JPH11169393A - Artificial muscle body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an artificial muscle body which achieves cxcellent softness and a larger displacement along with a light weight and a quick response. SOLUTION: This artificial muscle body 1 is made up of an elongated rectangular plate-shaped solid electrolytic molded body 2 and polyaniline membrane bodies 3a and 3b formed being mutually insulated on the surface of the solid electrolytic molded body 2. In this case, a voltage is applied to the pair of polyaniline membrane bodies 3a and 3b so that the polyaniline membrane bodies 3a and 3b are deformed to allow the free deformation of the artificial muscle body in any specified direction. The polyaniline membrane bodies 3a and 3b may contain a modified polyaniline polymer obtained by the graft modification of polyaniline using vinyl sulfone.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an artificial muscle body, and more particularly to an artificial muscle body including a polyaniline film body that is flexible, can be driven at a low voltage, has a large contraction force, and can maintain a position.

[0002]

2. Description of the Related Art Conventionally, artificial muscles include polymers such as polymer gels and conductive polymers, ferroelectrics, silicon,
Using shape memory alloys as materials, electrostatic attraction type actuators, piezoelectric type actuators, ultrasonic type actuators, shape memory alloy type actuators, ion exchange resin type actuators, etc. that are deformed by stimulation of electricity, heat, light, etc. are known. I have.

For example, an ion-exchange resin type actuator comprises an ion-exchange resin membrane and electrodes bonded to both sides of the ion-exchange resin membrane. This is to cause the exchange resin film to bend and deform.
(See Japanese Patent Application Laid-Open No. 4-275078).

[0004] Medical devices that directly touch the human body require an actuator made of a soft material that does not damage the tissue. In particular, artificial muscles such as prostheses, prostheses, and prostheses perform lighter and more flexible movements. An actuator is desired.

There has been proposed an attempt to use polyaniline, which is a conductive polymer, as such a lightweight and flexible actuator (see Applied Physics, Vol. 65, No. 8, pp. 803-810). The actuator using this polyaniline has, for example, a three-layer structure in which two polyaniline films are adhered to both sides of an adhesive tape. When a voltage of 1.5 V is applied to both films in an electrolyte, the positive electrode side The film stretches, the film on the cathode side shrinks, and the actuator bends.

[0006]

However, since such an actuator using polyaniline needs to be operated in an electrolytic solution, it is difficult to handle the actuator, and it is difficult to handle the actuator in air without electrolytic solution or in pure water without electrolytic solution. There is a problem that there are many restrictions on applications, such as the system does not work inside. In addition, such an actuator using polyaniline has disadvantages such as a small displacement, a low expansion and contraction rate, and a high rigidity.

Further, polyaniline used for the actuator has a drawback that it is difficult to process because it has poor compatibility with other substances and has no melting point. An object of the present invention is to solve the problems associated with the prior art as described above, and it is an object of the present invention to provide an artificial muscle having excellent flexibility, light weight, quick response, and large displacement. And

[0008]

SUMMARY OF THE INVENTION The present invention has been made to achieve the above-mentioned objects and objects of the prior art, and the artificial muscle body according to the present invention comprises a solid electrolyte molded body and A polyaniline film formed in a mutually insulated state on the surface of the solid electrolyte molded body, and deforming the polyaniline film by applying a potential difference to the polyaniline film, thereby moving the artificial muscle body in a predetermined direction. It is characterized by being configured to be deformable. With this configuration, it is possible to move anions into and out of the polyaniline film in the absence of an electrolytic solution, and it is excellent in flexibility, light weight, quick response, and large displacement and displacement force. An artificial muscle can be obtained.

In the above artificial muscle, the polyaniline film preferably contains a modified polyaniline polymer obtained by graft-modifying polyaniline with vinyl sulfone. When the polyaniline film contains the modified polyaniline polymer as described above, the introduction and removal of anions into and from the polyaniline proceed smoothly, so that an artificial muscle body having a larger displacement force and a quick response can be obtained.

Further, in the above-mentioned artificial muscle, the polyaniline film is preferably a polyaniline film containing a solid electrolyte. Since the polyaniline film body contains the solid electrolyte as described above, the inflow and outflow of anions into and from the polyaniline can be smoothly performed, and the polyaniline film body itself can be softened. You can get a fast-acting artificial muscle body.

Further, in the artificial muscle body, the solid electrolyte molded body is preferably an anion exchange resin molded body. When the solid electrolyte molded body is an anion exchange resin molded body as described above, when the artificial muscle body is deformed, the anion exchange resin molded body is also deformed in the same direction as the deformation of the polyaniline film. An artificial muscle having a large displacement can be obtained.

