WO2004074354A1

WO2004074354A1 - Tubular conductive polymer molded article

Info

Publication number: WO2004074354A1
Application number: PCT/JP2004/001900
Authority: WO
Inventors: Tetsuji Zama; Susumu Hara; Shingo Sewa
Original assignee: Eamex Corporation
Priority date: 2003-02-19
Filing date: 2004-02-19
Publication date: 2004-09-02

Abstract

An actuator (40) in which a tubular conductive polymer molded article is installed on the operating part (41) thereof allows electrolyte (42) and a counter electrode (43) to be installed on the inside of the tubular operating part. When the molded article having metal leads contained in conductive polymer is used as the operating part (41), the actuator with advantageous response speed can be provided.

Description

Description Cylindrical conductive polymer molding

Background art

The present invention relates to a conductive polymer molded product and an actuator including the conductive polymer molded product in an operating portion.

It is known that conductive polymers such as polypyrrole exhibit electrolytic stretching, which is a phenomenon of stretching or deformation due to electrochemical redox. Electrolytic expansion and contraction of this conductive polymer is expected to be applied to applications such as artificial muscles, mouth pot arms, and artificial hands, and has been attracting attention in recent years.

Regarding the activator using a conductive polymer The composition of an activator with an electrolyte, a counter electrode and a polypyrrole film in a cell was reported in 1997. A. De lla S an taet al, Pe rfo rmanc eand wo rkc ap acityofa po l ypy rrolecond uc ti ng po l yme rli ne aractuator _¾ Syn thetic Metals, Elsevier S cie nc e-. 1997, Vol. 90 See pages 93-100.

In this practice, the polypyrrole film expands and contracts by applying a voltage between the counter electrode and the polypyrrole film while the polypyrrole film and the counter electrode are immersed in the electrolytic solution, and the polypyrrole film becomes 14.6 MPa. (45 g) while expanding and contracting by 1%. In other words, in this case, a force of 14 MPa can be generated in the longitudinal direction by electrolytic expansion and contraction.

In general, including the above-mentioned actuary, the conductive polymer used as the actuating member for the actuary is generally in the form of a film. This is a conductive film manufactured by electrolytic polymerization to obtain high quality conductive polymer. This is due to the use of a system. That is, in the electropolymerization method, generally, a conductive electrode laminated on a flat electrode is used, so that the conductive polymer necessarily has a film shape.

However, it is expected that the actuator will be applied to parts that require a certain level of pressure, such as a pressing device, but it cannot be said that the film shape is an appropriate shape for exerting pressure. In order to avoid any problems such as bending during continued use, it is desirable to adopt an appropriate shape with improved pressure resistance and durability.

In addition, the practice of using a film-shaped conductive polymer for the working part has structural limitations due to the shape. That is, when the operating member is in the form of a film, a housing for holding the electrolyte is essential outside the liquid electrolyte or gel electrolyte, particularly when the electrolyte is used. For this reason, the structure of this practice limits the range of applications for the practice. In addition, the small surface area of the working member in contact with the electrolyte is a factor that slows down the response speed of the working unit.

In addition, the working part using a conductive polymer, which is a material that expands and contracts electrochemically, has a resistance value when the voltage is applied from one end of the working part because the conductive polymer has a resistance value. It is difficult to apply a voltage to the other end (tip) of the specified operating part due to the voltage drop. Therefore, the amount of expansion and contraction in the vicinity of the tip becomes small, making it difficult to obtain a desired amount of expansion and contraction. In addition, in the vicinity of the tip, the response speed until the expansion and contraction after applying a voltage becomes slow. Therefore, in order to obtain a desired expansion and contraction ratio also near the tip and to secure a predetermined response speed, a conductor for applying a voltage is extended along the direction of expansion and contraction in parallel with the direction of expansion and contraction of the operation unit. It is also conceivable that the conducting wire is brought into contact with a plurality of portions to apply an appropriate voltage to the tip of the operating portion. However, according to this method, a large tension is applied to the conductor connected at the contact portion as the operating portion expands and contracts. In addition, when considering the application for the use of Actuyue, it can be said that the application range is narrowed due to the structural limitation that the conductor is outside the working part.

These problems are caused by the fact that the conductive polymer in the working part has a large stretching It becomes more noticeable when shrinking. That is, since the expansion or contraction or displacement is large, the conductor connected at the contact portion is more likely to be distorted, and the conductor is liable to come off.

In addition, the film-shaped actuator described above is a lightweight and simple driving mechanism because the operating portion is a film-shaped body made of a resin component. However, when the actuary is pressed to press the object, the thin film shape causes a break in the waist and the like, and the actuary can exert a force that can be originally generated. To make it harder and less likely to break) If a film is formed, the expansion and contraction rate during a specific time tends to decrease. In other words, it is desirable that the conductive polymer molded article does not need to be thickened and does not easily deform so as to be disadvantageous to the pressing operation such as bending.

SUMMARY OF THE INVENTION An object of the present invention is to provide a conductive polymer molded article having a shape excellent in durability and pressure resistance, which can be suitably used as an operating section of an actuator using an operating section containing a conductive polymer, and a method for producing the same. It is to provide. Another object of the present invention is to provide an actuate using a conductive polymer molded article having the above-mentioned shape and having few structural restrictions upon application, and its use. Toshiaki

Therefore, the present inventors have conducted intensive studies and found that when a cylindrical conductive polymer molded article is used as an actuating part of an actuator, pressure resistance and durability are improved. It has been found that a conductive high molecular weight molded article having a metal wire in the molded article, preferably in a coil form, solves the structural problem as an actuary. The present inventors have also found a simple method for producing a conductive polymer molded article containing the coil-shaped metal conductive wire.

Furthermore, the present inventors have also found a preferred structure of the case where the cylindrical conductive polymer is used for the working part, and the case where a solid electrolyte is used as the electrolyte and the case where a gel or liquid electrolyte is used. The preferred structure of Xactiyue was found for each of the cases with and.

In addition, the present inventors have described that the structure of this actiyue is In the case of an event where the expansion and contraction rate is 3% or more, sufficient displacement can be taken out even with a small working part, so that it is particularly advantageous in terms of easy downsizing.

Further, the present inventors have proposed that these factories are used for artificial muscles, positioning devices, posture control devices, elevating devices, transport devices, moving devices, adjusting devices, adjusting devices, guiding devices, or joint devices. The present inventors have found that the present invention can be suitably used for application to a driving unit and further to a pressing unit of a pressing device.

