JP6303495B2 - Actuator - Google Patents

Description

  The present invention relates to an actuator.

Recently, a conductive polymer actuator having a thin plate shape in which an electrolyte layer is sandwiched between a plurality of electrode layers has been developed (see, for example, Patent Document 1). In this conductive polymer actuator, when a voltage is applied, movement of ions occurs in the electrolyte layer, and the molecules in the vicinity of the electrodes are physically deformed by swelling, causing warpage (displacement) in the plate-like portion.
When the actuator has such a configuration, the plate-like portion can be displaced by applying a relatively low voltage. Further, since the configuration is simple and the warpage (displacement) of the plate-like portion can be made relatively large, it is expected as an efficient drive source in a small device.

JP 2013-17340 A

By the way, when the actuator is in an initial state (first state) in which no voltage is applied, when the voltage is applied, the actuator is deformed and shifts to a second state different from the first state. Then, when the application of the voltage to the actuator that reached the second state is stopped, the actuator cannot maintain the second state for a long time although it maintains the second state for a certain period of time.
Therefore, in order to maintain the second state for a long time with such an actuator, it is necessary to continue to apply a voltage to the actuator, and there is a problem that power consumption becomes large. Yes.
The present invention has been made in view of such circumstances, and an object of the present invention is to provide an actuator that can maintain the state after deformation even when application of the voltage after deformation is stopped.

A first aspect of the present invention is an actuator in which a plurality of electrode layers including an electroconductive polymer and an electrolyte layer are stacked, and expands and contracts by applying a voltage to the electrode layer,
It has a telescopic drive part that is a thin plate, and the telescopic drive part is bent so that the middle part of the two opposing sides swells toward the front or back in the depth direction without applying a voltage to the electrode layer. In addition, by fixing two sides different from the one side and applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, it is opposite to bending in a state in which no voltage is applied to the electrode layer. The telescopic drive unit is provided with a hollow cylinder parallel to two sides different from the one side at the center position of the one side, and the hollow drive unit includes a hollow cylinder in the hollow of the cylinder. A rod having a diameter smaller than the diameter is passed, the rod is fixed, and one expansion / contraction drive portion of the expansion / contraction drive section partitioned by the cylinder is in front of the depth direction in a state where no voltage is applied to the electrode layer. Or one of the back And by applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, the electrode layer is configured to bend in a direction opposite to that in a state in which no voltage is applied, The other extension drive part of the extension drive part delimited by the cylinder is bent to a side different from the side where the one extension drive part is bent in a state where no voltage is applied to the electrode layer, and By applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, the electrode layer is configured to bend in a direction opposite to that in a state in which no voltage is applied to the electrode layer .
A second aspect of the present invention is an actuator in which a plurality of electrode layers including an electroconductive polymer and an electrolyte layer are stacked, and expands and contracts by applying a voltage to the electrode layer,
It has a telescopic drive part that is a thin plate, and the telescopic drive part is bent so that the middle part of the two opposing sides swells toward the front or back in the depth direction without applying a voltage to the electrode layer. In addition, by fixing two sides different from the one side and applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, it is opposite to bending in a state in which no voltage is applied to the electrode layer. A predetermined amount in the one side direction from each of the two sides to which the expansion / contraction drive unit is fixed, and a predetermined amount on the near side and the back side in the depth direction. Two abutting materials are arranged at a position shifted by an amount, and the abutting material at the time of bending the expansion / contraction driving part to the back side is arranged at a position shifted by a predetermined amount on the back side, and the expansion / contraction driving part is placed on the near side The abutment material when bending Characterized in that it placed at a position shifted by a predetermined amount to the side.
A third aspect of the present invention is an actuator in which a plurality of electrode layers including an electroconductive polymer and an electrolyte layer are laminated, and expands and contracts by applying a voltage to the electrode layer,
It has a telescopic drive part that is a thin plate, and the telescopic drive part is bent so that the middle part of the two opposing sides swells toward the front or back in the depth direction without applying a voltage to the electrode layer. In addition, by fixing two sides different from the one side and applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, it is opposite to bending in a state in which no voltage is applied to the electrode layer. The two sides of the expansion / contraction drive unit are fixed by columns, and the expansion / contraction drive unit is wound around and fixed to the column by a predetermined amount when fixed to the column. It is characterized by.

