JP4250536B2 - Conductive polymer actuator - Google Patents

Description

  The present invention relates to a conductive polymer actuator having a flexible electrode that does not hinder the passage of ions and does not inhibit the displacement of a conductive polymer stretch.

  With the increasing demand for machines that operate in places close to humans, such as home robots, expectations for artificial muscle actuators that operate flexibly like human muscles have increased. As a candidate for an artificial muscle actuator, various types of actuators have been proposed so far, and as one of them, an actuator using a conductive polymer has been proposed.

  As an example of an artificial muscle actuator using a conductive polymer, an actuator that generates a flexural deformation as shown in FIG. 4 has been proposed. This actuator has a structure in which the solid electrolyte molded body 2 is sandwiched between polyaniline film bodies 5a and 5b which are conductive polymer films. When the switch 4 is turned on, the potential difference set in the power supply 3 is applied between the polyaniline film bodies 5a and 5b, an anion is inserted into the polyaniline film body 5b, and the other polyaniline film body is expanded. From 5a, the anion is released and contracted, and as a result, a deflection deformation occurs. In this case, one polyaniline film body 5b acts as an electrode connected to the other polyaniline film body 5a via the electrolyte forming body 2. In this example, displacement in the deflection direction occurs, but when there is only one conductive polymer film, or when multiple conductive polymer films expand and contract in the same direction, displacement in the extension direction Can also be taken out. Since such a conductive polymer actuator generates a distortion comparable to muscles at a low voltage of 2 to 3 V, it is expected to be put into practical use as an artificial muscle (for example, see Patent Document 1).

  However, conductive polymer films such as polyaniline and polypyrrole used as actuators do not have sufficient conductivity when considered as electrodes. For this reason, in a configuration in which a lead wire is connected to the end of the conductive polymer film to apply a potential, the potential at the tip during operation drops due to the resistance of the conductive polymer film, and the displacement and response of the actuator The nature decreases compared to the potential of the material. Therefore, by providing an electrode on the conductive polymer film and homogenizing the potential of the entire conductive polymer film, the amount of displacement and the response can be improved (for example, see Patent Document 2). . However, when the rigidity of the electrode is high, the operation of the actuator is hindered by the electrode, so that the coil described in Non-Patent Document 1 or Non-Patent Document 2 is used as the flexible electrode combined with the conductive polymer film. And a corrugated gold electrode described in Non-Patent Document 3 have been proposed.

JP 11-169393 A Japanese Patent Laid-Open No. 11-169394 Chemistry Letters, Vol. 32, no. 9 pages 800-801 Synthetic Metals, Vol. 138, pages 391-398 Advanced Materials, Vol. 15, no. 4 pages 310-313

  However, the flexible electrode mentioned above also has a subject. In the case of a coiled electrode, it is desirable to make the coil thicker and narrower in order to suppress the potential drop, but in that case, the displacement of the conductive polymer in contact with the electrode is suppressed. Overall, the displacement cannot be improved. In addition, when the coil is thinned, it is difficult to maintain the shape of the coil, which makes manufacturing difficult. Furthermore, in the case of a flexible electrode that is not limited to a coil shape and is made flexible by changing the shape of the electrode, the strain direction of the electrode and the strain direction of the conductive polymer do not completely match, and there is a problem in durability. Further, since the actuator has a cylindrical shape, the internal space of the actuator is wasted and it is difficult to arrange with high density.

  On the other hand, in the case of a flexible electrode such as a corrugated gold electrode, it is considered that the above-mentioned problems do not become much of a problem, but ions cannot pass in and out through the flexible electrode. Both sides cannot be used effectively, and there is a limit to improving the responsiveness.

  Accordingly, an object of the present invention is to provide a conductive polymer actuator that has a flexible electrode that does not hinder the passage of ions and does not hinder the displacement of a conductive polymer stretchable body, and can be arranged efficiently. Is to provide.

  In order to achieve the above object, the present invention is configured as follows.

According to the first aspect of the present invention, between the first electrode directly connected to the stretch body of the conductive polymer and the second electrode connected to the conductive polymer via the electrolyte housing layer. In a conductive polymer actuator in which expansion and contraction deformation of the conductive polymer stretch accompanying the oxidation-reduction reaction occurs by applying a potential difference,
The conductive polymer actuator is characterized in that the first electrode is a gel containing an ion and an electron conductor contained in the oxidation-reduction reaction.