In the above artificial muscle, the polyaniline film preferably comprises a plurality of pairs of polyaniline films. When a plurality of pairs of polyaniline membranes are used, an artificial muscle body that can be deformed in any direction and rotate can be obtained.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments (examples) of the present invention will be described in more detail with reference to the drawings.

[Artificial Muscle Body] FIGS. 1 and 2 are schematic sectional views showing an optimal embodiment of the artificial muscle body according to the present invention. In this embodiment, the artificial muscle body 1 comprises an elongated rectangular plate-shaped solid electrolyte molded body 2 and the solid electrolyte molded body 2.
And a pair of polyaniline film bodies 3a and 3b formed in a mutually insulated state on both surfaces of the artificial muscle. When a voltage is applied to the pair of polyaniline film bodies 3a and 3b, the polyaniline film body is deformed to generate artificial muscle. The body 1 is configured to bend (bend).

One end of each of a pair of lead wires 4a, 4b is electrically connected to the polyaniline film body 3a, 3b, and each of the lead wires 4a, 4b is connected to a power supply 5.

The solid electrolyte molded body 2 is not limited to the rectangular flat plate shape, but may be, for example, a film shape, a columnar shape,
It may be cylindrical or the like. Examples of the solid electrolyte constituting the solid electrolyte molded body 2 include an anion exchange resin, a cation exchange resin, and a both ion exchange resin. As the cation exchange resin, those obtained by introducing a functional group such as a sulfonic acid group or a carboxyl group into the surface of polyethylene, polystyrene, fluororesin, or the like are used. As the anion exchange resin, a resin in which a functional group such as an amino group is introduced into the surface of polyethylene, polystyrene, fluororesin, or the like is used. Among them, in the present invention, an anion exchange resin is preferably used. When such an anion exchange resin is used, the anion exchange resin is deformed in the polyaniline film body in the same direction as the deformation at the time of deformation of the artificial muscle body for the reason described later, so that the displacement amount and the displacement force of the artificial muscle body are changed. Can be increased.

The polyaniline films 3a and 3b are made of polyaniline represented by the following general formula [1].

[0018]

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Such a polyaniline can be obtained by adding ammonium peroxodisulfate to an aqueous solution of aniline dissolved in hydrochloric acid and polymerizing the aniline.

The polyaniline film bodies 3a and 3b may be modified polyaniline polymers obtained by graft copolymerization of vinyl sulfonic acid with polyaniline represented by the general formula [1]. Note that the vinyl sulfonic acid may be a derivative such as a salt compound such as Na or K or an ester compound. Such graft copolymerization can be performed by irradiating polyaniline with an electron beam and then immersing the polyaniline in an aqueous solution of vinyl sulfonic acid. Furthermore, polyacrylic acid other than vinylsulfonic acid may be graft-copolymerized to the polyaniline represented by the general formula [1].

Furthermore, the polyaniline film bodies 3a, 3b
May contain a solid electrolyte. As the solid electrolyte, those similar to the solid electrolyte constituting the solid electrolyte molded body 2 are exemplified. Such a solid electrolyte is different even if it is the same as that used for the solid electrolyte molded body 2. It may be something.

The solid electrolyte in the polyaniline film is 0.1 to 2 parts by weight per 100 parts by weight of polyaniline.
It is desirably contained in an amount of 0 parts by weight, preferably 0.5 to 5 parts by weight.

The compounding of the solid electrolyte into the polyaniline can be carried out by adding the solution of the solid electrolyte to the solution of the polyaniline, mixing, drying and removing the solvent. As a solvent for dissolving polyaniline, n-methylpyrrolidone or the like is usually used. Alcohol is used as a solvent for dissolving the solid electrolyte.

It is desirable that the solid electrolyte is uniformly dispersed in polyaniline because the displacement of the artificial muscle body can be increased, and when the solid electrolyte is blended in polyaniline as described above, An artificial muscle body having low rigidity and excellent flexibility can be obtained.

Such polyaniline film bodies 3a, 3b
Is applied by applying a solution obtained by dissolving the solid electrolyte in a solvent such as alcohol to the surface of the solid electrolyte molded body 2 and attaching a polyaniline film to the applied surface. Further, after immersing the solid electrolyte molded body 2 having a solid electrolyte layer formed by applying a solid electrolyte dissolved in a solvent such as alcohol into a liquid in which polyaniline is dissolved,
By taking out and drying, the polyaniline film can be joined to the solid electrolyte molded body 2.

The material of the lead wires 4a and 4b is copper,
Generally conductive materials such as iron, aluminum, gold, platinum and the like can be utilized and can be plated or insulated as required.

