WO2007148572A1 - 高分子アクチュエータ - Google Patents
高分子アクチュエータ Download PDFInfo
- Publication number
- WO2007148572A1 WO2007148572A1 PCT/JP2007/061862 JP2007061862W WO2007148572A1 WO 2007148572 A1 WO2007148572 A1 WO 2007148572A1 JP 2007061862 W JP2007061862 W JP 2007061862W WO 2007148572 A1 WO2007148572 A1 WO 2007148572A1
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- WIPO (PCT)
- Prior art keywords
- polymer
- polymer structure
- potential difference
- actuator
- conductive polymer
- Prior art date
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/005—Electro-chemical actuators; Actuators having a material for absorbing or desorbing gas, e.g. a metal hydride; Actuators using the difference in osmotic pressure between fluids; Actuators with elements stretchable when contacted with liquid rich in ions, with UV light, with a salt solution
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S310/00—Electrical generator or motor structure
- Y10S310/80—Piezoelectric polymers, e.g. PVDF
Definitions
- the present invention relates to a polymer actuator that can stably realize a large expansion and contraction operation with a simple and inexpensive configuration.
- candidates for artificial muscle actuators include those that use conductive polymers, those that use polymers containing fine carbon particles (see, for example, Patent Document 1), and polymer structures that contain carbon nanotubes. Since these actuators use a phenomenon in which a structure containing a polymer material expands and contracts with the movement of ions, such an actuator is used as an ionic polymer actuator. They are collectively called.
- FIGS. 7A, 7B, and 7C As an example of an artificial muscle actuator using a conductive polymer that is a kind of ionic polymer actuator, there is an actuator that generates a bending deformation as shown in FIGS. 7A, 7B, and 7C. Proposed.
- This actuator has a structure in which a solid electrolyte molded body 32, which is an electrolyte housing layer, is sandwiched between poly-phosphorus film bodies 35a, 35b which are polymer structures using a conductive polymer.
- the switch 37 When the switch 37 is turned on, the potential difference set at the power supply 36 is applied between the poly-phosphorus film bodies 35a and 35b, and as shown in FIG.
- the anion is inserted and stretched, and the anion is released from the other polyphosphorus membrane 35a and contracts, resulting in the occurrence of flexure deformation (see, for example, Patent Document 3).
- the electrode that does not use displacement is not necessarily required to be a conductive polymer, but a metal electrode is mainly used.
- the displacement increases by providing a conductive polymer on the metal electrode.
- the principle of the expansion and contraction of the ionic polymer actuator is based on the force that may be caused by electrostatic repulsion or the like due to the structural change of the polymer as well as the volume change due to the insertion of ions. It is configured to give a potential difference between two electrodes connected via an electrolyte housing layer, and a phenomenon corresponding to each other occurs in each electrode.
- Such ionic polymer actuators are expected to be put to practical use as artificial muscles because some of them generate distortions comparable to muscles at a low voltage of 2 to 3V.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2005-176412
- Patent Document 2 JP-A-2005-176428
- Patent Document 3 Japanese Patent Laid-Open No. 11-169393
- Non-Patent Document 1 Proceedings of SPIE, Vol. 4695, pages 8-16
- the ionic polymer actuator uses the expansion and contraction of a flexible polymer structure, the shape of the stretched state and the contracted state change when a load is applied to the actuator.
- the expansion / contraction range as the actuator changes.
- the operating range must be limited to a reachable range by expansion and contraction in both cases of no load and when a load is applied. Will not be able to.
- the method for measuring the charge is that the displacement of the ionic polymer actuator is a polymer structure. Since it depends on the number of charges in the structure or the number of ions corresponding to it, it is a method of measuring the number of charges entering and leaving the polymer structure and evaluating the stretched state. In this method, however, the number of charges is increased and decreased each time the actuator is operated, so that measurement errors are accumulated. For this reason, it is necessary to use a measurement system such as a high-accuracy charge measurement device, which has the disadvantage that the circuit is complicated and expensive.
- the method using the plurality of sensors is a method in which, for example, a force sensor is provided in addition to the displacement sensor, and the expansion / contraction state is evaluated using the relationship between the load and the expansion / contraction range measured in advance. is there.
