contraction rate of the dielectric sheet in the crossing direction. Therefore, according to this actuator, a sufficient expansion / contraction rate can be secured even when the voltage is low as compared with the conventional actuator, and as a result, the voltage can be lowered and the expansion / contraction rate can be increased. Can be done.

Further, according to this actuator, by applying the prestrain in one direction to the dielectric sheet, the expansion and contraction in one direction of the dielectric sheet can be more reliably regulated, so that the crossing direction of the dielectric sheets can be regulated more reliably. As a result of being able to further increase the expansion / contraction rate, it is possible to further reduce the voltage and further increase the expansion / contraction rate.

Further, according to this actuator, by arranging a plurality of regulating members on both sides of the dielectric sheet side by side, it is possible to more reliably regulate the expansion and contraction of the dielectric sheet in one direction. As a result of being able to further increase the expansion / contraction ratio in the direction, it is possible to realize further reduction in voltage and further increase in expansion / contraction ratio.

Further, according to this actuator, since the restricting member is made of paper, the restricting member having sufficient flexibility can be formed lightweight, so that the weight of the actuator can be reduced.

Further, according to this actuator, since the electrode is formed by the conductive oil compound, the electrode can be formed by applying the conductive oil compound to the surface of the dielectric sheet, so that the electrode can be formed in a separate step in advance. The manufacturing process of the actuator can be simplified as compared with the structure to be manufactured.

Further, according to this actuator, by forming the electrode with a mixture of gel-like polyvinyl chloride and powder carbon, the electrode prepared in advance can be arranged on each surface of the dielectric sheet, so that the dielectric material can be arranged. By applying the electrode material to the surface of the sheet, the manufacturing time of the actuator can be shortened as compared with the configuration in which the electrode is formed.

It is a top view of the actuator 10. It is a block diagram which shows the structure of the actuator 10. It is a flowchart of PVC solution preparation process 50. It is a flowchart of the actuator assembly process 60. It is 1st explanatory drawing explaining the manufacturing method of the actuator 10. It is a 2nd explanatory drawing explaining the manufacturing method of the actuator 10. It is a 3rd explanatory diagram explaining the manufacturing method of the actuator 10. It is a 4th explanatory drawing explaining the manufacturing method of the actuator 10. It is a 5th explanatory drawing explaining the manufacturing method of the actuator 10. It is a sixth explanatory drawing explaining the manufacturing method of the actuator 10. It is a characteristic diagram which shows the result of the characteristic test.

Hereinafter, embodiments of the actuator according to the present invention will be described with reference to the accompanying drawings.

First, the configuration of the actuator 10 shown in FIG. 1 will be described. The actuator 10 is an example of the actuator according to the present invention, and as shown in FIGS. 1 and 2, a PVC gel sheet 21, a pair of sheet-shaped electrodes 22 arranged on both sides of the PVC gel sheet 21, and a strip-shaped (strip-shaped) It is formed in a strip shape (rectangular shape) as a whole with a plurality of regulating members 23 formed on both sides (an example of at least one surface) of the PVC gel sheet 21 and formed in a linear shape or a strip shape (example).

The PVC gel sheet 21 is an example of a dielectric sheet in the present invention, is configured by containing polyvinyl chloride (PVC) and a plasticizer, has dielectric properties, and exhibits a gel state at room temperature. The PVC gel sheet 21 has a property of being deformed by the supply of voltage. Further, as shown in FIGS. 1 and 2, the PVC gel sheet 21 is formed in the shape of a rectangular (strip) sheet.

As shown in FIGS. 1 and 2, the electrode 22 is formed in the shape of a rectangular (strip-shaped) sheet, and has conductivity and flexibility. In this embodiment, the electrode 22 is formed by applying a conductive oil compound in which carbon is mixed with silicone oil to both surfaces of the PVC gel sheet 21.

The regulating member 23 is made of a material having inflexibility. In this embodiment, the regulating member 23 is made of paper. Further, as shown in FIGS. 1 and 2, the regulating member 23 is formed in a strip shape (a linear or strip-shaped example) and extends in the width direction (an example of one direction) of the PVC gel sheet 21 on both sides of the PVC gel sheet 21. A plurality of PVC gel sheets 21 are juxtaposed along the length direction (an example of the crossing direction intersecting in one direction (orthogonal in this example)) so as to exist.