From these viewpoints, the present invention has been accomplished.

The conductive polymer molded article according to the first invention of the present application is formed into a tubular shape, so that performance such as pressure resistance and durability is improved. In addition, since the molded article preferably includes a coil-shaped metal conductor, the molded article can be used as an actuating portion of an actuator having a high elasticity and a high response speed.

Further, the second invention of the present application is an actuating device having at least an operating portion, a counter electrode and an electrolyte, wherein the actuating device using the cylindrical conductive polymer molded product is the molded product. The benefits can be obtained as an advantage over the practice. Further, by providing an electrolyte and a counter electrode inside the cylindrical operating portion as a configuration of the actuator, the actuator can be used as an actuator with a high degree of freedom when used for practical use. .

Electrolytic polymerization is performed using the coiled metal conductor as a working electrode, and a layer of a conductive polymer is formed on the surface of the metal conductor. By filling with a polymer, a conductive polymer molded article can be easily obtained.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a schematic view of a first embodiment of a conductive polymer molded article according to the first invention.

FIG. 2 is a schematic view of a second embodiment of the conductive polymer molded article according to the first invention. FIG. 3 is a schematic view of the first embodiment of the second invention, Actuyue.

FIG. 4 is a schematic view of the second embodiment of the invention of the second invention.

FIG. 5 is a longitudinal cross-sectional view of the second embodiment of the present invention, i.

FIG. 6 is a schematic view of a method for producing a cylindrical conductive polymer molded article having a coil-shaped metal conductor in the molded article.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, the present invention will be described with reference to the drawings, but the present invention is not limited thereto.

(First invention)

The present invention is a cylindrical conductive polymer molded article. Hereinafter, the present invention will be referred to as a first invention.

(First aspect of the first invention)

FIG. 1 is a diagram of a first embodiment of a cylindrical conductive polymer molded product 10 of the first invention as viewed from an oblique direction, and is a diagram schematically illustrating the shape of the molded product. In the present invention, the term “cylindrical” refers to a columnar shape having an opening at the upper and lower bottoms therein and a communicating space communicating from the opening at the upper bottom to the opening at the lower bottom. . No.

FIG. 1 shows a cylindrical example. The shape of the cylindrical conductive polymer molded article is preferably cylindrical from the viewpoint of improving pressure resistance and durability, and is preferably a prismatic cylinder in relation to the application used as an actuator. You can also. Further, for example, the space communicating with the inner portion may be formed in a cylindrical shape, and the shape viewed from the outside may be formed in a prismatic tube shape. From the viewpoint of pressure resistance, a columnar structure with no space inside is conceivable. However, if the inside is clogged, the response speed becomes slow because the contact surface with the electrolyte is only the outside. Further, by making the shape of the molded article cylindrical, not only the pressure resistance and the durability are improved, but also as a working part of an actuator having a configuration described later. It also has the advantage of being suitable for use.

The conductive polymer that can be used is not particularly limited as long as the operating portion expands and contracts due to electrolytic expansion and contraction of the conductive polymer. Examples thereof include polypyrrole, polythiophene, polyaniline, and polyphenylene. Len and the like can be mentioned. In particular, the conductive polymer is a conductive polymer having a pyrrole and / or pyrrole derivative in its molecular chain, which facilitates production and is not only stable as a conductive polymer but also an electrolytic polymer. It is preferable because of its excellent stretching performance. Further, a conventional conductive polymer such as a conductive polymer containing sodium p-toluenesulfonate as a dopant may be added to these conductive polymers.

(Second aspect of the first invention)

FIG. 2 is a schematic view of a cylindrical conductive polymer molded article 20 of the first invention as viewed from an oblique direction as representing the second embodiment. In this embodiment, the metal conductive wire 21 is provided in the conductive polymer molded article. Fig. 2 shows an example in which a metal wire is coiled and contained in a molded product. The metal conductor can also be used as an electric path for applying a voltage from a power source to each part of the conductive polymer molded article. In addition, since the metal conductive wire can also function as a skeleton of a cylindrical conductive polymer molded product, the metal conductive wire has more excellent pressure resistance, and can be suitably used as an operating part for pressing. When the conductive polymer molded product is used in the actuator of the actuator, in order to increase the response speed and ensure a large expansion / contraction ratio, apply a voltage to the entire conductive polymer molded product. Is preferred. Therefore, from such a viewpoint, it is desirable that the metal conductive wire provided in the conductive polymer molded product is contained in the molded product.

When a conductive polymer molded product is subjected to electrolytic expansion and contraction as an operating part, it is particularly desirable to apply a voltage uniformly to a portion up to the tip in order to obtain a large expansion and contraction ratio. Therefore, from such a viewpoint, it is optimal that the metal conductor is contained in the molded product in the form of a coil. Depending on the structure of the application to be used, the conductive polymer molded article may have another shape, and in this case, it is excellent in that a voltage can be applied to the entire conductive polymer molded article. Effect can be obtained You. In other words, a cylindrical body having a coil-shaped metal conductive wire inside a conductive polymer molded article, that is, a cylindrical conductive polymer molded article in which a spiral conductive substrate and a conductive polymer are compounded, The expansion rate and expansion rate can be improved, and it can be further suitably used as a pressing member.

Regarding the kind of metal that can be used for the metal conductor 21, any metal can be used irrespective of the fact that metals generally have higher conductivity than conductive polymers. From the viewpoint of preventing oxidation of the metal, a metal wire having a multilayer structure using a plurality of types of metals can be used. An insulating film cannot be provided on the metal wire at a portion where the metal wire is present in the conductive polymer, but an insulating film can be provided at a portion outside the conductive polymer. As the metal conductive wire, for example, a conductive substrate having electrical conductivity and in which the metal conductive wire is spirally wound can be used. The conductive polymer molded article may have a cylindrical appearance, and may have unevenness due to the spiral shape of the metal conductor on the surface. The conductive polymer molded product is provided with a polypyrrole layer on a spiral conductive substrate having a length of 25 mm, an outer diameter of 0.25 to 0.30 mm, and an inner diameter of 0.15 111111. Alternatively, a conductive polymer composite structure may be used.