  Therefore, according to the present invention, it is possible to obtain a conductive polymer actuator that has a flexible electrode that does not hinder the passage of ions and that does not inhibit the displacement of the conductive polymer stretchable body and can be arranged efficiently. . That is, according to the present invention, the electrode directly connected to the stretch body of the conductive polymer is a gel containing ions and electron conductors included in the redox reaction of the stretch body of the conductive polymer, Ions necessary for the oxidation-reduction reaction are contained in the electrode itself, and ions can enter and leave the conductive polymer stretch. Similarly, ions can enter and leave the electrolyte housing layer, so that the electrodes do not hinder the passage of ions. Furthermore, since the electrode is a gel, it has flexibility and the effect of not hindering the displacement of the conductive polymer expansion / contraction body is obtained, and it becomes easy to stack the actuator including the electrode. It becomes possible to arrange efficiently.

  Before describing embodiments of the present invention in detail based on the drawings, various aspects of the present invention will be described below.

According to the first aspect of the present invention, the conductive polymer is composed of a conductive polymer expansion / contraction body that expands and contracts due to the entry and exit of ions accompanying the oxidation-reduction reaction, and the gel containing the ions and the electron conductor. And a second electrode connected to the conductive polymer via an electrolyte housing layer, and a potential difference between the first electrode and the second electrode. by giving, providing a conductive polymer actuator, characterized in that the conductive polymer is deformed accompanied intends expansion and contraction in the redox reaction.

  According to such a configuration, ions necessary for the oxidation-reduction reaction are contained in the electrode itself, and ions can enter and exit from the conductive polymer stretch. Similarly, ions can enter and leave the electrolyte housing layer, so that the electrodes do not hinder the passage of ions. Furthermore, since the electrode is a gel, it has flexibility, and the effect of not inhibiting the displacement of the conductive polymer expansion / contraction body can be obtained. A conductive polymer actuator having a flexible electrode that does not inhibit displacement can be obtained.

  According to a second aspect of the present invention, the first electrode and the second electrode are both gels containing ions and electron conductors included in the oxidation-reduction reaction. A conductive polymer actuator according to an aspect is provided.

  According to such a configuration, both electrodes are flexible because they are gels, and the effect of not inhibiting the displacement of the conductive polymer stretchable body can be obtained. It is possible to obtain a conductive polymer actuator having a flexible electrode that does not disturb and does not inhibit the displacement of the conductive polymer.

  According to a third aspect of the present invention, the gel used for the first electrode is arranged so as to cover one or more surfaces of the conductive polymer stretchable body. A conductive polymer actuator according to an aspect is provided.

  According to such a configuration, a substantially uniform potential can be applied over the entire surface of the conductive polymer stretched body covered with the electrode gel, and the displacement amount and the responsiveness can be controlled by the conductive polymer stretched body. A conductive polymer actuator closer to the potential of the material can be obtained.

  According to a fourth aspect of the present invention, there is provided a highly conductive material according to any one of the first to third aspects, wherein the gel includes a metal body having an electric conductivity of 10,000 S / cm or more. A molecular actuator is provided.

  According to such a configuration, the electrical conductivity of the metal body improves the electrical conductivity compared to the case of the electrode gel alone, and the conductive polymer actuator having a flexible electrode with more excellent electrical conductivity. Can be obtained.

  According to the fifth aspect of the present invention, the conductive polymer stretched body to which the first electrode is connected and the second electrode are alternately stacked with the electrolyte housing layer interposed therebetween. A conductive polymer actuator according to any one of the first to fourth aspects is provided.

  According to such a configuration, the conductive polymer actuator can be efficiently arranged in parallel, so that a thin conductive polymer actuator with a large generated stress can be obtained.

  According to the sixth aspect of the present invention, the conductive polymer stretchable body is laminated while sandwiching either or both of the first electrode and the electrolyte housing layer, and the second electrode is The conductive polymer actuator according to any one of the first to fourth aspects is provided, which is connected via an electrolyte housing layer.

  According to such a configuration, since the second electrode is not included between the conductive polymer stretchable bodies, the conductive polymer stretchable bodies can be arranged more efficiently, and the conductive high-conductivity high thickness A molecular actuator can be obtained.

  According to a seventh aspect of the present invention, in the first to sixth aspects, the gel is composed of an ionic liquid having an ion or a cation as an ion contained in the redox reaction and a carbon nanotube. The conductive polymer actuator according to any one of the embodiments is provided.

  According to such a configuration, the electrode contains ions necessary for the oxidation-reduction reaction and carbon nanotubes that act as an electron conductor, and does not prevent the passage of ions, and the displacement of the conductive polymer stretchable body. It is possible to obtain a conductive polymer actuator having a flexible electrode that does not impede.