In this actuator 10, when a voltage is being supplied to the PVC gel sheet 21 via each electrode 22, the PVC gel sheet 21 is deformed so as to extend in the plane direction, and when the supply of voltage to the PVC gel sheet 21 is stopped. The PVC gel sheet 21 contracts in the plane direction with a force due to the restoration (release of deformation) of the PVC gel sheet 21, and the force generated by the deformation of the PVC gel sheet 21 can be output as a driving force. Further, in the actuator 10, since a plurality of restricting members 23 having inflexibility are arranged so as to extend in the width direction of the PVC gel sheet 21, expansion and contraction of the PVC gel sheet 21 in the width direction is restricted. Therefore, in this actuator 10, the expansion and contraction amount of the entire PVC gel sheet 21 is concentrated in the length direction by the amount that the expansion and contraction of the PVC gel sheet 21 in the width direction is restricted, and as a result, compared with the configuration in which the regulation member 23 is not provided. Then, the PVC gel sheet 21 greatly expands and contracts in the length direction.

Next, a method of manufacturing the actuator 10 will be described.

First, a method for preparing a PVC solution as a material for the PVC gel sheet 21 will be described with reference to the flowchart of the PVC solution preparation step 50 shown in FIG. In this PVC solution preparation step 50, first, a solvent (tetrahydrofuran as an example) is weighed and charged into a stirring container (step 51). The solvent is preferably used in the range of 600 to 1000 parts by weight with respect to 100 parts by weight of polyvinyl chloride, and in this embodiment, 800 parts by weight of the solvent is used with respect to 100 parts by weight of polyvinyl chloride.

Next, the polyvinyl chloride is weighed and charged into the stirring container in which the solvent is charged while stirring (step 52). In this embodiment, 100 parts by weight of polyvinyl chloride is weighed and charged with respect to 800 parts by weight of the solvent.

Subsequently, in a state where the polyvinyl chloride and the solvent are sufficiently mixed (dissolved), the plasticizer is weighed and charged into the stirring container in which the polyvinyl chloride and the solvent are charged while stirring (step 53). In this case, various plasticizers can be used, but in this example, dibutyl adipate (DBA) is used. The plasticizer is preferably used in the range of 100 to 500 parts by weight with respect to 100 parts by weight of polyvinyl chloride, and in this embodiment, 400 parts by weight of the plasticizer is used with respect to 100 parts by weight of polyvinyl chloride. .. Next, a stirring container containing polyvinyl chloride, a solvent and a plasticizer (a mixture thereof) is set in the defoaming device, and the defoaming treatment is performed (step 54). This completes the preparation of the PVC solution.

Subsequently, the method of assembling the actuator 10 will be described with reference to the flowchart of the actuator assembly step 60 shown in FIG. In this actuator assembly step 60, first, as shown in FIG. 5, the PVC solution 200 is applied onto a glass plate, and the PVC solution 200 is thinned on the glass plate using a film forming machine (applicator), and then the PVC solution 200 is thinned. Store in an incubator and dry at 20 ° C. for 5 days. As a result, the PVC gel sheet 21 is formed on the glass plate 100 (step 61).

Subsequently, as shown in FIG. 6, the PVC gel sheet 21 on the glass plate is cut into a predetermined shape (for example, a rectangle having a width of 20 mm and a length of 50 mm) using a cutter (step 62). Next, as shown in FIG. 7, the cut out PVC gel sheet 21 is placed on a glass plate, and then the PVC gel sheet 21 is pulled in the width direction (left-right direction in the figure) to prestrain (press) in the width direction. Train) is given (step 63). In this embodiment, a prestrain of 150% (30 mm in this example) is applied to the width before pulling (20 mm in this example) (that is, pulling until the width becomes 50 mm).

Next, the regulating member 23 is attached (step 64). Specifically, as shown in FIG. 8, a plurality of regulatory members 23 are arranged at equal intervals in the length direction (vertical direction in the figure) so as to extend in the width direction of one surface of the PVC gel sheet 21. Deploy. In this case, as an example, a high-quality paper having a width of 2 mm and a length of 50 mm cut into a strip and having a thickness of 70 μm is used as the regulating member 23. Subsequently, both ends of the regulating member 23 and the widthwise edges of the PVC gel sheet 21 are fixed with the adhesive tape 300. Next, the PVC gel sheet 21 is inverted, and a plurality of regulating members 23 are arranged on the other surface of the PVC gel sheet 21 by the procedure described above and fixed with the adhesive tape 300. Subsequently, as shown in FIG. 9, the PVC gel sheet 21 to which the regulating member 23 is attached is cut into a predetermined shape (for example, a rectangle having a width of 25 mm and a length of 40 mm) (step 65).