- this method has the disadvantage that an extra force sensor is required and the cost is increased.
- the method of continuously applying the constant voltage is a method of continuously applying a voltage at which the polymer structure expands or contracts at a voltage that does not deteriorate the polymer structure or the electrolyte housing layer. By doing so, the polymer structure approaches a certain stretched state with time.
- this method if it takes time until the displacement of the polymer structure, which makes it difficult to determine the timing to change the applied voltage, is stabilized, the operation of the actuator becomes extremely slow, and the application is applied early.
- the stretched state of the polymer structure becomes a transient response state, so that there is a drawback that the correlation with the applied voltage becomes low. Also, if the response speeds on the expansion side and contraction side are different, the displacement drifts to one side even when the voltage is periodically changed for the purpose of reciprocal operation! / When a craving phenomenon occurs!
- a polymer actuator that realizes the maximum expansion and contraction operation without load without adding an extra system such as a charge measuring device or a force sensor is provided. There is to do.
- the present invention is configured as follows.
- the first polymer structure having conductivity, the electrolyte housing layer electrically connected to the first polymer structure, and the first height
- a first polymer structure and a second polymer structure each having a molecular structure and a second polymer structure electrically connected through the electrolyte housing layer and having conductivity.
- a polymer actuator characterized in that a potential difference between the first polymer structure and the second polymer structure is changed by displacing the second polymer structure.
- the present invention it is possible to obtain a polymer activator that realizes the maximum expansion and contraction operation without depending on the load without adding an extra system such as a charge measuring device or a force sensor. it can. That is, according to the present invention, the potential difference between the first polymer structure and the second polymer structure is electrically connected to the first polymer structure. By displacing the second polymer structure that is mechanically weakly connected to the body
- the actuator can be operated according to the stretched state of the second polymer structure corresponding to the stretched state of the first polymer structure without depending on the load applied to the first polymer structure. Therefore, it is possible to obtain a polymer actuator that realizes the maximum expansion and contraction operation without depending on the load without adding an extra system such as a charge measuring device or a force sensor.
- FIG. 1A is a perspective view schematically showing an artificial muscle actuator according to a first embodiment of the present invention.
- FIG. 1B is a perspective view schematically showing the artificial muscle actuator according to the first embodiment of the present invention.
- FIG. 2A is a cross-sectional view taken along the line XX of FIG. 1A, showing an outline of the artificial muscle actuator according to the first embodiment of the present invention.
- FIG. 2B is a cross-sectional view taken along the line XX of FIG. 1A, showing an outline of the artificial muscle actuator according to the first embodiment of the present invention.
- FIG. 2C shows an outline of the artificial muscle actuator according to the first embodiment of the present invention.
- FIG. 1A is a cross-sectional view along line X—X in FIG.
- FIG. 2D is a cross-sectional view taken along the line XX of FIG. 1A, showing an outline of the artificial muscle actuator according to the first embodiment of the present invention.
- FIG. 2E is a cross-sectional view taken along the line XX of FIG. 1A, showing an outline of the artificial muscle actuator according to the first embodiment of the present invention.
- FIG. 3A is a cross-sectional view taken along line AA in FIG. 2A.
- FIG. 3B is a cross-sectional view taken along line BB in FIG. 2A.
- FIG. 4 is a perspective view showing an outline of an artificial muscle actuator according to a second embodiment of the present invention.
- FIG. 5A is a cross-sectional view schematically showing an artificial muscle actuator according to a second embodiment of the present invention.
- FIG. 5B is a cross-sectional view showing an outline of the artificial muscle actuator according to the second embodiment of the present invention.
- FIG. 5C is a cross-sectional view schematically showing an artificial muscle actuator according to a second embodiment of the present invention.
- FIG. 5D is a cross-sectional view schematically showing an artificial muscle actuator according to a second embodiment of the present invention.
- FIG. 5E is a cross-sectional view schematically showing an artificial muscle actuator according to a second embodiment of the present invention.
- FIG. 6A is a diagram showing a cross section taken along line AA in FIG. 5A.