  According to an eighth aspect of the present invention, in any one of the first to seventh aspects, the electrolyte housing layer is an ionic liquid having an ion or cation as an ion used for the redox reaction. A conductive polymer actuator according to an aspect is provided.

  According to such a configuration, it is possible to obtain a conductive polymer actuator in which the electrolyte housing layer does not have unstable factors such as solvent evaporation.

  According to a ninth aspect of the present invention, the electrolyte casing layer is a polymer gel containing an ionic liquid having an anion or a cation as an ion used in the oxidation-reduction reaction. The conductive polymer actuator according to any one of 7 is provided.

  According to such a configuration, it is possible to obtain a conductive polymer actuator that is excellent in adhesion between the electrolyte casing layer and the electrode gel and does not need to consider liquid sealing.

  Hereinafter, various embodiments of the present invention will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 is a cross-sectional view schematically showing an artificial muscle actuator 1 as an example of a conductive polymer actuator according to a first embodiment of the present invention. Moreover, the external view is shown in FIG.

  In FIG. 1, reference numeral 11 denotes an elastic plate, which is a rectangular elastic body made of a conductive polymer that expands and contracts due to an oxidation-reduction reaction, and is a space surrounded by a cylindrical case 21 and a disk-like lid 22. It is arrange | positioned in the approximate center part in the liquid of the ionic liquid 13 which is an electrolyte housing layer which satisfy | fills.

  Polypyrrole, polyaniline, polymethoxyaniline, or the like can be used as the conductive polymer constituting the conductive polymer stretchable plate 11, but polypyrrole is desirable because of its large displacement. The thickness of the conductive polymer stretchable plate 11 is preferably about several tens of micrometers. If it is thinner than that, it will be weak in strength, and if it is thicker than that, ions will not be able to enter and exit sufficiently to the inside of the conductive polymer stretch plate 11, which is not desirable.

  Rods 23a and 23b are connected to both ends of the conductive polymer stretchable plate 11 in the longitudinal direction. The rod 23a passes through a seal member 24a provided on the lid 22, and the rod 23b is connected to the case 21. And projecting to the outside of the lid 22 and the case 21, respectively.

A flexible electrode (an example of a first electrode) 12 composed of a gel made of carbon nanotubes, which are the same kind of ionic liquid as the ionic liquid 13 and an electronic conductor, is formed on the conductive polymer stretchable plate 11. The ionic liquid 13 filled in the space in the case 21 is in close contact with the other surfaces. The wiring connected to the flexible electrode 12 is connected to the power source 3 through a seal member 24 c provided on the lid 22. The flexible electrode 12 is disposed so as to cover all or almost one surface of the upper surface of the conductive polymer stretchable plate 11. In this way, the potential of the conductive polymer stretchable plate 11 can be uniformly maintained throughout. In addition, as a modification, by arranging the flexible electrode 12 so as to cover both surfaces of the conductive polymer stretchable plate 11, this effect can be made more remarkable. A counter electrode (an example of a second electrode) 25 is connected to the other pole of the power supply 3 via the switch 4. The counter electrode 25 is in contact with the ionic liquid 13 filled in the space in the case 21 through a seal member 24 d provided in the lid 22. Examples of the ionic liquid 13 that can be gelled include SCIENCE, Vol. EMIBF ₄ , BMIBF ₄ , HMIBF ₄ , BMIPF ₆ , EMITf ₂ N, BMITf ₂ N, or ABMIPF ₆ etc. are available as reported on pages 2072-2074 of 300, but include PF ₆ as anions BMIPF ₆ or ABMIPF ₆ is desirable because large displacement can be obtained in combination with polypyrrole, polyaniline, or the like.

  Next, the operation of the artificial muscle actuator 1 will be described.

  Causes of contraction of the conductive polymer stretchable plate 11 include the entry and exit of anions (anions), the entry and exit of cations (cations), and changes in the polymer structure. FIG. 1 (A) and FIG. In the explanation of the operation principle according to B) and FIG. 1C, since the main deformation mechanism is anion doping and undoping in a material system such as polypyrrole, the entry and exit of anions will be described.

