JPH0565871A - Actuator - Google Patents

Abstract

PURPOSE:To provide an actuator, capable of converting biochemical energy high efficiently into kinetic energy, which can be mounted on a micromachine necessary for the principle of operation substantially different from devices of standard size in the past. CONSTITUTION:By kinetic energy generated when ATP(adenosine triphosphoric acid) of accumulating biochemical energy as a form of phosphoric acid compound is hydrolyzed for ADP(adenosine diphosphoric acid) and inorganic phosphoric acid, a head part structure 14a of myosin 14, after brought into contact with actin 16, is slid on a surface of the actin 16 to move a movable member 18 of fixing a tail part structure 14b of the myosin 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator, and more particularly, it relates to an actuator used in a narrow space or a site where highly efficient power generation is required.

[0002]

2. Description of the Related Art In the field of electronic machines, it has been desired to shorten the distance traveled by electrons in order to shorten the processing time, and as a result, downsizing and further miniaturization of electronic machines have been realized.

Further, the precision processing technology of semiconductor integrated devices developed for this miniaturization serves as a technical basis, and in the fields of industry and medicine, miniaturization of instrument machines called micromachines has been performed. There is.

[0004] For example, in the medical field, microsurgery is inserted from a blood vessel of a limb, and a microcapsule is delivered to a dosing site by a transluminal operation of a blocked blood vessel such as a coronary artery without a thoracotomy or abdominal surgery, or a microcannula. Then
It is used in a DDS system (Drug Delivery System) or the like that accurately administers an effective amount of a drug at a predetermined site.

In the industrial field, high temperature, high pressure,
It is used for precision work in areas and environments where people cannot enter, such as vacuum, the presence of radiation, or small spaces. In particular, micromachines are extremely lightweight and do not undergo inertial forces,
It is particularly suitable for use in deep sea operations where ultra-high pressure is required, and in unmanned spacecraft where ultimate weight reduction is desired.

Furthermore, there are wide-ranging applications in various fields such as molecular biology, material science, and genetic engineering.

[0007]

By the way, the above-mentioned micromachine has a force such that frictional force and mutual force acting on the surfaces thereof cannot be ignored due to the miniaturization of the shape. That is, the electrostatic induction force becomes extremely strong between solids, and the surface tension and viscous force have a greater influence than the inertial force in liquids, so it is significantly different from standard size instrument machines. Requires a working principle.

Therefore, in the actuator equipped in the micromachine, the hydraulic means, the pneumatic means, the fluid pressure means, etc. used in the actuator equipped in the instrument machine of a standard size whose operating principle is dielectric force, inertial force, etc. The inconvenience that the energy generated by the above cannot be converted into mechanical energy for use is becoming apparent.

In addition, since the micromachine is used in a special area such as a living body or an unmanned spacecraft or in an environment where the equipment used is equipped with a machine, the entropy is largely diffused by a low-efficiency heat engine or the like. It is difficult to convert the generated energy into mechanical energy for use.

Therefore, the object of the present invention is that it is possible to equip a micromachine which requires an operating principle that is significantly different from that of an instrument machine which has been conventionally standardized, and to increase biochemical energy. An object of the present invention is to provide an actuator that can efficiently convert into kinetic energy.

[0011]

In order to solve the above-mentioned problems, the actuator of the present invention is composed of myosin and actin, and changes to a predetermined shape and its original shape by applying energy. A movable means having a sarcomere structure as a basic unit for repeatedly performing return and ATP
By hydrolyzing (adenosine triphosphate) into ADP (adenosine diphosphate) and inorganic phosphate (Pi),
The energy supply means for supplying the energy for performing the change of the sarcomere structure to the predetermined shape and the return to the original shape, and the ADP generated by the energy supply means by using the ATP regenerating enzyme system ATP regenerating means for retrieving biochemical energy via the ionic species to regenerate it into the ATP which can be used by the energy supplying means, and incorporation of biochemical energy for the ATP regenerating means by adjusting the supply concentration of ionic species. And a control means for adjusting.