Next, the electrode 22 is formed (step 66). Specifically, as shown in FIG. 10, a conductive oil compound is applied so as to cover one surface of the PVC gel sheet 21 and the regulating member 23, and the conductive oil compound is left to stand until the fluidity of the conductive oil compound decreases. As a result, the electrode 22 is formed on one surface. Subsequently, the PVC gel sheet 21 having the electrode 22 formed on one surface and the regulating member 23 are inverted, and the conductive oil compound is applied so as to cover the other surface until the fluidity of the conductive oil compound decreases. put. As a result, the electrode 22 is formed on the other surface. Next, a lead wire (not shown) is connected to each electrode 22 (step 67). As a result, the actuator assembly process 60 is completed and the actuator 10 is completed.

Next, the results of the characteristic test of the actuator according to the present invention will be described.

In the characteristic test, the actuator 10 manufactured by the above-mentioned manufacturing method was designated as Example 1. Further, the actuator 10 manufactured with the pre-strain set to 70% in the actuator assembly step 60 described above was designated as Example 2. Further, the actuator 10 in which the regulating member 23 is not arranged and the pre-distortion is not applied is set as Comparative Example 1.

Further, in this characteristic test, the expansion / contraction rate in the length direction of the PVC gel sheet 21 when a voltage is supplied to the PVC gel sheet 21 via the electrodes 22 of the actuators 10 of Examples 1 and 2 and Comparative Example 1 is determined. The measurement was performed while changing the voltage value. In this case, when the length of the PVC gel sheet 21 in the initial state where no voltage is supplied is L0 and the length of the PVC gel sheet 21 when the voltage is supplied is L1, the table is expressed as (L1-L0) / L0. The value (%) to be applied was taken as the expansion / contraction rate. Further, L0 and L1 in Examples 1 and 2 are set to the length of only the portion where the regulating member 23 is not arranged (the portion contributing to expansion and contraction).

The results of the characteristic test are shown in FIG. From the figure, the actuator 10 of Example 1 in which the paper regulating member 23 is arranged to give a prestrain of 150%, and the paper regulating member 23 are arranged to give a prestrain of 70%. It is clear that the actuator 10 of the second embodiment has a sufficiently large expansion / contraction rate at the same voltage value as compared with the actuator 10 of the comparative example 1 in which the regulating member 23 is not arranged and the pre-distortion is not applied. Is. That is, it is clear that by arranging the regulating member 23 and applying pre-strain, it is possible to realize a sufficient low voltage and a sufficient increase in expansion / contraction rate.

Further, as an additional test of the characteristic test, the actuator 10 in which the paper regulating member 23 is arranged and the prestrain is not applied is set as Example 3, and the regulating member 23 made of a resin fiber having a diameter of 70 μm is arranged. As Example 4, the actuator 10 to which 70% pre-strain was applied was measured as the expansion / contraction rate of the PVC gel sheet 21 in each actuator 10 in the length direction while changing the voltage value (not shown). In the actuators 10 of Examples 3 and 4, the expansion / contraction rate at the same voltage value was sufficiently larger than that of the actuator 10 of Comparative Example 1, but the same voltage value was obtained as compared with the actuators 10 of Examples 1 and 2. The expansion / contraction rate was small.

As described above, according to the actuator 10, a plurality of restricting members 23 extending in the width direction of the PVC gel sheet 21 are arranged side by side along the length direction to regulate the expansion and contraction of the PVC gel sheet 21 in the width direction. As a result, the expansion / contraction rate of the PVC gel sheet 21 in the length direction can be sufficiently increased. Therefore, according to the actuator 10, a sufficient expansion / contraction rate can be secured even when the voltage is low as compared with the conventional actuator, and as a result, the voltage can be lowered and the expansion / contraction rate can be increased. be able to.

Further, according to this actuator 10, by applying the prestrain to the PVC gel sheet 21, the expansion and contraction in the width direction of the PVC gel sheet 21 can be more reliably regulated, so that the expansion and contraction rate in the length direction of the PVC gel sheet 21 can be more reliably regulated. As a result, it is possible to realize a further lower voltage and a further increase in the expansion / contraction rate.