FIG. 1A shows a state in which no voltage is applied to the flexible electrode 12 in a switch-off state, and FIG. 1B shows a case where a positive potential is applied to the flexible electrode 12. The same potential is given to the conductive polymer stretchable plate 11 by the voltage applied to the flexible electrode 12, and the anion that is homogeneously present in the ionic liquid 13, which is the electrolyte housing layer, is applied to the positive electrode when no voltage is applied. It is attracted to the side of the conductive polymer stretchable plate 11 side and enters the inside of the conductive polymer stretchable plate 11. In accordance with this oxidation process, the conductive polymer stretch plate 11 is extended, and the displacement in the extension direction of the conductive polymer stretch plate 11 can be taken out by the rods 23a and 23b. At this time, the flexible electrode 12 contains the same anion (for example, PF ₆ ) as the ionic liquid 13, and the anion enters and exits between the ionic liquid 13 and the conductive polymer stretchable plate 11. It does not become an obstacle, and the anion enters and exits from the flexible electrode 12 side. FIG. 1C shows a case where a negative voltage is applied to the flexible electrode 12. The anions present in the conductive polymer stretch plate 11 are attracted toward the counter electrode 25 facing each other, and the conductive polymer stretch plate 11 is contained in the ionic liquid 13 or the flexible electrode 12 as the electrolyte enclosure layer. With this reduction process, the conductive polymer stretchable plate 11 contracts, and the rods 23a and 23b can extract the displacement in the contraction direction. Here, the flexible electrode 12 contains carbon nanotubes as an electron conductor. Here, a metal body having an electrical conductivity of 10,000 S / cm or more, such as gold, copper, platinum, titanium, nickel, or stainless steel. And the like, the electrical conductivity of the flexible electrode 12 can be improved as compared with the case of using only carbon nanotubes, and the artificial muscle actuator 1 can function more sufficiently. In the case where the flexible electrode 12 contains a metal body having an electrical conductivity of less than 10,000 S / cm, compared with the disadvantages such as a decrease in flexibility due to inclusion of the metal in the flexible electrode 12, sufficient electrical conductivity is achieved. Since an improvement effect cannot be obtained, it is not desirable. The shape of the metal body contained in the flexible electrode 12 may include a plurality of small pieces, a linear piece, or a combination of both. In particular, a linear object is desirable because it can also serve as a wiring with a power source.

  FIG. 5A and FIG. 5B compare the case where the flexible electrode 12 is not present and the case where the flexible electrode 12 is present with respect to the anion doping described above. In the absence of the flexible electrode 12, even if a voltage is applied to the left side of the conductive polymer stretch plate 11, as shown in FIG. 5A, the anion is generated from the left side of the conductive polymer stretch plate 11. It takes time to dope in order and dope to the right end of the conductive polymer stretchable plate 11. This is because the voltage at the right end of the conductive polymer stretch plate 11 does not immediately match the applied voltage due to the resistance of the conductive polymer stretch plate 11. On the other hand, as shown in FIG. 5B, when the flexible electrode 12 is present, a voltage is applied to the entire conductive polymer stretch plate 11, and therefore, anions are formed on the conductive polymer stretch plates 11. The parts are doped all at once, and the artificial muscle actuator operates at high speed.

  As described above, according to the first embodiment, the flexible electrode 12 itself contains the anion necessary for the oxidation-reduction reaction, and ions enter and exit the elastic polymer stretch plate 11. It becomes possible. Similarly, ions can enter and leave the ionic liquid 13 that is the electrolyte housing layer, so that the flexible electrode 12 does not hinder the passage of anions. Furthermore, since the flexible electrode 12 is a gel, it has flexibility, and the effect of not inhibiting the displacement of the conductive polymer stretchable plate 11 can be obtained. A conductive polymer actuator having a flexible electrode 12 that does not inhibit the displacement of the polymer stretchable plate 11 can be obtained. In addition, although the case where an anion came in and out was demonstrated in 1st Embodiment, the case where a cation comes in and out can be implemented similarly. In the first embodiment, the case where the ionic liquid 13 is used as the electrolyte casing layer is described. However, an electrolytic solution containing ions in a solvent such as water or an organic solvent, or an ionic liquid is used as a polymer. A case where a gel skeleton is used as an electrolyte casing layer is also included in the present invention.

  FIG. 7 shows a configuration example of a robot hand using a plurality of artificial muscle actuators in the first embodiment. The artificial muscle actuators 1a to 1h are made into a pair, and an antagonistic muscle structure is formed. By rotating one side of each driving unit of the robot hand and contracting the other side of each driving unit of the robot hand, it is possible to generate a rotational motion on the shafts 101 to 104 of each driving unit of the robot hand. Specifically, in the configuration of FIG. 7, the vertical axis 101 is rotated by the artificial muscle actuators 1a and 1b, the shaft 102 is similarly rotated by the artificial muscle actuators 1c and 1d, the axis 103 is rotated by the artificial muscle actuators 1e and 1f, and the like. The shafts 104 are rotated by the artificial muscle actuators 1g and 1h, respectively.