Further, in the actuator of the present invention, the tail portion of myosin consisting of the head and the tail portion is fixed to the movable member, and the actin is fixed to the facing surface of the fixed member facing the myosin fixed to the movable member, so that the energy is reduced. By applying it, the head of myosin is brought into contact with actin and the actin surface is slid to displace the facing position of the movable member and the fixed member, and ATP is hydrolyzed into ADP and inorganic phosphate. The energy supply means for supplying the energy for sliding the actin surface by bringing the head of myosin into contact with actin in the movable means and the energy supply means for utilizing the ATP regenerating enzyme system are generated. Biochemical energy is taken into the ADP via ionic species and the A is available in the energy supply means.
It is characterized by comprising ATP regenerating means for regenerating into TP and control means for regulating the uptake of biochemical energy of the ATP regenerating means by adjusting the supply concentration of ionic species.

[0013]

[Detailed Description of Configuration] The actuator according to the present invention is
Kinetic energy generated when ATP, which stores biochemical energy in the form of a phosphate compound, is hydrolyzed into ADP and inorganic phosphate, causes the head of myosin to abut on actin, and then slides on the actin surface. The head of myosin stops gliding and returns to its original position due to the consumption of the energy accompanying the accumulation of ADP and the decrease of ATP.

This energy is A in the head of myosin.
It is converted and acquired by a hydrolase system having _TPase (adenosine triphosphate degrading enzyme). In addition, upon hydrolysis of ATP to ADP and inorganic phosphate, ATP1
Energy of 2 kcal is obtained per mole.

ADP produced by the above hydrolysis
Synthesizes ATP, which stores biochemical energy in the form of phosphate compounds, by the ATP-regenerating enzyme system present in the liquid.

As the ATP regenerating enzyme system, either a phosphocreatine kinase and creatine kinase system or a phosphoenolpyruvate and pyruvate kinase system is used.

The biochemical energy stored in ATP in the form of a phosphate compound is Na ⁺ , K existing in the liquid.
It is supplied from outside the actuator by charged ionic species such as ⁺ , Ca ⁺ , Mg ⁺ and H ⁺ . Therefore, the actuator has a biological pump provided with any functional membrane such as an endoplasmic reticulum membrane, a regenerated endoplasmic reticulum membrane, a chloroplast, a phospholipid bilayer membrane, or the like in order to pass the ionic species. The amount of energy supplied is adjusted by the amount of ionic species passing through the functional membrane provided in this biological pump, and the power generation efficiency of the actuator is determined.

[0018]

Preferred embodiments of the actuator according to the present invention will be described below in detail with reference to the accompanying drawings.

In FIG. 1, reference numeral 10 indicates an actuator according to this embodiment. The actuator 10 is
Basically, the solution part 12, the energy supply means and the ATP regeneration means existing in a state of being diffused in the solution part 12, the myosin 14 and the actin 16 constituting the sarcomere structure which is the movable means, and the myosin 14 A movable member 18 for fixing the tail structure 14b, and the actin 16
It is composed of a fixing member 21 for fixing one side surface and a control means.

The solution section 12 has a wall member 22 from three directions.
The remaining one direction is the end face 22a of the wall member 22.
A slidable movable member 18 is placed on the top. As the movable member 18, a member made of an extremely lightweight material such as silicon or fiber is used so as not to reduce the conversion efficiency from biochemical energy to kinetic energy.

The movable means is composed of myosin 14 and actin 16 which form a sarcomere structure. The myosin 14 has a head structure 14a and a tail structure 14b,
The tail structure 14b is fixed to the movable member 18, and one side surface of the actin 16 is fixed to a fixing member 21 facing the fixed surface and having a peripheral portion fixed to the wall member 22. The myosin 14 and the actin 16 are muscle protein derived from myofibrils having a diameter of about 1 μm that constitutes the striated muscle of the muscle in the living body. Molecularly, myosin 14
Is a macromolecule having a molecular weight of about 450,000, a diameter of 12 nm, and a length of about 42.9 nm.
Has a molecular weight of about 42,000, a diameter of 8 nm, and a length of 3
It is a protein of about 7.4 nm. The genus, species, etc. of the living body to be used are not particularly limited, but are selected according to the purpose and application. For example, in a medical micromachine used in a human body, it is preferable to use a human-derived muscle protein in order to avoid a rejection reaction with the living body, an antigen-antibody reaction, or the like.

The energy supply means is located in the head structure 14a of the myosin 14 which is the same as the movable means.
A hydrolyzing enzyme system having _ase (adenosine triphosphate degrading enzyme) and ATP which exists in a state of being diffused in a solution and stores biochemical energy in the form of a phosphate compound.
Energy is supplied to the movable means by hydrolyzing TP to ADP and inorganic phosphoric acid.