- FIG. 6B is a diagram showing a cross section of line BB in FIG. 5A.
- FIG. 7A is a view showing an outline of an artificial muscle actuator having a conventional configuration
- FIG. 7B is a diagram showing an outline of a conventional artificial muscle activator
- FIG. 7C is a diagram schematically showing an artificial muscle actuator having a conventional configuration.
- the first polymer structure having conductivity, the electrolyte housing layer electrically connected to the first polymer structure, and the first height
- a first polymer structure and a second polymer structure each having a molecular structure and a second polymer structure electrically connected through the electrolyte housing layer and having conductivity.
- a polymer actuator characterized in that a potential difference between the first polymer structure and the second polymer structure is changed by displacing the second polymer structure.
- the potential difference between the first polymer structure and the second polymer structure is electrically connected to the first polymer structure. Since the second polymer structure, which is mechanically weakly connected to the molecular structure, is displaced, the stretch of the first polymer structure does not depend on the load that is distorted by the first polymer structure.
- the actuator can be operated according to the expansion / contraction state of the corresponding second polymer structure. Therefore, it is possible to obtain a polymer actuator that can stably realize a large expansion and contraction operation with a simple and inexpensive configuration.
- the first polymer structure having conductivity, the electrolyte housing layer electrically connected to the first polymer structure, and the first height
- a first polymer structure and a second polymer structure each having a molecular structure and a second polymer structure electrically connected through the electrolyte housing layer and having conductivity.
- a displacement detector for detecting displacement of the second polymer structure
- a potential difference switching unit configured to switch a potential difference applied between the first polymer structure and the second polymer structure to a different potential difference based on the displacement detected by the displacement detection unit.
- a high-performance polymer actuator is provided. According to such a configuration, the actuator can be controlled according to the stretched state of the second polymer structure corresponding to the stretched state of the first polymer structure without depending on the load applied to the first polymer structure. It becomes like this. Therefore, it is possible to obtain a polymer actuator that can stably realize a large expansion and contraction operation with a simple and inexpensive configuration.
- either one or both of the first polymer structure with conductivity and the second polymer structure with conductivity have high organic conductivity.
- a polymer activator according to any one of the first and second embodiments which is a structure containing a molecule.
- either or both of the first polymer structure having conductivity and the second polymer structure having conductivity have conductivity.
- the polymer activator according to the fourth aspect wherein the conductive carbon material is a tubular carbon material.
- the polymer activator according to the fourth aspect wherein the conductive carbon material is a granular carbon material.
- the amount of carbon material in the polymer structure can be easily adjusted, and a polymer actuator having polymer structures with various characteristics can be easily obtained.
- the first polymer structure having conductivity and the second polymer structure having conductivity have polymers having the same characteristics with respect to the surrounding environment.
- Structure used It provides a polymer activator according to any one of the first to sixth embodiments, which is a structure.
- the characteristics of the surrounding environment such as temperature change in other words, the influence of the surrounding environment such as temperature change is the same on the first polymer structure and the second polymer structure.
- the correlation between the stretch states of the first polymer structure and the second polymer structure becomes high, and a polymer actuator capable of realizing a more stable stretching operation can be obtained.
- the potential difference switching unit may convert the potential difference given between the first polymer structure and the second polymer structure into the second polymer structure.
- the second polymer structure is switched to the first potential difference at which the second polymer structure expands.
- the second polymer structure expands by more than a certain size, the second polymer structure
- the polymer actuator according to any one of the first to seventh aspects is provided, wherein the polymer is configured to switch to a second potential difference that contracts.
- the polymer actuator that continues to contract continues to expand when it contracts more than a certain dimension, and then continues to contract again when it expands beyond a certain dimension. Therefore, it is possible to obtain a polymer actuator that continuously performs a large expansion and contraction operation.
- the potential difference switching unit is interposed between the first polymer structure and the second polymer structure by the stretching operation of the second polymer structure.
- the polymer actuator according to the eighth aspect is a switch that mechanically switches the given potential difference between the first potential difference and the second potential difference.