In the artificial muscle body according to the present invention, a solid electrolyte layer may be formed on the surface of the polyaniline film bodies 3a and 3b, if necessary. When the solid electrolyte layer is formed on the surfaces of the polyaniline film bodies 3a and 3b,
The inflow and outflow of anions into and from the polyaniline film body described below,
Since the reaction is performed not only between the polyaniline membrane and the solid electrolyte molded body but also between the polyaniline membrane and the solid electrolyte layer, the responsiveness of the artificial muscle body can be increased.

In this embodiment, a solid electrolyte molded body having a thickness of 0.15 mm, a width of 2 mm, and a length of 30 mm is used as the solid electrolyte molded body 2, and a polyaniline film having a thickness of 5 to 20 μm is formed on both surfaces thereof. A combined artificial muscle body is used, and a 1.5 V DC power supply is used as the power supply 5.

Although the operating principle of such an artificial muscle body is not clear, the potential difference between the polyaniline film bodies 3a and 3b causes the anions in the solid electrolyte molded body 2 to be converted into the cathode 3b as shown in FIG. From the anode 3a, the anion is inserted into the polymer chain of the polyaniline of the anode, and it is presumed that the bulk of the polymer chain of the anode polyaniline is increased. In addition, the insertion of anions into the polyaniline polymer chain at the anode increases the electrostatic repulsion within the polyaniline molecule at the anode, and further rigidizes the polymer chain bent by delocalization of π electrons. It is presumed that the following structural change has occurred. By such a principle, it is considered that the polyaniline on the anode side expands, the polyaniline on the cathode side shrinks, and the artificial muscle body is curved (see Applied Physics, Vol. 65, No. 8, pp. 803-810). .

Further, when polyaniline is grafted with vinyl sulfonic acid, the anion is smoothly put in and out by the graft chain, so that it is estimated that the displacement force of the artificial muscle body is large and the response is fast.

When an anion exchange resin molded article is used as the solid electrolyte molded article 2, an anion in the anion exchange resin moves to the anode side, and water is accompanied by the anion. Since the molecules move in the anion exchange resin, a difference in water content occurs between the anode side and the cathode side of the anion exchange resin, the anode side having a high water content swells, and the cathode side having a low water content shrinks. Thus, it is considered that the anion exchange resin is also curved. For this reason, if an anion exchange resin is used as the solid electrolyte molded body 2, the deformation direction of the polyaniline membranes 3a, 3b and the deformation direction of the anion exchange resin are the same, and both actions are synergistically deformed. Is promoted, and a derivative with a high displacement force is obtained.

The artificial muscle body according to the present invention as described above
Usually, it is used in a state where the solid electrolyte molded body is hydrated. At this time, an electrolyte such as NaCl may be present in the water. The presence of such an electrolyte can stabilize the displacement characteristics of the artificial muscle body.
In addition, when the solid electrolyte is in a water-containing state, the artificial muscle body can be operated even in pure water or in air where the electrolyte does not exist around the polyaniline membrane.

In the artificial muscle body according to the present invention, the displacement can be fixed because the polyaniline expands and contracts while a constant voltage is applied.

[0034]

Since the present invention has the above configuration,
It is possible to obtain a flexible artificial muscle body that operates in the air where no electrolyte is present or in pure water where no electrolyte is present, and has a large displacement, a high degree of expansion and contraction, and a high degree of elasticity.

Therefore, when the artificial muscle body according to the present invention is joined to the tip of the guide member body of the micro device,
Microsurgery medical instruments, such as scissors, forceps, snares, laser scalpels, and spatula, connected to the tip of the guide member main body can be arbitrarily and positively bent (deformed) by the operation of the operation control section. The guidance performance of microdevices such as various sensors and tools can be improved, so that it can be directed to a target site in any direction, and the operation can be performed quickly and easily without skill. .

Therefore, such a micro device and a micro machine provided with the micro device can be used, for example, in eye surgery,
Application to medical instruments such as tweezers, scissors, forceps, snares, laser scalpels, spatula, clips, etc. in microsurgery technologies such as laparoscopic surgery and microvascular suturing surgery, alleviates the pain given to patients during examination and treatment as much as possible Thus, the physical and mental burden on the patient can be reduced.

Further, such a micro device and a micro machine provided with the micro device are used for various sensors for inspecting and repairing a plant such as a power generation facility, a piping system of a mechanical system such as an aircraft engine, the inside of an engine, and the like. If the present invention is applied to a tool or the like, the repair work can be reliably performed without requiring labor and time.

In addition to the above, the artificial muscle body according to the present invention may be used in addition to the above, such as a micropump using high-frequency vibration, a health appliance such as an auxiliary power massager for rehabilitation, a hygrometer, a hygrometer controller, a soft manipulator, and an underwater valve It can also be suitably used for industrial equipment such as soft transport equipment, underwater mobiles such as goldfish and seaweed, and hobby supplies such as moving fishing baits and propelling fins.