  According to the present invention, the expansion / contraction drive part of the actuator is bent to the near side or the back side in the depth direction when no voltage is applied to the electrode layer, and the voltage is applied to the electrode layer from the state where no voltage is applied to the electrode layer. When applied, it reverses and bends to the opposite side of the state where no voltage is applied to the electrode layer. And even if the application of the voltage to an electrode layer is stopped here, the expansion-contraction drive part maintains the bent state.

FIG. 1 is a perspective view showing a first state of the actuator of the first embodiment. FIG. 2 is a plan view showing the operation of the actuator of FIG. 1, (A) is a plan view showing a first state, and (B) is a plan view showing a second state. FIG. 3 is a sectional view showing the layer structure of the actuator of FIG. FIG. 4 shows a modified example of the first embodiment, and is a front view showing a state before the expansion / contraction drive unit is bent in the manufacturing process of the actuator having the square expansion / contraction drive unit. FIG. 5 is a perspective view showing a first state of the actuator of FIG. FIG. 6 is a circuit diagram showing an example of an actuator drive circuit. FIG. 7 is a perspective view showing a first state of the actuator of the second embodiment. FIG. 8 is a plan view showing a first state of the actuator of FIG. FIG. 9 is a perspective view showing a second state of the actuator of the third embodiment. FIG. 10 is a plan view showing the operation of the actuator of FIG. 9, (A) is a plan view showing the first state, and (B) is a plan view showing the second state. FIG. 11 is a plan view showing the operation of the actuator of the fourth embodiment, (A) is a plan view showing the first state, and (B) is a plan view showing the second state.

  Hereinafter, an actuator according to an embodiment of the present invention will be described. The actuator according to the present embodiment is applied to operate a drive mechanism or the like in a wristwatch, for example, but the application range of the actuator according to the present invention is not limited to this. In the following description and drawings, the same components are denoted by the same reference numerals, and descriptions of the same components are omitted as appropriate.

[First Embodiment]
FIG. 1 is a perspective view showing a first state of the actuator of the first embodiment, and FIG. 2 is a plan view showing the operation of the actuator of FIG.
The actuator 100 includes fixed portions 11, 11, an action portion 12, and a plate-like telescopic drive portion 13 in which the fixed portions 11, 11 and the action portion 12 are configured. The actuator 100 is bent in such an initial state that no voltage is applied, so that the expansion / contraction driving unit 13 swells forward in the depth direction between the fixed units 11 and 11. And this actuator 100 is comprised so that the action part 12 may be displaced, when the expansion drive part 13 expands-contracts by applying a predetermined voltage to the electrode layers 1 and 2 (refer FIG. 3) so that it may mention later. Has been.

  Here, the fixed portions 11 and 11 are formed of two opposing sides of the telescopic drive unit 13. The fixing portions 11 and 11 are portions for fixing the telescopic driving portion 13 to a predetermined mounting position at an assembling destination such as a watch case. In the present embodiment, the fixing portions 11 and 11 are fixed to the columns P1 and P2. At this time, the fixing portions 11 and 11 are fixed to the support pillars P1 and P2 by, for example, an adhesive or insertion. Note that the fixing means in this case is not limited to this, and may be fixing by screws, fixing by welding, or the like.

  The action part 12 is disposed at a central position between the fixing parts 11 and 11 in the extension / contraction drive part 13. And it is a part which takes out the displacement force. As shown in FIG. 1, an operation member 121 is attached to the action portion 12 of the present embodiment.