(Second invention)

The present invention relates to an actuating device provided with an operating portion counter electrode and an electrolyte, wherein the actuating device is constituted by the cylindrical conductive polymer molded product according to the first invention. Hereinafter, the present invention is referred to as a second invention.

(First aspect of the second invention)

FIG. 3 is a schematic view of an actuate using a tubular conductive polymer molded product according to the second invention as viewed from an oblique direction as representing the first embodiment.

Actuyue 30 has at least a working part 31, an electrolyte 32 and a counter electrode 33. A metal conductor 34 is connected to the operating part. The metal conductor and the counter electrode connected to the working part are connected to the power supply 35, respectively. In the case of the structure illustrated in FIG. 3, when the electrolyte is in a liquid or gel state, a casing 36 for holding the electrolyte is indispensable. In the example shown in FIG. 3, the end (tip) of the operating part 31 is It has a structure in which the feet 37 are provided.

For the operating part 31, it is necessary to use the conductive polymer molded article described in the first invention. Each of the forms shown in the description of the first invention can be used, but for the conductive polymer molded article, by using those embodiments, the respective advantages described in each of the embodiments can be utilized as an actuary. can do.

The electrolyte 32 is not particularly limited, and may be a liquid electrolyte, a gel electrolyte, or a solid electrolyte. When the electrolyte is a liquid, it may be a water solvent or an organic solvent, but it is easy to handle due to its low toxicity and relatively low volatilization rate, and it is possible to obtain large expansion and contraction. Preferably, the solvent is an aqueous solvent. As the gel used for the gel polymer electrolyte, it is preferable to use polyacrylamide, polyethylene glycol, agar, or the like because the gel polymer electrolyte can be easily prepared by complexing with the aqueous solution electrolyte. The electrolyte may be an electrolyte containing at least one compound selected from the group consisting of trifluoromethanesulfonic acid ion, anion containing a plurality of fluorine atoms with respect to the central atom, and a sulfonate having 3 or less carbon atoms. However, it is preferable because the actuice can generate a larger expansion and contraction per redox cycle. Although the solid electrolyte is not particularly limited, it can be used as a polymer containing ether oxygen, such as polyethylene dalicol, because a large displacement of the operating part can exert a great effect as a result of the actuary. the _{N a PF 6, N a BFL} i CF 3 ion-conductive polymer that combines S_〇 ₃ or the like can be used. The shape of the counter electrode 33 is not particularly limited as long as the counter electrode 33 is formed of a conductive material that can be used as an electrode, and may be a bar, a line, a film, or a plate. The material of the counter electrode is not particularly limited, and may be a metal containing a noble metal such as gold or platinum as a type, or may be a conductive nonmetal such as a conductive resin or ITO glass. Although good, it is preferably a noble metal because it is hard to corrode and is easy to process, and more preferably platinum or gold. The kind of metal that can be used for the metal conductor 34 can be used regardless of the kind, as described in the first invention. Further, the metal conductor may be a metal conductor having a multilayer structure. Also, an insulating film may be provided on the metal conductor. Can be.

The shape of the housing 35 is not particularly limited as long as the housing 35 can include an operating portion, a counter electrode, and an electrolyte, and may have a cylindrical shape, a square pillar shape, a polygonal pillar shape, and a desired shape. Can be. The material is not particularly limited either, and may be a hard material such as hard plastic, metal, glass, or ceramics, or may be a flexible material such as urethane rubber or silicon rubber. If the electrolyte is an electrolytic solution, it is preferable to further cap the tip of the actuator.

The shaft 37 provided at the end of the operating portion 31 is used for suitably transmitting the force generated by the actuator to the outside. That is, when a voltage is applied to the operating portion and the counter electrode via the electrolyte, the operating portion expands and contracts electrolytically, and the shaft also moves up and down. Therefore, by the movement of the shaft, the power generated by the expansion and contraction of the operating portion can be transmitted to the outside of the actuator.

(Second aspect of the second invention)

FIG. 4 is a schematic view of a second embodiment of the second embodiment of the present invention using a cylindrical conductive polymer molded article as viewed from an oblique direction to represent the second embodiment. In the actuator of this structure, the electrolyte 42 and the counter electrode 43 are installed inside the cylindrical operating part 41.

By using this structure, a housing for protecting the electrolyte is not essential, and the degree of freedom in configuration can be secured. If a solid electrolyte is used, it can be operated as an actuator with the same structure. Even when a gel or liquid electrolyte is used, if the inner space is narrowed, the electrolyte may be retained by the capillary effect, and the structure may be used as it is. The outer surface of the cylindrical operating portion 41 can be protected by a covering material. Since the coating material does not need to have the effect of maintaining the regularity, in addition to hard plastics, metal hard materials, flexible materials such as urethane rubber, silicon rubber, etc., poly films such as polyethylene, A film-shaped covering material such as a silicone resin sheet or a rubber sheet can also be used. FIG. 5 is a second embodiment of the second invention, wherein protective members 58 are provided on the upper and lower bottoms of the cylindrical operating portion, and a separator is provided between an inner wall of the cylindrical operating portion and a counter electrode. FIG. 9 is a vertical cross-sectional view of the actuille in the case where one is provided. By providing a protective member 59 at the lower bottom of the cylindrical operating part, if the electrolyte is liquid or gel-like, liquid electrolyte etc. can be used even if the internal space is not a narrow space where the capillary effect can not be expected. it can. In addition, by providing a protective member on the upper and / or lower bottom, the inside can be hermetically sealed and can be used stably even when the actuator is used for a large movement.

The material of the protective member is not particularly limited as long as it can hold a liquid. For example, a plastic material such as PET or polyethylene, a ceramic material, or a metal material may be used. In addition, the protection member 58 can also serve as a shaft of the operating portion 51. In the case of Actu Yue, which has such a structure that seals the inside, there is no leakage of electrolyte due to long-term use and it is excellent in durability, so it can be suitably used as a mechanical part such as artificial muscle. it can.

If a liquid or gel electrolyte is used, a separator 59 is provided between the inner wall of the cylindrical operating part and the counter electrode to prevent an electrical short circuit due to contact between the operating part 51 and the counter electrode 53. be able to. Fig. 5 shows an example where the counter electrode is protected by a separator 59. In addition, the inside of the working part can be covered with a severator, and a separator can be installed between the working part and the counter electrode. As the material of the separation, it is possible to use a material that avoids direct contact between the operating part and the counter electrode and that can move the liquid or the like when immersed in the liquid or the like. For example, non-woven fabric or the like can be used. In the case of an actuary having such a structure having a separator, it is difficult to electrically short-circuit even if there is vibration even when there is a moving part, so that it can be suitably used for a moving part. .