The ADP produced by the energy supply means converts the chemical energy supplied via the ionic species by the ATP regeneration means and the control means into biochemical energy in the form of a phosphate compound. Stored in ATP,
A desired amount of ATP is supplied to the energy supply means.

That is, the ATP regeneration means is the solution section 12
ADP existing in the state of being diffused in and the active state of Na ⁺ , K ⁺ , C having the chemical energy in the charged state
It consists of ionic species such as a ⁺ , Mg ⁺ and H ⁺ , phosphocreatine which is an ATP regenerating enzyme, a creatine kinase system, and its coenzyme. As the ATP regenerating enzyme, it is also possible to use phosphoenolpyruvate, pyruvate kinase system, and its coenzyme.

Further, the energy supply to the movable means in the energy supply means and the ATP in the ATP regeneration system are performed.
It supplies the necessary ionic species to carry out regeneration, and
The control means for adjusting the supply amount is basically
A biological pump section 20 composed of a functional film 20a and a high-concentration solution section 20b arranged on the movable member 18,
The high-concentration solution part 20b is composed of an ionic species supply part 24 capable of selectively supplying a desired amount of specific ionic species as the ionic species concentration decreases, and a valve body 26. The functional membrane 20a is an endoplasmic reticulum membrane capable of actively achieving concentration equilibrium between the solution portion 12 and the high-concentration solution portion 20b. It is also possible to use a phospholipid bilayer membrane or the like.

Further, the energy supply means and the ATP
Adjustment of pH concentration and addition of coenzyme for activating the regeneration means to a suitable state are also performed by the control means.

The actuator 10 according to the present invention is basically constructed as described above. Next, the operation and effect of the actuator 10 will be described.

When converting biochemical energy into kinetic energy using the actuator 10, first,
It is possible to obtain the desired kinetic energy, and each solid exhibits uniform biological behavior. Myosin 14 and actin 16 are attached to a predetermined position, and at the same time, a solution state suitable for obtaining the desired kinetic energy is obtained. The functional film 20a was selected and stretched. The myosin 14 remains inactive in the solution portion 12 and the high-concentration solution portion 20b, and
A biological activity, that is, a solution state in which life was not lost was constituted, and the solution state was recognized as a ground state.

Next, the valve body 26 is opened, and the ionic species in the high-concentration solution state A, the pH adjusting factor, ATP and the like are diffused from the ionic species supply section 24 into the high-concentration solution section 20b to obtain a high-concentration solution. State B was configured. The high-concentration solution state B
Constituted a solution state C with a concentration suitable for the movable member 18 to actively move through the functional film 20a and the movable member 18 to start moving.

That is, when the solution state C having a suitable concentration is formed, first, the myosin 14 which constitutes the energy supply means and biochemical energy A which is stored in the form of a phosphate compound.
_ATPase (adenosine triphosphate degrading enzyme) of a hydrolase system which is bound to TP and is in the head structure 14a of ATP
Is hydrolyzed to ADP and Pi, and the biochemical energy generated at this time causes the head structure 14a of myosin 14 to come into contact with the surface of actin 16 and starts sliding in a certain direction on the surface of actin 16. This behavior is because myosin 14 and actin 16 are biological components, and the solution state of the solution section 12 is a pseudo in-vivo environment, so that the homeostasis of a living body (living body) that tries to keep the in-vivo environment in a constant state. Homeostasis). That is, it is a behavior in which the living body converts ATP increased above a threshold value for allowing storage, that is, biochemical energy inside the living body into kinetic energy and releasing it to the outside of the living body.

The solution portion 12 is obtained by the hydrolysis.
ADP produced in the AT is present in the solution section 12
It is regenerated to ATP by the P regenerating means and supplied again as energy. This behavior is that ADP existing in a state of being diffused in the solution portion 12 has active state Na ⁺ , K ⁺ , Ca ⁺ having chemical energy in a charged state supplied by active transport from the high concentration solution portion 20b. Ion species such as Mg ⁺ and H ⁺ are taken in through the ATP regenerating enzyme phosphocreatine and creatine kinase system and its coenzyme, and the chemical energy is converted into ATP in the form of a phosphate compound as biochemical energy. It is a behavior of storing.