  The expansion / contraction drive unit 13 is a plate-shaped portion that expands and contracts when a voltage is applied to the electrode layers 1 and 2. The expansion / contraction drive unit 13 is formed by laminating a plurality of electrode layers including a conductive polymer and an electrolyte layer. In this embodiment, as shown in FIG. It has a three-layer structure in which 1 and 2 are laminated. In the present embodiment, the fixed portion 11 and the action portion 12 are configured as a part of the expansion / contraction drive portion 13, and thus have the same layer configuration.

  Subsequently, the electrolyte layer 3 will be described. The electrolyte layer 3 is, for example, a gel electrolyte in which a normal temperature molten salt is contained in a polymer matrix. Polymers can be used. Specific examples include polyamide, polyester, polyvinyl alcohol, polyvinyl acetate, polyacrylic acid and esters thereof, polyacrylamide, polystyrene, polyurethane, polyvinylidene fluoride, polyethylene oxide, polypropylene oxide, and the like. Are used alone, or a plurality of them are mixed or crosslinked. In addition, the material which comprises the electrolyte layer 3 is not limited to what was illustrated here.

  The electrode layers 1 and 2 are electrodes formed in a thin film shape on the electrolyte layer 3 and include a conductive polymer and a conductive material. Note that the conductor 100 is connected to the electrode layers 1 and 2 in the fixed portion 11 of the actuator 100. The electrode layers 1 and 2 are connected to the power supply unit 5 through the conductive wire 4.

Among these, the conductive polymer enables doping / de-doping of ions accompanying a redox reaction by applying a voltage. For example, when a voltage is applied between the electrode layers 1 and 2 to dope ions, Among the two, the side to which the cathode is connected expands and contracts to the initial state when ions are dedoped.
As the conductive polymer constituting the electrode layers 1 and 2, for example, a known conductive polymer such as polyaniline, polypyrrole, polythiophene, or any one or a mixture of these derivatives can be applied. .

On the other hand, the conductive material functions to enhance electronic conduction to the conductive polymer by being in electrical contact with the conductive polymer.
As the conductive material, a carbon material, a metal, or the like that has high electron conductivity, is resistant to a solvent, and is electrochemically stable in a potential range where the conductive polymer is oxidized and reduced is used. As this conductive material, for example, carbon fiber, amorphous carbon, graphite, gold, platinum, palladium or the like can be used.
This conductive material has a powdery, net-like, or porous shape that does not hinder the movement of the conductive polymer when the conductive polymer expands or contracts due to oxidation and reduction. The electrode layers 1 and 2 are configured in electrical contact with the conductive polymer.
Specifically, for example, a carbon nanotube (CNT) may be configured as a CNT electrode configured in a sheet shape.

  In addition, the structure of the electrode layers 1 and 2 and the material applied as the conductive polymer or the conductive material are not limited to those exemplified here.

As described above, the actuator 100 according to the present embodiment includes the fixing portions 11 and 11, the action portion 12, and the plate-like telescopic drive portion 13 in which the fixing portions 11 and 11 and the action portion 12 are configured. The expansion / contraction drive unit 13 has a horizontally long rectangular shape when deployed. The short sides on both sides of the actuator 100 are fixed portions 11.
In addition, the expansion / contraction drive part 13 of the actuator 100 may not be a rectangle. FIG. 4 shows a modification of the first embodiment, and is a front view showing a state before the expansion / contraction drive unit is bent in the manufacturing process of the actuator. In this actuator 100A, as shown in FIG. 4, the expansion / contraction drive unit 13 has a square shape. In this case, it is preferable that a slit 15 is formed in the expansion / contraction driving unit 13 so that the expansion / contraction driving unit 13 swells between the fixed portions 11 and 11 and is easily bent. In the actuator 100A of FIG. 4, three slits 15 are formed at equal intervals in the vertical direction at positions close to the fixing portions 11 and 11, and four slits 15 are formed at equal intervals in the vertical direction at the center. The three slits 15 near one fixing part 11 and the three slits 15 near the other fixing part 11 are formed at the same height, and each of these slits 15 is adjacent to the four central slits 15. It is formed between the matching slits 15 and 15.