- the potential difference applied between the first polymer structure and the second polymer structure is always applied by a DC power source.
- a polymer actuator according to any one of the embodiments is provided.
- the output of the first polymer structure is generally transmitted to the outside via a mechanism that transmits the output only in one direction of expansion or contraction.
- the polymer actuator according to any one of the first to the L0 embodiments is provided.
- a polymer actuator capable of realizing a larger displacement can be obtained by continuously expanding and contracting the polymer actuator.
- the polymer actuator according to the eleventh aspect wherein the mechanism for transmitting an output only in one direction is a mechanism including a ratchet mechanism. .
- the mechanism for transmitting the output only in one direction is interlocked with the potential difference applied between the first polymer structure and the second polymer structure.
- the high molecular weight actuator according to the eleventh aspect is provided, which is a mechanism including a mechanism for changing the transmission force.
- FIG. 1A is a perspective view showing the outline of a human muscular actuator 1 as an example of the polymer actuator according to the first embodiment of the present invention
- FIG. 1B is a perspective view showing the inside thereof
- 2A, FIG. 2B, FIG. 2C, FIG. 2D, and FIG. 2E are cross-sectional views taken along the line X—X of FIG. 1A showing the behavior of the artificial muscle actuator 1.
- 3A and 3B show a cross-sectional view taken along line AA and a cross-sectional view taken along line BB in FIG. 2A, respectively.
- reference numerals 2 and 3 denote cylindrical films of inner and outer conductive polymers that are examples of polymer structures having conductivity.
- Inner and outer conductive polymer tubes The conductive polymer that forms the membranes 2 and 3 is a material that expands and contracts with the oxidation-reduction reaction. Polypyrrole, polyarine, or polymethoxyline can be used. Polypyrrole is desirable because of its large displacement. .
- the thickness of the conductive polymer film in the inner and outer conductive polymer tubular films 2 and 3 is preferably about several tens of meters. If it is thinner than that, it will be weak in strength, and if it is thicker than that, ions will not be able to enter and exit sufficiently inside the cylindrical membranes 2 and 3 of the conductive polymer.
- the inner and outer conductive polymer tubular films 2 and 3 are surrounded by an insulating outer cylinder 10, an insulating inner cylinder 11, an insulating upper lid 12, and an insulating lower lid 13. They are electrically connected via an electrolyte 4 that is an electrolyte enclosure layer that fills the space.
- the electrolyte solution 4 is desirable in that the ionic liquid is non-volatile and does not undergo electrolysis, and the potential window, which is the potential range, is wide.
- the inner conductive polymer cylindrical membrane 2 of the two inner and outer conductive polymer cylindrical membranes 2, 3 has four conductive rod-shaped protrusions 27a, 27b, 27c.
- One end is clamped by a conductive 'conductive retaining ring 7a with a L-shaped cross section with 27d and a conductive' conductive or insulating 'retaining ring 9a, and the other end is also made of four conductive or insulating materials. It is clamped by a conductive or insulating retaining ring 7b having an L-shaped cross section with rod-shaped protrusions 27e, 27f, 27g, and 27h and a conductive or insulating retaining ring 9b.
- the conductive retaining ring 7a is fixed to the insulating upper lid 12 by inserting the conductive rod-shaped protrusions 27a, 27b, 27c, 27d into the four fitting holes 12a of the upper lid 12 (that is, the inner side)
- the holding ring 7b has four rod-shaped projections 27e, 27f, 27g, and 27h, and the bottom cover 13 has four penetrations.
- 1A to 2B show the sealing members 22b and 22d, which are shown in FIG. 1A and FIG. 2B to correspond to the rod projections 27e, 27f, 27g and 27h, respectively. Is provided.
- Rod-shaped protrusions 27e, 27f, 27 Each of g and 27h is provided with ratchet claws 16a, 16b, 16c and 16d (16b and 16d are not shown), and at least four ratchet teeth 14a are arranged along the outer circumference along the axial direction. It meshes with the insulating or conductive rod-shaped moving body 14 provided at intervals.
- the ratchet claw 16a, 16b, 16c, 16d and the four ratchet teeth 14a constitute a ratchet mechanism.