Further, the above-mentioned series of behaviors are continuously performed.
If the valve body 26 is closed,
The solutions existing in the liquid part 20b and the solution part 12 reach an equilibrium state.
The active state with the chemical energy of the charged state
Na⁺, K⁺, Ca⁺, Mg ⁺, H⁺Ionic species such as
Loss of energy and the energy supplied to the ATP regeneration system is lost
In order to return to the ground state, the head structure of myosin 14
14a stops sliding and returns to its original position.

At this time, the movable member 18, to which the tail structure 14b of the myosin 14 is fixed, moves according to the sliding distance of the myosin 14.

When the valve element 26 is open, the myosin 14 continues to slide and the movable member 18 continues to move.

[0035]

As described above, in the actuator according to the present invention, by converting biochemical energy into kinetic energy, an operating principle which is significantly different from that of the instrument machine which has been conventionally standardized is provided. The micromachine having a required fine size can be equipped with the actuator, and the micromachine can be operated.

Further, by utilizing biochemical energy by the pseudo biological system, the effect of converting into highly efficient kinetic energy is exerted.

[Brief description of drawings]

FIG. 1 is a schematic view showing a preferred embodiment of an actuator according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Actuator 12 ... Solution part 14 ... Myosin 14a ... Myosin head structure 14b ... Myosin tail structure 16 ... Actin 18 ... Movable member 20 ... Biological pump part 20a ... Functional membrane 20b ... High concentration solution part 22 ... Wall member 24 … Ion species supply unit 26… Valve

Claims (8)

[Claims] 1. A movable means comprising a sarcomere structure as a basic unit, which is composed of myosin and actin, and which repeatedly performs a change to a predetermined shape and a return to the original shape by applying energy, By hydrolyzing ATP, which stores biochemical energy in the form of a phosphate compound, into ADP and inorganic phosphoric acid, the energy for carrying out the change of the sarcomere structure to a predetermined shape and the return to the original shape. For supplying energy to the ADP and the ADP generated by the energy supplying means.
Using the TP regenerating enzyme system, ATP regenerating means for regenerating the ATP that can be used by the energy supplying means by taking in biochemical energy through ionic species, and by adjusting the supply concentration of ionic species, An actuator, comprising: a control unit that adjusts the amount of biochemical energy taken in by the ATP regeneration unit. 2. A myosin tail composed of a head and a tail is fixed to a movable member, and actin is fixed to the facing surface of a fixed member facing the myosin fixed to the movable member to impart energy to the myosin ADP and inorganic phosphate, which is a movable means for displacing the facing position of the movable member and the fixed member by sliding the actin surface by contacting the head with actin and ATP that stores biochemical energy in the form of a phosphate compound By hydrolyzing into the actuation means, the head of myosin is brought into contact with actin in the movable means,
The energy supply means for supplying the energy for sliding the actin surface, and the ADP generated by the energy supply means are
Using the TP regenerating enzyme system, ATP regenerating means for regenerating the ATP that can be used by the energy supplying means by taking in biochemical energy through ionic species, and by adjusting the supply concentration of ionic species, An actuator, comprising: a control unit that adjusts the amount of biochemical energy taken in by the ATP regeneration unit. 3. The actuator according to claim 1, wherein the myosin is a protein having a molecular weight of 450,000. 4. The actuator according to any one of claims 1 to 3, wherein the actin has a molecular weight of 42,000.
An actuator characterized by being a protein of. 5. The actuator according to claim 1, wherein the ATP regeneration system has either a phosphocreatine kinase and a creatine kinase system, or a phosphoenolpyruvate and a pyruvate kinase system. Characteristic actuator. 6. The actuator according to any one of claims 1 to 5, wherein the control means is Na ⁺ , K ⁺ for controlling and maintaining the activity of the movable means, the energy supply means and the ATP regeneration means. , Ca ⁺ , Mg ⁺ ionic species, and a biological pump that actively takes in pH concentration adjusting factors such as H ⁺ , OH ^{− and the} like into the actuator. 7. The actuator according to any one of claims 1 to 6, wherein the control means has at least one function of an endoplasmic reticulum membrane, a regenerated endoplasmic reticulum membrane, a chloroplast, and a phospholipid bilayer membrane. An actuator comprising a biological pump provided with a membrane. 8. The actuator according to claim 1, wherein the energy supply means uses an ATP hydrolase system having an ATP hydrolase and a coenzyme thereof.