  Returning to FIGS. 1 and 2, this actuator 100 is provided with support columns P <b> 1 and P <b> 2 close to each other so as to swell toward the near side in the depth direction. The initial state of the actuator 100 is a state in which the telescopic drive unit 13 is bent so as to swell toward the near side in the depth direction. Of course, the columns P1 and P2 may be provided close to each other so that the telescopic drive unit 13 swells toward the back in the depth direction.

FIG. 6 shows a drive circuit for the actuator 100. When this actuator 100 is represented by an equivalent circuit, it is substantially represented as a capacitor C as shown in FIG. This drive circuit includes a DC power supply 5A and switches SW1 and SW2. “ON” and “OFF” of the switches SW1 and SW2 are controlled by a switch control unit (not shown). Further, the driving circuit includes a terminal _{T 1, 1} connected to the positive terminal of the DC power source 5A, the DC power source 5A - terminal _{T 1, 2} connected to the terminal, the electrode layers 1 and the electrode layers of the actuator 100 Terminal T _2,1 and terminal T _2,4 connected to one of the two, and terminal T _2,2 and terminal T _2,3 connected to the other of the electrode layer 1 and electrode layer 2 of the actuator 100. .
The switch SW1 has a terminal _{T 1, 1,} has become the one terminal of the terminal _{T 2,1} and the terminal _{T 2, 2} of the actuator 100 can be selectively connected. Further, also, the switch SW2, the terminal _{T 1, 2,} and has a the one terminal of the terminal _{T 2,3} and the terminal _{T 2, 4} of the actuator 100 can be selectively connected.

By this drive circuit, the actuator 100 operates as follows.
That is, the terminal _{T 1, 1} and the terminal _{T 2,1} are connected by the switch SW1, when the the terminal _{T 1, 2} and the terminal _{T 2,3} are connected by the switch SW2, for example, the actuator 100 of FIG. 2 The first state indicated by the broken line changes to the second state indicated by the solid line.
In this state, the terminal _{T 1, 1} and the terminal _{T 2, 2} by the switch SW1 is connected, when the terminal _{T 1, 2} and the terminal _{T 2, 4} are connected by the switch SW2, in turn, actuator 100 The second state indicated by the solid line in FIG. 2 is changed to the first state indicated by the broken line.

According to the actuator 100 configured as described above, the following effects can be obtained.
First, the expansion / contraction drive unit 13 of the actuator 100 is stable in two states, a first state that swells to the near side in the depth direction and a second state that swells to the far side in the depth direction. Can be managed accurately.
Secondly, since the action unit 12 performs a linear motion, it can be widely used for devices having a mechanism operated by the linear motion.
Third, since the second state is maintained in a state where no voltage is applied, power for maintaining the state can be saved.

[Second Embodiment]
FIG. 7 is a perspective view showing a first state of the actuator of the second embodiment, and FIG. 8 is a plan view showing the first state of the actuator of the second embodiment.
The points that the actuator 100B of the second embodiment differs from the actuator 100 of the first embodiment are as follows.
The length in the longitudinal direction of the expansion / contraction drive unit 13 of the actuator 100 </ b> B is larger than the length in the longitudinal direction of the expansion / contraction drive unit 13 of the actuator 100. The expansion / contraction drive unit 13 of the actuator 100B is composed of two expansion / contraction drive parts 13A and 13B. Further, a cylinder 15 is interposed between the expansion / contraction drive part 13A and the expansion / contraction drive part 13B of the actuator 100B, and a rod 16 is inserted into the hollow part of the cylinder 15. The rod 15 is fixed, and the tube 15 is rotatable about the rod 16.
A single shaft may be provided instead of the tube 15 and the rod 16.