Further, according to this actuator 10, by arranging a plurality of regulating members side by side on both sides of the PVC gel sheet 21, it is possible to more reliably regulate the expansion and contraction of the PVC gel sheet 21 in the width direction, so that the length of the PVC gel sheet 21 can be regulated. As a result of being able to further increase the expansion / contraction ratio in the direction, it is possible to realize further reduction in voltage and further increase in expansion / contraction ratio.

Further, according to the actuator 10, since the regulating member 23 is made of paper, the regulating member having sufficient flexibility can be formed lightweight, so that the weight of the actuator 10 can be reduced. ..

Further, according to this actuator 10, since the electrode 22 is formed of the conductive oil compound, the electrode 22 can be formed by applying the conductive oil compound to the surface of the PVC gel sheet 21, so that the electrode 22 can be formed. The manufacturing process of the actuator 10 can be simplified as compared with a configuration in which the actuator 10 is manufactured in a separate step and arranged on both sides of the PVC gel sheet 21.

The actuator 10 described above is an example of the actuator according to the present invention, and an appropriately modified configuration can be adopted. For example, in the actuator 10 described above, the restricting member 23 is arranged on both sides of the PVC gel sheet 21, but the restricting member 23 is arranged on only one surface of the PVC gel sheet 21. You can also. Further, the actuator 10 described above is configured to include only one PVC gel sheet 21, but includes a plurality of PVC gel sheets 21 and electrodes 22 arranged on both sides of each PVC gel sheet 21, and one or more PVCs. It is also possible to adopt a configuration in which the regulating member 23 is arranged on at least one surface of the gel sheet 21.

Further, in the actuator 10 described above, the electrode 22 formed of the conductive oil compound is adopted, but the electrode 22 formed into a sheet shape by a mixture of gel-like polyvinyl chloride and powder carbon can also be adopted. .. According to this configuration, the electrode 22 prepared in advance can be arranged on each surface of the PVC gel sheet 21, so that the electrode 22 is formed by applying the electrode material to the surface of the PVC gel sheet 21 as compared with the configuration. The manufacturing time of the actuator 10 can be shortened.

Further, in the above-described configuration of the actuator 10, the PVC gel sheet 21 and the electrode 22 constituting the actuator 10 are each formed in a rectangular shape, but the PVC gel sheet 21 and the electrode 22 are formed in another plan view shape (for example, a circular shape or an elliptical shape). , Polygons other than quadrangles) can also be adopted.

Further, in the above-mentioned actuator 10, the width direction is defined as one direction, the length direction orthogonal to the width direction is defined as the crossing direction, and the regulation member 23 is arranged, but the one direction and the crossing direction are arbitrary. Can be specified. For example, a direction that is tilted at an arbitrary angle (for example, 30 °) with respect to the width direction is defined as one direction, and a direction that is tilted at an arbitrary angle (for example, 45 °) with respect to the one direction is defined as a crossing direction. It can also be specified.

10 Actuator 21 PVC gel sheet 22 Electrode 23 Regulatory member

Claims (6)

A dielectric sheet formed of a gel-like polyvinyl chloride in the form of a sheet and flexible sheet-like electrodes arranged on both sides of the dielectric sheet are provided, and the electrodes are interposed therein. An actuator in which the dielectric sheet extends in the plane direction when a voltage is applied to the dielectric sheet.
It is made of a flexible material and is formed in a linear or strip shape and is arranged so as to extend in one direction on at least one surface of the dielectric sheet so that the dielectric sheet extends in the one direction. An actuator characterized in that a plurality of regulatory members are arranged side by side along an intersection direction intersecting with the one direction on at least one surface. The actuator according to claim 1, wherein the dielectric sheet is prestrained in one direction. The actuator according to claim 1 or 2, wherein a plurality of the restricting members are arranged side by side on both sides of the dielectric sheet. The dielectric actuator according to any one of claims 1 to 3, wherein the regulating member is made of paper. The actuator according to any one of claims 1 to 4, wherein the electrode is formed of a conductive oil compound. The actuator according to any one of claims 1 to 4, wherein the electrode is formed of a mixture of gel-like polyvinyl chloride and powdered carbon.

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