Actuate having such a structure does not have the above configuration due to having a cylindrical operating part and having the various advantages described above, especially when the stretch rate of the actuate is 3% or more. It will have a big advantage compared to the facts. In other words, a sufficient displacement can be taken out even if the operating portion is small, which is particularly advantageous in terms of easy downsizing. (Production method)

The present invention is a method for producing a conductive polymer molded article that is a cylindrical body having a coil-shaped metal conductor in the molded article. Hereinafter, the manufacturing method will be described in detail with reference to FIG.

A conductive polymer having good conductivity and a high expansion ratio can be produced by an electrolytic polymerization method. The coiled metal conductive wire 61 and the counter electrode 63 are immersed in an electrolytic solution 62, and a voltage is applied by a power supply 64 to perform electrolytic polymerization.

The solvent used for the electrolytic solution 62 includes (1) a chemical bond selected from at least one selected from the group consisting of a chemical bond consisting of a ether bond, an ester bond, a carbon-carbon bond, and a carbonate bond; 2) Organic compounds containing at least one functional group selected from the group consisting of a hydroxyl group, a nitro group, a sulfone group and a nitrile group in the molecule are preferred. When the driving unit is a driving unit containing a conductive polymer manufactured by the manufacturing method, the expansion ratio of the driving unit per oxidation-reduction cycle can be easily set to 3% or more, The drive mechanism of the present invention can be used for applications requiring a large expansion and contraction rate, such as artificial muscles. Further, the electrolyte may contain a known dopant, and in order to obtain a larger expansion / contraction rate per one redox cycle, trifluoromethanesulfonic acid ion and / or a fluorine atom bonded to a central atom. It is preferable to include an anion containing a plurality of. Further, in order to make the obtained conductive polymer have an expansion / contraction rate of 16% or more per oxidation-reduction cycle, the electrolyte solution is made of fluorine with respect to the trifluoromethanesulfonate ion and / or the central atom. Instead of an anion containing multiple atoms, the chemical formula (1)

(C _n F _{(2n + 1)} S0 ₂ ) (C _m F _{(2m + 1)} S0 ₂ ) N- (1)

(Where n and m are arbitrary integers.)

It is preferable to use an electrolytic solution containing a perfluoroalkylsulfonylimide ion represented by the following formula as an anion.

As the organic compound, specifically, 1,2-dimethoxyethane, 1,2-

2- 4Dioxane (above, organic compounds containing ether bond), τ-butyrolactone, ethyl acetate, n-butyl acetate, -1-butyl acetate, 1,2-diacetoxetane, 3-methyl-2-oxazolidinone, benzoic acid Methyl, ethyl benzoate, butyl benzoate, getyl phthalate (above, organic compounds containing an ester bond), propylene carbonate, ethylene carbonate, dimethyl carbonate, dimethyl carbonate, methylethyl carbonate (above, containing a carbonate bond) Compounds), ethylene glycol, 1-butanol, 1-hexanol, cyclohexanol, 1-year octanol, 1-decanol, 1-dodecanol, 1-octadecanol (or more, organic compounds containing hydroxyl groups), nitromethane, Nitrobenzene (hereinafter , A nitro group-containing organic compound), sulfolane, dimethyl sulfone (above, an organic compound containing a sulfone group), and acetonitrile, ptyronitrile, benzonitrile (an organic compound containing a nitrile group). . The organic compound containing a hydroxyl group is not particularly limited, but is preferably a polyhydric alcohol or a monohydric alcohol having 4 or more carbon atoms because of its good elasticity. In addition, in addition to the above examples, the organic compound may have two or more bonds or functional groups among ether bonds, ester bonds, carbonate bonds, hydroxyl groups, nitro groups, sulfone groups, and nitrile groups in the molecule. It may be an organic compound containing the groups in any combination.

The halogenated hydrocarbon contained as a solvent in the electrolyte is a hydrocarbon in which at least one hydrogen in the hydrocarbon has been replaced by a halogen atom, and which can be stably present as a liquid under the conditions of electrolytic polymerization. If so, there is no particular limitation. Specific examples of the halogenated hydrocarbon include dichloromethane and dichloroethane. As the octogenated hydrocarbon, only one kind can be used as a solvent in the electro-hydraulic liquid, but two or more kinds can be used in combination. Further, the above-mentioned porogenated hydrocarbon may be used as a mixture with the above-mentioned organic compound, or a mixed solvent with the above-mentioned organic solvent may be used as a solvent in the above-mentioned electrolytic solution. The electrolytic solution 62 contains an organic compound to be electrolytically polymerized (for example, pyrrole), a trifluoromethanesulfonate ion, and an anion containing a plurality of fluorine atoms with respect to Z or a central atom. By performing electrolytic polymerization using this electrolytic solution, It is possible to obtain a conductive polymer having an excellent stretching ratio per oxidation-reduction cycle and / or a displacement ratio per specific time in electrolytic stretching. By the above-mentioned electrolytic polymerization, trifluoromethanesulfonic acid ions and anions containing a plurality of fluorine atoms with respect to the central or central atom are incorporated into the conductive polymer.

The anion containing a plurality of fluorine atoms with respect to the trifluoromethanesulfonate ion and Z or the central atom, and the sulfonilimide are not particularly limited in content in the electrolytic solution, but are contained in the electrolytic solution. It is preferably contained in an amount of 0.1 to 30% by weight, more preferably 1 to 15% by weight.

Torifuruorome evening Nsuruhon acid ion has the formula CF ₃ S 0 3 - is a compound represented by. Anions containing a plurality of fluorine atoms with respect to the central atom have a structure in which a plurality of fluorine atoms are bonded to a central atom such as boron, phosphorus, antimony, and arsenic. The Anion containing a plurality of fluorine atoms with respect to the central atom, but are not limited to Japanese, tetrafurfuryl O b borate ion (BF ₄ -), the hexa Furuororin acid ion (PF ₆ -), the hexa Fluoroantimonate ion (S b F ₆ −) and hexafluorofluorate ion (As F ₆ −) can be exemplified. In _{_{kana, CF 3 S0 3 _, BF}} 4 - and PF ₆ - are preferable when considering safety to human body, CF ₃ S 0 3 first and BF ₄ _ is more preferable. As the anion containing a plurality of fluorine atoms with respect to the central atom, one kind of anion may be used, a plurality of kinds of anions may be used at the same time, and further, trifluoromethanesulfonic acid ion and a plurality of kinds of anions may be used. An anion containing a plurality of fluorine atoms may be used at the same time.