  In the present embodiment, the columns P1 and P2, the cylinder 15 and the rod 16 extend in parallel, and the tube 15 and the rod 16 are located on a line connecting the columns P1 and P2. Then, one side of the telescopic drive portion 13A is fixed to the column P1, and the side opposite to the one side is fixed to the cylinder 15. Further, one side of the telescopic drive portion 13B is fixed to the column P2, and the side opposite to the one side is fixed to the cylinder 15. As a fixing means in this case, an adhesive, an insertion, a screw, welding, or the like can be used as in the first embodiment. The telescopic drive portion 13A is bent so as to swell toward the near side in the depth direction in the initial state, and the telescopic drive portion 13B is bent so as to swell toward the far side in the depth direction in the initial state. Here, a needle 15A is illustrated on the cylinder 15 as a component driven by the actuator 100B.

Subsequently, the operation of the actuator 100B will be described.
In the actuator 100B, a voltage is applied to the expansion / contraction driving part 13A and the expansion / contraction driving part 13B so that the expansion / contraction driving parts 13A and 13B bend in the opposite directions in the depth direction. For example, if the front surface side of the expansion / contraction drive portions 13A and 13B is the electrode layer 1 and the back surface side is the electrode layer 2, the +/− voltage is applied to the electrode layer 1 of the expansion / contraction drive portion 13A. A negative voltage is applied to the electrode layer 1 of the portion 13B and a positive voltage to the electrode layer 2. In this way, the cylinder 15 is rotated within a predetermined angle range. Thereby, the pointer 15A can take two instruction states.

According to the actuator 100B configured as described above, the following effects can be obtained.
First, since the expansion / contraction drive unit 13 of the actuator 100B is stable in two states, a state in which it expands to the near side in the depth direction and a state in which it expands to the back side in the depth direction, the movement amount of the actuator 100B is accurately managed. The pointer 15A can stably take two indication states.
Secondly, since the cylinder 15 positioned in the action portion 12 performs a rotation operation, it can be widely used for devices having a mechanism operated by the rotation operation.
Third, since the deformed state is maintained in a state where no voltage is applied, power for maintaining the state can be saved.

  In addition, as a modification of the actuator 100B of the second embodiment, one of the expansion / contraction drive portion 13A and the expansion / contraction drive portion 13B, and a column P1 or P2 to which one side of the one expansion / contraction drive portion is fixed. Is omitted. Also by this modification, the cylinder 15 can be rotated forward and backward.

[Third Embodiment]
FIG. 9 is a perspective view showing a first state of the actuator of the third embodiment, and FIG. 10 is a plan view showing the operation of the actuator of FIG.
The difference between the actuator 100C of the third embodiment and the actuator 100 of the first embodiment is as follows.
A part of the expansion / contraction drive unit 13 of the actuator 100C is wound around the support pillars P1 and P2 by a predetermined amount. In this case, the wound portion except for the fixed portion 11 at the end of each expansion / contraction drive portion 13 is configured to be unwound when the expansion / contraction drive portion 13 is deformed.

  The winding direction of the extension / contraction drive unit 13 is preferably set to the same direction in plan view. For example, as shown in FIG. 10, in the plan view, in the column P <b> 1, if the expansion / contraction drive unit 13 is wound counterclockwise starting from one fixing unit 11 of the expansion / contraction drive unit 13, The telescopic drive unit 13 is wound counterclockwise starting from the other fixing unit 11.

  According to this actuator 100C, when the expansion / contraction drive unit 13 bends in the depth direction, the portion of the expansion / contraction drive unit 13 near the support P1 is closer to the support P2 as shown in FIG. Since it becomes easier to bend toward the near side in the depth direction than the portion, the portion near the support P1 of the expansion / contraction drive unit 13 swells greatly toward the front compared to the portion near the support P2. Further, when the telescopic drive unit 13 bends in the depth direction, as shown in FIG. 10B, the portion of the telescopic drive unit 13 near the column P2 is deeper than the portion near the column P1. Since it becomes easy to bend to the near side in the direction, the portion near the column P2 of the expansion / contraction drive unit 13 swells far behind compared to the portion near the column P1.