- the driving force is transmitted to the moving body 14 through the engagement of the claws 16a, 16b, 16c, 16d and the teeth 14a of the moving body 14.
- the ratchet claws 16a, 16b, 16c, 16d and the teeth 14a of the moving body 14 do not mesh with each other, so that the driving force is not transmitted to the moving body 14. Therefore, in this first embodiment, the output of the inner conductive polymer tubular membrane 2 functions as an example of a mechanism that generally transmits the output only in one direction of contraction, as will be described in detail below. It is configured to be transmitted to the outside through a ratchet mechanism.
- the moving body 14 is held in the radial direction by the bearings 15a and 15b disposed in the inner cylinder 11 in the vicinity of the upper lid 12 and the lower lid 13 so as not to prevent movement in the axial direction. ! RU
- the outer conductive polymer tubular film 3 is also electrically connected to the conductive holding ring 6a having an L-shaped cross section provided with four conductive rod-shaped protrusions 26a, 26b, 26c, and 26d.
- insulating retainer ring 8a is clamped at one end and the other end is also provided with four insulating or conductive rod-shaped protrusions 26e, 26f, 26g, 26h. It is clamped by the retaining ring 6b and the insulating or conductive holding ring 8b.
- Retaining ring 6b Force Rod projections 26e, 26f, 26g, 26h are fixed to the insulating lower lid 13 by fitting them into the four fitting holes 13a of the lower lid 13 (that is, the outer conductive polymer).
- the four rod-shaped protrusions 26a, 26b, 26c, and 26d of the retaining ring 6a pass through the four through holes 12b of the upper lid 12 to the outside. (That is, the upper end side of the outer conductive polymer tubular membrane 3 is movable with respect to the upper lid 12).
- the rod-shaped protrusion 26a which functions as an example of a displacement detection unit that detects the displacement of the outer conductive polymer tubular membrane 3, is provided with a conductive elastic member (for example, a linear member made of panel steel) 19.
- the electrical terminal 18 with a built-in permanent magnet is electrically connected!
- the electrical terminal 18 is made of conductive and magnetic upper and lower electrodes 17a, 1 by the magnetic force of a built-in permanent magnet. It is configured as a switch that is always electrically connected to either force of 7b, and includes a control mechanism or electric potential with the electric terminal 18, the elastic member 19, the upper and lower electrodes 17a, 17b, and the DC power supplies 5a, 5b.
- An example of the difference switching unit 100 is configured.
- the magnetic force of the electrical terminal 18 and the elastic force of the elastic member 19 are obtained when the upper and lower electrodes 17a and 17b with which the electrical terminal 18 contacts are completely expanded when the outer conductive polymer tubular membrane 3 is fully extended. It is adjusted to reverse when it contracts. That is, the electrical terminal 18 (see FIG. 2D) that has been electrically connected to the upper electrode 17a comes into contact with the lower electrode 17b when the outer conductive polymer tubular film 3 is completely contracted. In contrast, the electrical terminal 18 (see FIG. 2A), which was electrically connected to the lower electrode 17b, on the contrary, the outer conductive polymer tubular membrane 3 was fully extended. At this point, it comes into contact with the upper electrode 17a (see FIG. 2D).
- the electrodes 17a and 17b are held by insulating side plates 21a and 21b connected to the upper lid 12, and are electrically connected via DC power supplies 5a and 5b connected in series. Further, between the DC power supplies 5a and 5b, a wiring electrically connected to the holding ring 7a is electrically connected via the switch 28 and the rod-shaped protrusion 27a. Therefore, different potentials can be electrically connected to the holding ring 7a from the DC power supplies 5a and 5b through the switch 28.
- the rod-like projections 26a, 26b, 26c, 26d are fixed to the Snows 23a, 23b, 23c, 23, and 3d, respectively.
- a coil panel 24a, 24b, 24c, 24d which is an example of an elastic body, is sandwiched between the upper lid 12 so as to be compressed.
- a force in the extending direction is always applied to the outer conductive polymer tubular film 3 by the coil vanes 24a, 24b, 24c, and 24d.