In the electrolytic polymerization method, a known electrolytic polymerization method can be used as the electrolytic polymerization of the conductive polymer monomer, and any of a constant potential method, a constant current method, and an electric sweep method can be used. . For example, the electrolytic polymerization is performed under the conditions of a current density of 0.01 to 20 mA / cm2, a reaction temperature of 70 to 80 ° C, preferably a current density of 0.1 to ² mAZcm2, and a reaction temperature of 30 to 30 ° C. Can be done below.

When such electrolytic polymerization is performed, a conductive polymer is gradually deposited around the coil-shaped metal conductive wire 61 by polymerization. By continuing electrolytic polymerization, the space between the coils is filled with conductive polymer. On the other hand, in the space in the center of the coil Since the conductive polymer is not easily buried, it is easy to adjust the shape to a cylindrical shape thereafter. By adjusting the shape of the outer and inner walls of the cylindrical conductive polymer obtained in this way, the cylindrical conductive polymer having a coil-shaped metal conductor in the molded product shown in Fig. 2 can be obtained. A molecular molded article can be obtained.

In the manufacturing method, the conductive polymer can be obtained on the metal conductive wire by immersing the coil-shaped metal conductive wire and the counter electrode in an electrolytic solution and performing the electrolytic polymerization of applying a voltage. A cylindrical body, wherein the conductive polymer is obtained by electrolytic polymerization, and a cylindrical body provided with a coil-shaped metal conductive wire in the cylindrical body can be easily manufactured.

(Application)

Actuate using the tubular conductive polymer molded product of the present application for the working part can be suitably used for artificial muscle, robot arms and artificial hands. Health instruments, hygrometers, such as tweezers, scissors, forceps, snares, laser scalpels, spatula, clips and other medical instruments in microsurgery technology, various sensors or repair tools for inspection and repair, etc. Used in industrial equipment such as hygrometer control equipment, soft manipulators, underwater valves, soft transport equipment, underwater vehicles such as goldfish, or used in water such as moving fishing baits or hobby equipment such as propulsion fins. Also for articles, the conductive polymer molded article and the laminate of the present invention can be suitably used.

In addition, the actuary of the present application is a drive unit for generating a driving force for moving a track-type orbit comprising a circular drive or a drive unit for generating linear drive power in the following apparatus and equipment, or It can be suitably used as a pressing portion that performs a linear operation or a curved operation; OA equipment, an antenna, a device for mounting a person such as a bed chair, a medical device, an engine, an optical device, a fixing device, a side tray. Machines, vehicles, lifting equipment, food processing equipment, cleaning equipment, measuring equipment, inspection equipment, control equipment, machine tools, processing machines, electronic equipment, electron microscopes, electric razors, electric toothbrushes, manipulators, masts, play equipment Amusement equipment, ride simulation equipment, vehicle occupant hold-down equipment, and aircraft extension equipment. The actuators are, for example, valves, brakes and locking devices used in general machines including the above-mentioned devices such as OA devices and measuring devices, and are of a track type comprising a driving portion or an arc portion for generating a linear driving force. It can be used as a driving unit that generates a driving force for moving the trajectory, or as a pressing unit that operates linearly. In addition to the above-mentioned devices, devices, instruments, etc., in general, in machinery and equipment, a driving unit of a positioning device, a driving unit of an attitude control device, a driving unit of a lifting / lowering device, a driving unit of a transport device, a driving unit of a moving device. It can be suitably used as a drive unit of an adjustment device for adjusting the amount and direction, a drive unit of an adjustment device such as a shaft, a drive unit of a guidance device, and a pressing unit of a pressing device. Further, the actuator can be suitably used as a drive unit in a joint device, such as a joint unit that can be directly driven, such as a joint intermediate member, or a drive unit that applies rotational motion to a joint.

For example, the actuator is a drive unit for an ink jet part in an ink jet printer such as a CAD printer, a drive unit for displacing the optical axis of the light beam of the printer, and a head for a disk drive device such as an external storage device. The present invention can be suitably used as a drive unit and a drive unit of a paper pressing contact force adjusting unit in a paper supply device of an image forming apparatus including a printer, a copying machine, and a facsimile.

For example, the actuator is a driving unit for a driving mechanism that moves and installs a measuring unit and a feeding unit, such as moving a high-frequency feeding unit such as a frequency shared antenna for radio astronomy to a second focal point, and a vehicle-mounted compressed air. It can be suitably used for a mast such as an operation telescopic mast (telescopic coping mast) or a driving unit of a lifting mechanism in an antenna.

For example, the actuary may be a driving unit of a massage unit of a chair-shaped massage machine, a driving unit of a nursing or medical bed, a driving unit of a posture control device of an electric reclining chair, and a massaging machine. Backrests of reclining chairs used for chairs, etc.Drive units of telescopic rods that allow the Ottoman to move up and down, retractable chairs for furniture such as chairs and nursing beds, etc. A drive unit used for turning the backrest, a red rest or a bed for a nursing care bed, and a drive unit for controlling the posture of an upright chair. Can be.

For example, the actuator may include a driving unit of an examination device, a driving unit of a pressure measuring device such as a blood pressure used in an extracorporeal blood treatment device, a driving unit of a catheter, an endoscope device, forceps, etc. The drive unit of the cataract surgery device using a chin, the drive unit of the exercise device such as the jaw movement device, the drive unit of the means to relatively expand and contract the member of the chassis of the hoist for the disabled, and the lifting and moving of the nursing bed It can be suitably used for a drive unit for posture control or the like.

The actuator is, for example, a drive unit of a vibration isolator that attenuates vibration transmitted from a vibration generating unit such as an engine to a vibration receiving unit such as a frame, and a drive of a valve operating device for intake and exhaust valves of an internal combustion engine. It can be suitably used as a drive unit of a fuel control device of an engine, and a drive unit of a fuel supply device of an engine such as a diesel engine.