[0039]

EXAMPLES Hereinafter, the present invention will be described specifically with reference to Examples, but the present invention is not limited to these Examples.

[0040]

Example 1 A solid electrolyte molded article (Nafion 117, manufactured by Dupont) having a thickness of 0.15 mm, a width of 2 mm, and a length of 30 mm was prepared as follows.
After being immersed in an alcohol solution of the solid electrolyte, it was taken out and dried at room temperature to form a thin film of the solid electrolyte on the solid electrolyte molded body.

Next, the solid electrolyte molded article was immersed in an 8% solution of polyaniline in n-methylpyrrolidone, taken out, and dried at 60 ° C. for 5 hours to form a polyaniline film on the solid electrolyte thin film.

After cutting the four sides of the formed polyaniline film with a cutter to insulate between the polyaniline films, the polyaniline film is immersed in an alcohol solution of a solid electrolyte and dried to form a solid electrolyte on the polyaniline film. A layer was formed to produce an artificial muscle body.

When the obtained polyaniline film of the artificial muscle was electrically connected to a power source via a lead wire, and a voltage of 1.5 V was applied in distilled water, the tip moved 2 mm to the minus side. .

[0044]

Example 2 An artificial muscle body was prepared in the same manner as in Example 1 except that an anion exchange resin was used as a solid electrolyte. When a voltage of 1.5 V was applied to the obtained artificial muscle in distilled water, the tip of the artificial muscle moved 3.2 mm to the minus side.

[0045]

Example 3 A solid electrolyte formed body having a solid electrolyte thin film formed in the same manner as in Example 1 was mixed with a mixed solution of a polyaniline 8% n-methylpyrrolidone solution and a solid electrolyte 5% alcohol solution (solid electrolyte component). 2% by weight), taken out, and dried at 60 ° C. for 5 hours to form a polyaniline film on the solid electrolyte.

After the formed polyaniline film was insulated in the same manner as in Example 1, an artificial muscle was produced in the same manner as in Example 1. Add the resulting artificial muscle body to distilled water in 1.
When a voltage of 5 V was applied, the tip of the artificial muscle body moved 2.8 mm in the negative direction.

[0047]

Example 4 Polyaniline in the form of powder was stretched thinly into a plastic bag, passed through an electron beam irradiation apparatus, and irradiated with 2 Mrad of electron beam through the plastic bag.

After irradiating the polyaniline powder with the electron beam,
% Of sodium p-styrenesulfonate, and agitated at 70 ° C. for 2 hours with stirring to obtain a graft-modified polyaniline.

The obtained graft-modified polyaniline was dissolved in n-methylpyrrolidone to prepare an 8% n-methylpyrrolidone solution of the graft-modified polyaniline, and an artificial muscle body was prepared in the same manner as in Example 1. When a voltage of 1.5 V was applied to the obtained artificial muscle in distilled water, the tip of the artificial muscle moved 3.1 mm to the minus side.

[0050]

Comparative Example 1 An 8% solution of polyaniline in n-methylpyrrolidone was spread to a uniform thickness on a horizontal slide glass plate, and then heated to 50 ° C. to evaporate the solvent.
A 0 μm polyaniline film was obtained. The obtained two polyaniline films were adhered with a double-sided tape to produce an artificial muscle body.

With respect to the obtained artificial muscle body, 1 mol of H
When a voltage of 1.5 V was applied in a Cl aqueous solution, the tip of the artificial muscle moved 3.7 mm to the minus side.

[Brief description of the drawings]

FIG. 1 is a schematic sectional view of an artificial muscle body of the present invention in a state where no voltage is applied.

FIG. 2 is a schematic sectional view of the artificial muscle body of the present invention in a state where a voltage is applied.

[Explanation of symbols]

 1 ··· Artificial muscle body 2 ··· Solid electrolyte molded body 3a, 3b ··· Polyaniline film body 4a, 4b ··· Lead wire 5 ··· Power supply

Claims (5)

[Claims] 1. An artificial muscle body comprising a solid electrolyte molded body and a polyaniline film formed in a mutually insulated state on the surface of the solid electrolyte molded body, wherein a potential difference is applied to the polyaniline film. An artificial muscle body characterized in that the polyaniline film body is thereby deformed so that the artificial muscle body can be deformed in a predetermined direction. 2. The artificial muscle body according to claim 1, wherein the polyaniline film body contains a modified polyaniline polymer obtained by graft-modifying polyaniline with vinyl sulfone. 3. The artificial muscle body according to claim 1, wherein the polyaniline film is a polyaniline film containing a solid electrolyte. 4. The artificial muscle body according to claim 1, wherein the solid electrolyte molded body is an anion exchange resin molded body. 5. The artificial muscle body according to claim 1, wherein said polyaniline film comprises a plurality of pairs of polyaniline films.