  Specifically, the robot arm having four degrees of freedom is configured so that the vertical axis 101 of the first joint that rotates forward and backward in the plane along the horizontal direction along the vertical axis with respect to the fixed wall 301 and the plane along the vertical direction. Between the axis 102 of the second joint that rotates forward and backward, the axis 103 of the third joint that rotates forward and backward between the second arm 308 and the first arm 311, and between the first arm 311 and the hand 313 And a shaft 104 of the fourth joint which is rotated forward and backward with respect to each other.

  In the first joint 101, circular supports 302 and 302 are rotatably connected to both sides of a rotary shaft 303 whose upper and lower ends are rotatably supported by bearings 304 and 305 along the vertical direction, and an artificial muscle actuator. 1a, 1b (however, the artificial muscle actuator 1b is not shown because it is disposed behind the artificial muscle actuator 1a) and one end of each is connected to the fixed wall 301 and the other end is supported by the circular shape. The support shaft 102 (the shaft 102 of the second joint) of the body 302 is connected. Therefore, the first arm 311, the second arm 308, and the hand 313 of the robot arm are integrally and positively integrated in a plane along the lateral direction around the vertical axis 101 of the first joint by antagonistic driving of the artificial muscle actuators 1 a and 1 b. It can be reverse-rotated. The upper bearing 305 is supported on the fixed wall 301 by a support bar 306.

  In the second joint, one end of the second arm link 308 is fixed to the two circular supports 302 and 302 fixed to both sides of the rotation shaft 303. Artificial muscle actuators 1c and 1d are connected between the circular supports 302 and 302 of the second arm link 308 and the supports 307 and 307 fixed orthogonally to one end of the rotating shaft 303, so that the artificial muscle actuators 1c and 1d are connected. By the antagonistic drive of the muscle actuators 1c and 1d, the first arm 311, the second arm 308, and the hand 313 of the robot arm are positively integrated in a plane along the vertical direction around the horizontal axis that is the support shaft 102 of the second joint. Reverse rotation.

  In the third joint 103, the artificial muscle actuators 1e and 1f are coupled along the second arm 308 and between the support 310 and the supports 309 and 309, and the third joint 103 is driven by the antagonistic drive of the artificial muscle actuators 1e and 1f. The first arm 311 and the hand 313 are integrally rotated forward and backward in a plane along the vertical direction around the horizontal axis that is the support shaft 103 of the joint.

  In the fourth joint 104, artificial muscle actuators 1g and 1h are coupled along the first arm 311 and between the support body 310 and the support body 312 fixed to one end of the hand 313, and the artificial muscle actuators 1g and 1h. The hand 313 is rotated in the forward / reverse direction in the plane along the vertical direction around the horizontal axis that is the support shaft 103 of the third joint.

  Each of the artificial muscle actuators 1a and 1b, the artificial muscle actuators 1c and 1d, the artificial muscle actuators 1e and 1f, and the artificial muscle actuators 1g and 1h is appropriately turned on / off by the control of a control computer (not shown), The contraction / extension operations of the muscle actuators 1a and 1b, the artificial muscle actuators 1c and 1d, the artificial muscle actuators 1e and 1f, and the artificial muscle actuators 1g and 1h are controlled.

  With such a configuration, a robot hand can be obtained that makes use of multiple degrees of freedom and moves flexibly like a human arm. Thereby, a robot hand particularly suitable for home use can be realized.