According to the actuator 100C configured as described above, the following effects can be obtained in addition to the effects of the actuator 100 of the first embodiment.
That is, a part of the expansion / contraction drive part 13 of the actuator 100C is wound around the support pillars P1 and P2 by a predetermined amount, and the part where the expansion / contraction drive part 13 is wound is unwound when the expansion / contraction drive part 13 is deformed. Therefore, it becomes easy to operate in the depth direction, and accordingly, power consumption required for the actuator 100C can be suppressed.

[Fourth Embodiment]
FIG. 11 is a plan view showing the operation of the actuator of the fourth embodiment.
The difference between the actuator 100D of the fourth embodiment and the actuator 100C of the third embodiment is as follows.
The actuator 100D is provided with two butting materials PS and PS between the support pillar P1 and the support pillar P2. The abutting material PS near the support P1 is provided in the depth direction behind the line connecting the support P1 and the support P2, and the abutting material PS near the support P2 is a line connecting the support P1 and the support P2. It is provided on the near side in the depth direction. In this case, the offset amounts of the two abutting materials PS and PS from the line segment connecting the column P1 and the column P2 are the same, and the two abutting materials PS and PS do not have the two abutting members PS and PS. In such a case, the expansion / contraction drive part 13 hits immediately before the expansion / contraction drive member 13 is completely deformed and functions to stop its operation.

According to the actuator 100D configured as described above, the following effects can be obtained in addition to the effects of the actuator 100C of the third embodiment.
That is, since the butting members PS and PS are provided, the force required for reversal can be reduced, and the power consumption required for the operation of the actuator 100D can be further suppressed.

The invention described in the scope of claims attached to the application of this application will be added below.
The item numbers of the claims described in the appendix are as set forth in the claims attached to the application of this application.

[Appendix]
<Claim 1>
A plurality of electrode layers comprising an electroconductive polymer and an electrolyte layer are laminated, and an actuator that expands and contracts by applying a voltage to the electrode layer,
It has a telescopic drive part that is a thin plate, and the telescopic drive part is bent so that the middle part of the two opposing sides swells toward the front or back in the depth direction without applying a voltage to the electrode layer. In addition, by fixing two sides different from the one side and applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, it is opposite to bending in a state in which no voltage is applied to the electrode layer. An actuator configured to bend toward the side of the actuator.
<Claim 2>
In the telescopic drive unit, a hollow cylinder parallel to two sides different from the one side is interposed at the center position of the one side, and a rod having a diameter smaller than the hollow diameter is inserted into the hollow of the cylinder. The rod is fixed, and one of the extension drive portions of the extension drive section partitioned by the cylinder is placed on either the front side or the back side in the depth direction without applying a voltage to the electrode layer. Bending so as to swell, and by applying a voltage to the electrode layer from a state where no voltage is applied to the electrode layer, the electrode layer is configured to bend in a direction opposite to a state where no voltage is applied to the electrode layer, The other extension drive part of the extension drive part delimited by a cylinder is bent to a side different from the side where the one extension drive part is bent in a state where no voltage is applied to the electrode layer, and the electrode Voltage on the layer The actuator of claim 1, wherein the non state by applying a voltage to the electrode layer, characterized by being configured to deflect the side deflection opposite of the state where no voltage is applied to the electrode layer.
<Claim 3>
Two protrusions are located at positions separated by a predetermined amount in the one side direction from each of the two sides to which the telescopic drive unit is fixed and shifted by a predetermined amount on the near side and the back side in the depth direction. The abutting material is arranged when the abutting material is arranged and the abutting material is bent at the back side by a predetermined amount, and the abutting material when the agitating driving portion is bent toward the front side. The actuator according to claim 1, wherein the actuator is disposed at a position shifted by a predetermined amount toward the front side.
<Claim 4>
The actuator according to claim 1 or 3, wherein the two sides of the extension / contraction drive unit are fixed by a support column.
<Claim 5>
5. The actuator according to claim 4, wherein the telescopic drive unit is wound around and fixed to the support column by a predetermined amount when fixed to the support column.
<Claim 6>
By applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, the voltage applied to the electrode layer in a state of being deflected to the opposite side of the state in which no voltage is applied to the electrode layer. 6. The actuator according to claim 1, wherein the actuator is bent to the same side as a state in which no voltage is applied to the electrode layer by applying a reverse voltage.