For example, the actuator may drive a drive unit of a calibration device of an imaging device with a camera shake correction function, a drive unit of a lens drive mechanism such as a home video camera lens, and a moving lens group of an optical device such as a still camera video camera. Drive of a mechanism that drives a camera, drive of an auto focus unit of a camera, drive of a lens barrel used in an imaging device such as a camera or video camera, drive of a photo guider that captures light from an optical telescope, Lens drive mechanism or lens barrel drive unit for optical devices with two optical systems such as visual acuity lenses and binoculars, optical communication Compression into fiber-type wavelength-variable filters used for optical information processing and optical measurement, etc. It can be suitably used as a driving unit or a pressing unit for applying a force, a driving unit for an optical axis alignment device, and a driving unit for a shirt mechanism of a camera.

The actuator can be suitably used, for example, for a pressing portion of a fixture such as a caulking fixation of a hose fitting to a hose body.

For example, the actuator may include a driving unit such as a winding spring of a vehicle suspension, a driving unit for unlocking a fuel filler lid of a vehicle, a driving unit for a filler, a lid, a beech, and a driving unit for extending and retracting a bulldozer blade. The present invention can be suitably used as a drive unit, a drive unit of a drive device for automatically switching a gear ratio of a transmission for an automobile, and for automatically connecting and disconnecting a clutch. For example, the actuator may be, for example, a driving unit of a lifting device of a wheelchair with a seat plate lifting device, a driving unit of a lifting device for removing a step, a driving unit of a lifting / transferring device, a medical bed, an electric bed, and a motorized telephone. Drives for elevators, electric chairs, nursing beds, elevating tables, CT scanners, truck cabin tilting equipment, lifters, etc., as well as driving units for lifting and lowering various lifting machinery, and loading and unloading equipment for special vehicles for transporting heavy goods It can be suitably used for a part.

The actuator can be suitably used, for example, as a drive unit of a discharge amount adjusting mechanism such as a food discharge nozzle device of a food processing apparatus.

The actuator can be suitably used for, for example, a driving unit such as a dolly of a cleaning device or a lifting / lowering unit of a cleaning unit.

The actuator is, for example, a driving unit of a measuring unit of a three-dimensional measuring device that measures the shape of a surface, a driving unit of a stage device, a driving unit of a part of a sensor such as a detection system of a tire operating characteristic, and a force sensor. A drive unit of the device that gives the initial speed of the impact response evaluation device, a drive unit of the piston drive device of the piston cylinder of the device including the borehole permeability test device, a drive unit for moving the concentrator-tracking power generator in the elevation direction, Alignment is required in the drive unit of the sapphire laser and the oscillation wavelength switching mechanism of the measuring device including the gas concentration measuring device, the drive unit of the vibration device of the tuning mirror, the inspection device of the printed circuit board, and the inspection device of the flat panel display such as liquid crystal and PDP. X-table drive, electron beam (E-beam) system or focus ion beam (FIB) system Including the drive of an adjustable aperture device used in a charged particle beam system such as a system, the drive of a support device or detection unit for a measurement object in a flatness measuring instrument, and the assembly of micro devices. It can be suitably used for a drive unit of a precision positioning device such as a semiconductor exposure device, a semiconductor inspection device, and a three-dimensional shape measuring device.

The actuator can be suitably used, for example, as a driving unit for an electric razor and a driving unit for an electric toothbrush.

For example, the actuator is a drive unit of an imaging device for a three-dimensional object or a device for adjusting the depth of focus of a readout optical system shared by a CD and a DVD. By deforming And a disk unit capable of linearly moving a moving unit having at least one of a magnetic mirror driving unit such as a variable mirror that can easily change a focal position by forming a desired curved surface approximately. Drive unit of a magnetic tape head actuating assembly such as a linear tape storage system, a drive unit of an image forming apparatus applied to an electrophotographic copying machine, a printer, a facsimile, etc. Driving unit for mounting members such as magnetic head members, driving unit for the optical disk master exposure device that drives and controls the focusing lens group in the optical axis direction, driving unit for the head driving means that drives the optical head, and for the recording medium A drive unit of an information recording / reproducing device that records information or reproduces information recorded on a recording medium, and a circuit breaker (circuit for power distribution). It can be suitably used for driving of the opening and closing operations). The above-mentioned actuary can be suitably used, for example, as a drive unit of the following apparatus; a drive section of a rubber composition press-molding vulcanization apparatus; Drives for parts alignment equipment that aligns to the posture, drives for compression molding equipment, drives for holding mechanisms for welding equipment, drives for bag making and packaging machines, machine tools such as machining centers, injection molding machines, etc. Driving unit of molding machine such as press machine, driving unit of fluid application device such as printing device, coating device and lacquer spraying device, driving unit of manufacturing device to manufacture force shaft, etc., driving of lifting device for covering material Drive unit for tufting machine, needle drive system for tufting machine, drive unit for knife drive system, etc., parts such as cam grinders and ultra-precision parts Ken Drive unit of a polishing machine that performs polishing, drive unit of a control device of a general frame in a loom, drive unit of an opening device that forms a warp opening for inserting a weft in a loom, and a device for peeling a protective sheet such as a semiconductor substrate. Drive unit, threading device drive unit, CRT electron gun assembly device drive unit, clothing trim, table cloth sheet cover, etc. Drive unit for shifter-fork drive selection linear control unit, drive unit for horizontal moving mechanism of anneal window drive unit, drive unit for supporting arm of glass melting furnace forehearth, rack of exposure equipment such as fluorescent screen forming method of color picture tube Drive unit to move forward and backward, drive unit for torch arm of pole bonding machine, drive unit for bonding head in XY direction, mounting of chip parts Measured using the probe Drives for component mounting and measurement / inspection processes in setting, etc., lifting and lowering drives for the cleaning tool support of the substrate cleaning device, drivers for moving the detection head that scans the glass substrate, and transferring the pattern onto the substrate Drive unit of the positioning device of the exposure equipment, the drive unit of the micro positioning device on the order of sub-micron mouth in the field of precision machining, the drive unit of the positioning device of the measuring device of the chemical mechanical polishing tool, the conductor circuit element, A drive unit for positioning a stage device suitable for an exposure apparatus and a scanning exposure apparatus used when a circuit device such as a liquid crystal display device is manufactured in a lithography process, a drive unit for transporting or positioning a work or the like, a reticle stage Drive unit for positioning and transporting the wafer stage, etc., and driving the precision positioning stage device in the chamber Parts, drive units for positioning devices for workpieces or semiconductors in chemical mechanical polishing systems, drive units for semiconductor stepper devices, drive units for devices that position accurately in the introduction station of processing machines, NC machines, machining centers It is used in the drive section of passive vibration isolation and active vibration isolation systems for various types of equipment, such as first-class machine tools and IC industry steppers, and in the lithographic process of manufacturing semiconductor devices and liquid crystal display devices. A driving unit for displacing the reference grating plate of the optical beam scanning device in the direction of the optical axis of the light beam in an exposure device or the like; and a transfer device for transferring the light beam into the article processing unit in a direction transverse to the conveyor.