(Second Embodiment)
FIG. 2 is a cross-sectional view schematically illustrating an artificial muscle actuator according to a second embodiment of the present invention, in which the conductive polymer stretched body to which the first electrode is connected, and the second electrode includes the above-described second electrode. The second electrode is sandwiched between the electrolyte casing layers while the conductive polymer stretchable bodies are stacked while sandwiching the electrolyte casing layers and the first electrode is sandwiched between the second electrodes. It is connected. In addition, the part which fulfill | performs the same function as 1st Embodiment mentioned above attaches | subjects the same code | symbol, and abbreviate | omits description. In the second embodiment, the upper and lower surfaces of the conductive polymer stretch plates 11a to 11c corresponding to the conductive polymer stretch plates 11 of the first embodiment respectively correspond to the flexible electrodes 12 of the first embodiment. The flexible electrodes 12a to 12f to be in close contact with each other. The conductive polymer stretchable plates 11a to 11c having the flexible electrodes 12a to 12f and the same material as the flexible electrodes 12a to 12f (including ions and electron conductors included in the oxidation-reduction reaction similar to the flexible electrodes) The counter electrodes 14a to 14d corresponding to the counter electrode 25 of the first embodiment correspond to the electrolyte housing layer 15 (the ionic liquid 13 that is the electrolyte housing layer 15) of the first embodiment, respectively. Are connected via the electrolyte housing layers 15a to 15f. As the electrolyte housing layers 15a to 15f, an electrolytic solution containing ions in a solvent such as an ionic liquid, water, or an organic solvent, or an ionic liquid held in a polymer gel skeleton is used. Although possible, a gelled ionic liquid is desirable in that it can easily retain its shape and can operate without being in liquid. Further, the gel thickness of the gelled ionic liquid is preferably several tens of μm to several mm. If the thickness is smaller than this, ions enter and leave the conductive polymer stretchable plates 11a to 11c at the center of the actuator, and the displacement of the artificial muscle actuator decreases. If it is thicker than this, the artificial muscle actuator becomes larger as a whole, and the output per volume is greatly reduced.

  Next, the operation of the artificial muscle actuator 1 will be described.

As in the case of the first embodiment, the case where the conductive polymer stretchable plates 11a to 11c expand and contract due to the entry and exit of anions will be described. In FIG. 2, when a positive potential is applied to the flexible electrodes 12a to 12f, the same potential is also applied to the conductive polymer stretchable plates 11a to 11c, and it is homogeneous in the electrolyte housing layers 15a to 15f when no voltage is applied. The anions present in the metal are attracted to the conductive polymer side on the positive electrode side and enter the conductive polymer stretchable plates 11a to 11c. With this oxidation process, the conductive polymer stretchable plates 11a to 11c extend. At this time, the flexible electrodes 12a to 12f contain the same anion (for example, PF ₆ ) as the electrolyte housing layers 15a to 15f, and the electrolyte housing layers 15a to 15f and the conductive polymer stretchable plates 11a to 11c The anion enters and exits through the flexible electrodes 12a to 12f. On the contrary, when a negative voltage is applied to the flexible electrodes 12a to 12f, the anions present on the conductive polymer stretchable plates 11a to 11c are attracted toward the counter electrodes 14a to 14d, and are applied to the flexible electrodes 12a to 12f. It comes off from the conductive polymer stretchable plates 11a to 11c. With this reduction process, the conductive polymer stretchable plates 11a to 11c contract.

  As described above, according to the second embodiment, the flexible electrodes 12a to 12f themselves contain anions necessary for the oxidation-reduction reaction, and ions are formed between the conductive polymer stretchable plates 11a to 11c. Can go in and out. Similarly, ions can enter and exit between the electrolyte housing layers 15a to 15f, so that the electrodes do not hinder the passage of anions. Further, since the flexible electrodes 12a to 12f and the counter electrodes 14a to 14d are gels, the flexible electrodes 12a to 12f have flexibility, and an effect of not inhibiting the displacement of the conductive polymer stretchable plates 11a to 11c can be obtained. Thus, it is possible to obtain a conductive polymer actuator having flexible electrodes 12a to 12f that do not hinder the passage of ions and do not inhibit the displacement of the conductive polymer stretchable plates 11a to 11c. Further, the conductive polymer stretchable plates 11a to 11c, the flexible electrodes 12a to 12f, the electrolyte housing layers 15a to 15f, and the counter electrodes 14a to 14d are formed into a film and laminated, thereby efficiently and efficiently conducting the conductive polymer in parallel. Since the elastic plates 11a to 11c can be arranged, a thin conductive polymer actuator having a large generated stress can be obtained. In the second embodiment, the flexible electrodes 12a to 12f are arranged on both surfaces of the conductive polymer stretchable plates 11a to 11c. However, this may be only one surface, and the flexible electrodes 12a to 12f may have both surfaces. A combination of the conductive polymer stretch plates 11a to 11c and the conductive polymer stretch plates 11a to 11c covering only one surface may be used. Moreover, in 2nd Embodiment, although the surface of the artificial muscle actuator 1 is made into the counter electrodes 14a-14d, this is the elastic polymer elastic plates 11a-11c, the flexible electrodes 12a-12f, and the electrolyte housing layers 15a-15f. Any of these may be included in the present invention. Furthermore, in the second embodiment, the case where the anion enters and exits has been described. However, the case where the anion enters and exits can be similarly performed.