DESCRIPTION OF SYMBOLS 1, 2 ... Electrode 3 ... Electrolyte layer 4 ... Conductor 5 ... Power supply part 11 ... Fixed part 12 ... Action part 13 ... Telescopic drive part P1, P2 ... Strut PS ... Butting material

Claims (4)

A plurality of electrode layers comprising an electroconductive polymer and an electrolyte layer are laminated, and an actuator that expands and contracts by applying a voltage to the electrode layer,
It has a telescopic drive part that is a thin plate, and the telescopic drive part is bent so that the middle part of the two opposing sides swells toward the front or back in the depth direction without applying a voltage to the electrode layer. In addition, by fixing two sides different from the one side and applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, it is opposite to bending in a state in which no voltage is applied to the electrode layer. configured to deflect to the side of,
In the telescopic drive unit, a hollow cylinder parallel to two sides different from the one side is interposed at the center position of the one side, and a rod having a diameter smaller than the hollow diameter is inserted into the hollow of the cylinder. The rod is fixed, and one of the extension drive portions of the extension drive section partitioned by the cylinder is placed on either the front side or the back side in the depth direction without applying a voltage to the electrode layer. Bending so as to swell, and by applying a voltage to the electrode layer from a state where no voltage is applied to the electrode layer, the electrode layer is configured to bend in a direction opposite to a state where no voltage is applied to the electrode layer, The other extension drive part of the extension drive part delimited by a cylinder is bent to a side different from the side where the one extension drive part is bent in a state where no voltage is applied to the electrode layer, and the electrode Voltage on the layer Actuator by applying a voltage from a state not to the electrode layer, characterized by being configured to deflect the side deflection opposite of the state where no voltage is applied to the electrode layer. A plurality of electrode layers comprising an electroconductive polymer and an electrolyte layer are laminated, and an actuator that expands and contracts by applying a voltage to the electrode layer,
It has a telescopic drive part that is a thin plate, and the telescopic drive part is bent so that the middle part of the two opposing sides swells toward the front or back in the depth direction without applying a voltage to the electrode layer. In addition, by fixing two sides different from the one side and applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, it is opposite to bending in a state in which no voltage is applied to the electrode layer. Configured to bend toward
Two protrusions are located at positions separated by a predetermined amount in the one side direction from each of the two sides to which the telescopic drive unit is fixed and shifted by a predetermined amount on the near side and the back side in the depth direction. The abutting material is arranged when the abutting material is arranged and the abutting material is bent at the back side by a predetermined amount, and the abutting material when the agitating driving portion is bent toward the front side. features and to luer actuator placing at a position shifted by a predetermined amount to the front side. A plurality of electrode layers comprising an electroconductive polymer and an electrolyte layer are laminated, and an actuator that expands and contracts by applying a voltage to the electrode layer,
It has a telescopic drive part that is a thin plate, and the telescopic drive part is bent so that the middle part of the two opposing sides swells toward the front or back in the depth direction without applying a voltage to the electrode layer. In addition, by fixing two sides different from the one side and applying a voltage to the electrode layer from a state in which no voltage is applied to the electrode layer, it is opposite to bending in a state in which no voltage is applied to the electrode layer. Configured to bend toward
Wherein the two sides of the telescopic drive unit is fixed in the strut, upon fixation to the post, the telescopic drive unit a predetermined amount of the strut, wound characteristics and to luer actuator that is fixed.   In a state where the expansion / contraction drive unit is bent in a state where no voltage is applied to the electrode layer and the voltage is applied to the electrode layer, the electrode layer is bent in the opposite direction to the state where no voltage is applied. 4. By applying a reverse voltage of the voltage applied to the electrode layer, the electrode layer bends to the same side as a state where no voltage is applied to the electrode layer. The actuator described.

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