The actuator can be suitably used, for example, as a drive unit for a positioning device of a probe of a scanning probe microscope such as an electron microscope, and a drive unit for positioning a fine movement device for a sample for an electron microscope.

For example, the actuator is a drive unit of a joint mechanism represented by an automatic welding robot, a robot including an industrial robot or a nursing robot, or a wrist of a robot arm in a manipulator, or a joint other than a direct drive type. Driving unit, driving unit of the motion conversion mechanism of the slide opening / closing type chuck device used as a hand of mouth pot, etc., micro-objects in cell micro-operation and assembly of micro-parts A drive unit of a micromanipulator for manipulating an object in an arbitrary state, a drive unit of an artificial limb such as an electric prosthesis having a plurality of fingers that can be opened and closed, a drive unit of an eighting robot, a drive unit of a prosthesis, and Power suit drive Can be suitably used.

The actuator can be suitably used, for example, as a pressing portion of a device for pressing an upper rotary blade or a lower rotary blade of a side trimmer.

For example, the actuary is a driving unit of an amusement device such as a doll or a pet mouth pot in a game machine such as a pachinko machine, and a driving unit of a simulation device of a riding simulation device. It can be suitably used for.

The actuator can be used, for example, as a drive unit of a valve used in a general machine including the above-mentioned equipment, etc., for example, a valve drive unit of a reliquefaction apparatus for evaporating helium gas, and a bellows-type pressure-sensitive control valve. Drive unit, drive unit for the opening device that drives the integrated frame, drive unit for the vacuum gate valve, drive unit for the solenoid-operated control valve for hydraulic systems, and valve drive that incorporates a motion transmission device that uses a pivot lever The present invention can be suitably applied to a drive unit of a valve of a movable nozzle of a rocket, a drive unit of a suck back valve, and a drive unit of a pressure regulating valve unit.

The actuator can be used, for example, as a pressing portion of a brake used in a general machine including the above-mentioned equipment, and is suitably used for, for example, an emergency, security, parking brake, etc., or an elevator brake. The present invention can be suitably used for a pressing portion of a simple braking device and a pressing portion of a rake structure or a rake system. The actuator can be used, for example, as a pressing portion of a locking device used in a general machine including the above-described devices, for example, a pressing portion of a mechanical lock device, a pressing portion of a steering lock device for a vehicle, Further, it can be suitably used for a pressing portion of a power transmission device having both a load limiting mechanism and a coupling release mechanism.

In particular, a cylindrical conductive polymer molded product having a coil-shaped metal conductive wire inside a cylindrical conductive polymer molded product, that is, a composite of a spiral conductive substrate and a conductive polymer The actuator using a cylindrical conductive polymer molded product for the working part is lightweight, has a simple device configuration, does not cause deformation that is disadvantageous to pressing operations such as hip breakage, and has a pressing force. Since it can be easily generated, it is preferably used as a pressing portion or a pressing device in an audiovisual device, a tactile device, a pressing device, a gripping device, an extruding device, a bending device, a clamping device, a contact device, or a contact device. It is possible 0

21.

An actuator using a cylindrical conductive polymer molded product having a coil-shaped metal conductive wire inside a cylindrical conductive polymer molded product as an operating part is preferably used as a pressing portion described below. It can be used; visual or auditory or tactile device for the visually impaired whose pressing part forms Braille, pressing part of flexible endoscope, pressing part of front fork for motorcycle, pneumatic control type fluid filled type Pressing part for blocking the opening of the high-frequency orifice passage in the vibration isolator, Pressing part for pressing the valve shaft end in the valve stop device of the cylinder control type engine that can be stopped, Plate shape in the injection molding device A pressing portion for extruding a member toward the mold and pressing the same; a pressing portion for pressing an image pickup device of an image pickup device such as a television camera, a video camera, or a digital camera toward the lens seat; and a clamp. In the information reproducing mechanism provided with the mechanism, a pressing portion for releasing the holding of the recording medium by pressing the end portion of the chuck claw, a bias application for locally conducting to the conductive substrate in the electric field driving type image display medium (grounding). ), A pressing part to be driven in the main pushing device for the shield method and pressed in the propulsion direction, a pressing part to be used as a conveying means in the image forming apparatus, and a film-like polishing member in a plate-like member polishing apparatus. A pressing portion for pressing the pressure member against the plate-shaped member.

An actuator using a cylindrical conductive polymer molded product with a coil-shaped metal conductor inside the cylindrical conductive polymer molded product as the operating part contacts the fixed contact of the electromagnetic relay Pressing part of the movable spring plate in the direction of rotation, pressing part of the reduction mechanism with a large reduction ratio incorporated in NC machine tools, etc. Pressing part for forming a hollow member, pressing part for pressing and gripping a cylindrical article between a plate-shaped gripping member and pressing part in a cylindrical article gripping device, drilling in one cylinder block, etc. A pressing portion for pressing a masking plate in a leak test device for measuring a leak amount of a drilled hole; a pressing portion for pressing a flexible tube in a tube pump suitable for discharging a small amount of a liquid material quantitatively; Prime mover In the driving force distribution device that distributes the driving force to the front wheels and the rear wheels at a predetermined distribution ratio, the driving force from the prime mover is distributed according to the predetermined pressing force by pressing the multi-plate clutch with a predetermined pressing force. Pressing unit that transmits to the front and rear wheels in a ratio, and the pusher pressing unit in the coil insertion device Pressure part, a pressing part for separating the end of the sealing part from the release paper in the peeling device for the adhesive sealing part, and pressing the locking part in a dancer roll device for controlling the transport tension of the sheet material. Thereby, the support arm can be used as a pressing portion for pressing.