(Third embodiment)
FIG. 3 is a diagram schematically illustrating an artificial muscle actuator according to a third embodiment of the present invention, in which the conductive polymer stretchable body includes either or both of the first electrode and the electrolyte housing layer. The second electrode is connected to the stacked layers while sandwiching them through the electrolyte housing layer. In addition, the part which fulfill | performs the same function as 2nd Embodiment mentioned above attaches | subjects the same code | symbol, and abbreviate | omits the description which overlaps. In the third embodiment, the flexible electrodes 12a to 12d and the conductive polymer stretchable plates 11a to 11c are alternately laminated, and the same as the flexible electrodes 12a to 12d via the electrolyte housing layers 15a to 15f. The counter electrode 14 which is a material is connected. As in the second embodiment, the electrolyte housing layers 15a to 15f are made of an ionic liquid, water, or an electrolytic solution containing ions in a solvent such as an organic solvent, or an ionic liquid in a polymer gel skeleton. Although what was made to hold | maintain can be used, the thing which gelatinized the ionic liquid is desirable at the point which is easy to hold | maintain a shape and can operate | move without being in a liquid.

  Next, the operation of the artificial muscle actuator 1 will be described.

As in the case of the second embodiment, the case where the conductive polymer stretchable plates 11a to 11c expand and contract due to the entry and exit of anions will be described. In FIG. 3, when a positive potential is applied to the flexible electrodes 12a to 12d, the same potential is also applied to the conductive polymer stretchable plates 11a to 11c, and is homogeneous in the electrolyte housing layers 15a to 15f when no voltage is applied. The anions present in the conductive film are attracted to the conductive polymer stretchable plates 11a to 11c on the positive electrode side, and enter the conductive polymer stretchable plates 11a to 11c. With this oxidation process, the conductive polymer stretchable plates 11a to 11c extend. At this time, the flexible electrodes 12a to 12d include the same anion (for example, PF ₆ ) as the electrolyte housing layers 15a to 15f, and the electrolyte housing layers 15a to 15f and the conductive polymer stretchable plates 11a to 11c The anion enters and exits through the flexible electrodes 12a to 12d. Conversely, when a negative voltage is applied to the flexible electrodes 12a to 12d, the anions present on the conductive polymer stretchable plates 11a to 11c are attracted toward the counter electrode 14, and the flexible electrodes 12a to 12d are electrically conductive. It comes to detach | leave from the molecule | numerator elastic plates 11a-11c. With this reduction process, the conductive polymer stretchable plates 11a to 11c contract.

  As described above, according to the third embodiment, the flexible electrodes 12a to 12d themselves contain anions necessary for the oxidation-reduction reaction, and between the conductive polymer stretchable plates 11a to 11c. Ion can enter and exit. Similarly, ions can enter and exit between the electrolyte housing layers 15a to 15f, so that the flexible electrodes 12a to 12d do not hinder the passage of anions. Furthermore, since the flexible electrodes 12a to 12d and the counter electrode 14 are gels, they have flexibility and the effect of not inhibiting the displacement of the conductive polymer stretchable plates 11a to 11c can be obtained. It is possible to obtain a conductive polymer actuator having flexible electrodes 12a to 12d that do not hinder the passage of the conductive films and do not inhibit the displacement of the conductive polymer stretchable plates 11a to 11c. Further, as compared with the second embodiment, it is not necessary to laminate the electrolyte housing layers 15a to 15f between the conductive polymer stretch plates 11a to 11c, so that the conductive polymer stretch plates 11a to 11a are more efficiently used. 11c can be arranged, and it is possible to obtain a conductive polymer actuator that is thinner and has a large generated stress. In the third embodiment, the flexible polymer stretchable plates 11a to 11c are all made of flexible electrodes 12a to 12d on the both sides. However, all of them need not be flexible electrodes, and some of them are electrolyte casing layers. May be. In the third embodiment, the three surfaces of the laminate of the flexible electrodes 12a to 12d and the conductive polymer stretchable plates 11a to 11c are covered with the electrolyte housing layers 15a to 15f and the counter electrode 14. Any of the 1st surface-6th surface may be sufficient, and all the cases are also included in the present invention. Furthermore, in the third embodiment, the case where the anion enters and exits has been described. However, the present invention can be similarly applied to the case where the cation enters and exits.

  In addition, this invention is not limited to the said embodiment, It can implement with another various aspect.