- the arm When the arm is extended, it generates a driving force in the extending direction without buckling.
- the artificial muscle actuator 1 when the artificial muscle actuator 1 is arranged along the vertical direction so that the upper side in FIG. Force applied in the extension direction due to its own weight, etc.Of course, as in the case of the outer conductive polymer tubular membrane 3, a force in the extension direction may be applied using a stopper and a coil panel. good. In this way, the force in the extending direction can be applied to the cylindrical membrane 2 of the inner conductive polymer 2 without depending on the direction of gravity. This is desirable.
- the artificial muscle actuator 1 can be arranged in any direction such as the horizontal direction without being arranged along the vertical direction, as described above. desirable.
- the coil panel may be a structure integrated with the cylindrical films 2 and 3 of the conductive polymer so that a force in the extending direction is always generated by the coil panel. This is desirable in that an extra space for arranging the coil panel is not required.
- the conductivity of the coil panel exceeds the conductivity of the cylindrical membranes 2 and 3 of the conductive polymer, the conductivity of the cylindrical membranes 2 and 3 of the conductive polymer was improved by integrating them. As a result, the responsiveness of the artificial muscle meat character 1 can be improved.
- a solenoid 20 as a holding mechanism for restricting the movement of the moving body 14 in the axial direction is provided on the upper lid 12, and a cylindrical shape of a conductive polymer is provided via the holding rings 6a and 7a. The same voltage as that applied between the membranes 2 and 3 is supplied.
- the solenoid 20 is provided with a movable iron core in a coil, and is an actuator in which a shaft 20a connected to the movable iron core moves back and forth with respect to the outer surface of the moving body 14 depending on the direction of an input voltage.
- the solenoid 20 accommodates the shaft 20a when the voltage of the DC power supply 5a is applied, the shaft 20a moves away from the outer surface of the moving body 14, and the moving body 14 moves freely in the axial direction (open state).
- the shaft 20a When the voltage of the DC power supply 5b is applied, the shaft 20a is protruded to come into contact with the outer surface of the moving body 14, and the axial movement of the moving body 14 is restricted by the frictional force (holding state).
- the shaft 20a is shaped to selectively contact the smooth outer diameter portion of the moving body 14. This is desirable in that the shaft 20a is less likely to be damaged even when a slippage occurs with the moving body 14 due to an external force.
- the shaft 20a may be shaped to engage with the teeth 14a of the moving body 14. Such a shape is desirable in that a larger holding force can be obtained.
- causes of the expansion and contraction of the cylindrical membranes 2 and 3 of the conductive polymer include entry and exit of ions (anions), entry and exit of cations (cations), and changes in the polymer structure.
- 2A, 2B, 2C, 2D, and 2E in the explanation of the principle of deformation in materials such as polypyrrole, the main deformation mechanism is From now on, I will describe the entry and exit of Aon.
- the artificial muscle actuator 1 By turning on the switch 28, the position of the moving body 14 is removed and the operation is repeated, so that one cycle will be described below.
- FIG. 2A shows a state in which the cylindrical film 2 of the inner conductive polymer is expanded and the cylindrical film 3 of the outer conductive polymer is contracted as one state during the repetitive operation. .
- a large number of ions are inserted into the inner conductive polymer cylindrical membrane 2, while the key ions inserted into the outer conductive polymer cylindrical membrane 3 are inserted.
- the outer conductive polymer tubular film 3 is contracted, the electric terminal 18 is pressed against the lower electrode 17b by a magnetic force. As a result, the holding ring 6a and the holding ring 7a In the meantime, the voltage generated by the DC power supply 5a is applied.
- the outer conductive polymer tubular membrane 3 electrically connected to the holding ring 6a to which a positive potential is applied is inserted into the outer conductive polymer tubular membrane 3. While the film expands, the ion is released from the inner conductive polymer tubular membrane 2 electrically connected to the holding ring 7a to which a negative potential is applied, and the inner conductive high
- the cylindrical membrane 2 of molecules begins to shrink. That is, the keyon moves in the direction indicated by the arrow in FIG. 2A. If this state continues, the state shown in Fig. 2B is obtained.