In addition, Actu Yue, who used a cylindrical conductive polymer molded product as the operating part, which has a coil-shaped metal conductor inside the cylindrical conductive polymer molded product, was used in the planting section of a rice transplanter. A pressing portion capable of pressing the driven-side clutch claw against the driving-side clutch claw; a pressing portion of a fixed platen for pressing a substantially central portion of a hot plate in a hot press device for obtaining a laminate; and a lead forming device of a semiconductor device. A lead pressing part that forms a bent part of the lead, a pressing part that presses a detection lever for detecting the position of the disk tray in the disk tray position detection mechanism, and a film crimping on a film carrier that reads an image Pressing part to make plates adhere to each other, function of underground collection drainage pipe can be used as a pressing part that operates a drilling cone to drill a new strainer hole in the pipe wall in the equipment of the construction method it can.

In addition, an actuator using a cylindrical conductive polymer molded product as an operating unit, which has a coil-shaped metal conductive wire inside the cylindrical conductive polymer molded product, is not limited to the pressing unit of the above device. Shirt and evening position detecting device, boring device with boring bar, laser welding device, extruding device for kneaded products, video tape cassette, transmission device for industrial vehicles, plate body end fixing device , Concrete structure reinforcement / repair material coating equipment, sheet folding / stacking equipment, paper discharge equipment, moving body drive equipment, printers, electric circuit breakers, heating devices with temperature detection units, liquid crystal displays, images Forming device, recording device, bread slicer, two-axis simultaneous tightening tool, powder molding device, paper sheet processing device, seamless belt fixing device, optical fiber connection device, vacuum press Equipment such as shirting mechanism, image stabilization device, image reading device, medium storage mechanism, label sticking device, stencil printing device, press working device, deburring device for work outer peripheral edge, disk device, blade mounting structure, and amusement machine Prize-winning device, wafer transport container mounting device, molding die for partial bonding of interior trim, drawing machine, clamp device, measuring device, heat treatment furnace, oil pump, bending device, motor with position switch, transport of partition panel Device, partition panel transport device, and camshaft material support It can be used for the pressing portion of the holding device. Industrial applicability

Actu Yue Yue, which uses a cylindrical conductive polymer molded product with a coil-shaped metal conductor inside a cylindrical conductive polymer molded product for the operating part, has a simple structure and is lightweight. Since the pressing force can be easily generated, an audio-visual device, a tactile device, a pressing device, a gripping device, an extruding device, a bending device, and a holding device using the actuator as a pressing portion can be used. It can be suitably used for a pressing unit of a device, a contact device, and a contact device.

Claims

The scope of the claims

1. Cylindrical conductive polymer molded product.

2. An actuating device provided with at least an operating portion, a counter electrode and an electrolyte, wherein the operating portion is made of the cylindrical conductive polymer molded article according to any one of claims 1 to 5. I'm lucky.

3. The actuator according to claim 2, wherein an electrolyte and a counter electrode are provided inside the cylindrical operating portion.

4. The actuator according to claim 3, wherein a protection member is provided on an upper bottom and / or a lower bottom of the cylindrical operating portion.

5. The actuator according to claim 3, further comprising a separator between an inner wall of the cylindrical operating portion and a counter electrode.

6. The actuator according to claim 2, wherein the electrolyte is a solid electrolyte.

7. The practice according to claim 4, wherein the electrolyte is a liquid electrolyte or a gel electrolyte.

8. The claim according to claim 2, wherein the stretch rate of the action is 3% or more.

9. Artificial muscle using the actiyue of claim 2.

10. A positioning device using the actuator according to claim 2 as a drive unit, Attitude control device, elevating device, transport device, moving device, adjusting device, adjusting device, guiding device, or joint device.

11. A pressing device using the actuator of claim 2 for the pressing portion.

14. A positioning device, a posture control device, an elevating device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device, or an articulating device using the actuator according to claim 3 as a driving portion. 15. A pressing device using the actuator of claim 3 for the pressing portion.

16. An audio-visual device that uses a cylinder-shaped conductive polymer molded product with a coil-shaped metal conductive wire inside a cylindrical conductive polymer molded product as an actuating part and an actuating unit as a pressing member , Tactile device, pressurizing device, gripping device, extrusion device, bending device, clamping device, contact device, or contact device.

1 7. Cylindrical conductive polymer molded product having a metal wire in the molded product.

1 8. Cylindrical conductive polymer molded product with a coiled metal wire in the molded product.

19. An actuator having at least an operating portion, a counter electrode, and an electrolyte, wherein the operating portion is made of a cylindrical conductive polymer molded article according to claim 17. Yakuchi Yue overnight.

20. The apparatus according to claim 19, wherein an electrolyte and a counter electrode are provided inside the cylindrical operating portion.

2 1. A protective member is provided on the upper bottom and Z or the lower bottom of the cylindrical operating part. Item 220. The actuator according to Item 20.

22. The actuator according to claim 20, wherein a separator is provided between an inner wall of the cylindrical operating portion and a counter electrode.

23. The actuary according to claim 19, wherein said electrolyte is a solid electrolyte.

24. The actuator according to claim 21, wherein the electrolyte is a liquid electrolyte or a gel electrolyte.

25. The actuary according to claim 19, wherein the stretch ratio as the actuir is 3% or more. 26. An artificial muscle using the actiyue illuminator according to claim 19.

27. A positioning device, a posture control device, an elevating device, a transport device, a moving device, an adjusting device, an adjusting device, an adjusting device, a guiding device, or an articulating device using the actuator of claim 19 as a driving portion.

28. A pressing device using the actuator of claim 19 as a pressing portion.

29. A positioning device, a posture control device, an elevating device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device, or a joint device using the actuator of claim 20 as a driving portion.

30. A pressing device using the actuator according to claim 20 as a pressing portion. 31. A method for producing a cylindrical body containing a conductive polymer, A coil-shaped metal conductor is provided in the cylindrical body,

The conductive polymer is obtained by electrolytic polymerization,

In the electrolytic polymerization, a voltage is applied after immersing the coil-shaped metal conductor and the counter electrode in an electrolytic solution to obtain a conductive polymer on the metal conductor.

Manufacturing method of cylindrical body.