  For example, in each of the above embodiments, a part or all of the first electrode between the conductive polymer stretchable bodies may be a laminate of both the first electrode and the electrolyte housing layer. Good. Further, only a part of the electrolyte housing layer may be included. Even in such a case, as long as at least one surface of each conductive polymer is covered with the first electrode, it is possible to perform the same operation as in the above embodiments.

Moreover, in each said embodiment, you may make it the said gel be a gel comprised from the ionic liquid which uses the ion contained in the said oxidation-reduction reaction as a cation, and a carbon nanotube. Further, the electrolyte housing layer may be an ionic liquid having cations as ions used for the redox reaction. Further, the electrolyte housing layer may be a polymer gel containing an ionic liquid having a cation as an ion used in the oxidation-reduction reaction. In order to generate an appropriate displacement in the stretchable plate 11, it is preferable that the voltage applied to the flexible electrode is a voltage that does not cause electrolysis in the ionic liquid 13 that is the electrolyte housing layer.

  It is to be noted that, by appropriately combining arbitrary embodiments of the various embodiments described above, the effects possessed by them can be produced.

  The conductive polymer actuator according to the present invention can obtain a conductive polymer actuator having a flexible electrode that does not hinder the passage of ions and does not inhibit the displacement of the conductive polymer. Useful.

(A), (B), (C) is sectional drawing which shows the outline of the artificial muscle actuator by 1st Embodiment of this invention, respectively. It is sectional drawing which shows the outline of the artificial muscle actuator by 2nd Embodiment of this invention. It is a section perspective view showing the outline of the artificial muscle actuator by a 3rd embodiment of the present invention. It is a figure which shows the outline of the artificial muscle actuator of a conventional structure. (A), (B) is explanatory drawing which compared the case where there exists no flexible electrode and the case where it exists about dope of an anion, respectively. 1 is an external view of an artificial muscle actuator according to a first embodiment of the present invention. It is the schematic of the robot hand using the artificial muscle actuator in 1st Example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Artificial muscle actuator 2 Solid electrolyte molded object 3 Power supply 4 Switch 5a, 5b Conductive polymer film 11, 11a, 11b, 11c Conductive polymer expansion-contraction board 12, 12a, 12b, 12c, 12d, 12e, 12f Flexible electrode 13 Ionic liquid 14, 14a, 14b, 14c, 14d Counter electrode 15, 15a, 15b, 15c, 15d, 15e, 15f Electrolyte housing layer 21 Case 22 Lid 23a, 23b Rod 24a, 24b, 24c, 24d Seal member 25 Counter electrode 101-104 Rotating shaft

Claims (9)

A conductive polymer expansion / contraction body that expands and contracts due to the entry and exit of ions accompanying the oxidation-reduction reaction, and a first gel that includes the gel containing the ion and the electron conductor and is directly connected to the conductive polymer expansion / contraction body . and electrodes, and a second electrodes that are connected through the electrolyte Takutai layer and the conductive polymer, by applying a potential difference between the first electrode and the second electrode, the conductive conductive polymer actuator, wherein the polymer is accompanied intends expansion and contraction deformation redox reaction. 2. The conductive polymer actuator according to claim 1, wherein the second electrode is a gel containing an ion and an electron conductor included in the oxidation-reduction reaction.   The conductive polymer actuator according to claim 1, wherein the gel used for the first electrode is disposed so as to cover one or more surfaces of the conductive polymer stretchable body.   The conductive polymer actuator according to claim 1, wherein the gel includes a metal body having an electric conductivity of 10,000 S / cm or more.   The stretched body of the conductive polymer to which the first electrode is connected and the second electrode are alternately stacked while sandwiching the electrolyte housing layer. The conductive polymer actuator according to any one of the above.   The second electrode is connected via the electrolyte housing layer to the conductive polymer stretched body laminated with either or both of the first electrode and the electrolyte housing layer sandwiched therebetween. The conductive polymer actuator according to any one of claims 1 to 4, wherein the conductive polymer actuator is provided.   The conductive gel according to any one of claims 1 to 6, wherein the gel is a gel composed of an ionic liquid in which an ion contained in the redox reaction is an anion or a cation and a carbon nanotube. Polymer actuator.   The conductive polymer actuator according to claim 1, wherein the electrolyte casing layer is an ionic liquid having an anion or a cation as an ion used for the oxidation-reduction reaction.   The said electrolyte housing layer is a polymer gel containing the ionic liquid which uses the ion used for the said oxidation-reduction reaction as an anion or a cation, The any one of Claims 1-7 characterized by the above-mentioned. Conductive polymer actuator.

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