- FIG. 2B shows that the inner conductive polymer cylindrical membrane 2 is half the maximum displacement d generated by the inner conductive polymer cylindrical membrane 2 during repeated operation, that is, the displacement (dZ2). Only shows the contracted state from FIG. 2A.
- the inner conductive polymer tubular membrane 2 contracted by a displacement (dZ2), so the retaining ring 7b and the rod-shaped protrusion electrically connected to the inner conductive polymer tubular membrane 2 27a, 27b, 27c, 27d and ratchet claws 16a, 16b, 16c, 16d rise with respect to the outer cylinder 10 as they contract, and the moving body 14 also rises with respect to the outer cylinder 10.
- the force indicated by the two-dot chain line at the lower end in FIG. 2B is the lower end position of the moving body 14 in FIG. 2A.
- the solenoid 20 to which the voltage of the DC power supply 5a is applied is in an open state in which the shaft 20a is accommodated, so that the movement of the moving body 14 is not hindered.
- the outer conductive polymer tubular membrane 3 is elongated, the retaining ring 6a rises together with the outer conductive polymer tubular membrane 3, and the retaining ring 6a passes through the elastic member 19.
- a force due to the elastic force of the elastic member 19 is also applied to the electrical terminal 18 electrically connected to the upper side.
- the electric terminal 18 is more elastic than the elastic force of the elastic member 19. Since the magnetic force is higher, the voltage applied to the inner conductive polymer cylindrical membrane 2 and the outer conductive polymer cylindrical membrane 3 does not change, and continues to the outer conductive polymer cylindrical membrane. The key membrane 3 is inserted and stretched, and the key detaches from the inner conductive polymer cylindrical membrane 2 and contracts, resulting in the state shown in FIG. 2C.
- the inner conductive polymer tubular membrane 2 contracts (in other words, contracts by the state force displacement d in FIG. 2A) further than the state of FIG.
- the inner conductive polymer tubular film 2 contracts, and the moving body 14 continues to rise as it shrinks.
- the retaining ring 6a continues to rise as the outer conductive polymer tubular membrane 3 expands, and when the elastic force of the elastic member 19 exceeds the magnetic force of the electric terminal 18, the electric terminal 18 comes into contact.
- the solenoid 20 to which the voltage of the DC power supply 5b is applied is in a holding state in which the shaft 20a protrudes toward the moving body 14, and the shaft 20a moves in contact with the outer surface of the moving body 14. It will prevent the movement of body 14. As this state develops, it becomes the state shown in Figure 2D.
- FIG. 2D shows that the inner conductive polymer cylindrical membrane 2 is half the maximum displacement d generated by the inner conductive polymer cylindrical membrane 2 during repeated operation, that is, the displacement (dZ2). Only shows the stretched state from Fig. 2C. Since the inner cylindrical membrane 2 of the conductive polymer has expanded from the state shown in Fig. 2C, the retaining ring 7b and the rod-shaped protrusions 27a, 27b, 27c, 27d and the ratchet claws 16a, 16b, 16c, 16di are lowered!
- moving object 14 held by solenoid 20 keeps its position ( In other words, the lower end position of the moving body 14 is a position that is higher by the displacement d than the lower end position of the moving body 14 in FIG. It remains in place. )
- the outer conductive polymer tubular film 3 is contracted, the retaining ring 6a is lowered together with the outer conductive polymer tubular film 3 with respect to the outer cylinder 10, and the electrical end.
- the child 18 is subjected to a downward force by the elastic force of the elastic member 19.
- FIG. 2E the cylindrical film 2 of the inner conductive polymer expands and the cylindrical film 3 of the outer conductive polymer contracts further than the state of FIG.
- the state at the time when the magnetic force at terminal 18 is exceeded is shown.
- This state is the same as FIG. 2A except that the moving body 14 is displaced by d.
- the elastic force of the elastic member 19 exceeds the magnetic force of the electric terminal 18, the contact of the electric terminal 18 changes again from the upper electrode 17a to the lower electrode 17b, and the holding ring 6a and the holding ring 7a
- the voltage generated by the DC power supply 5a is applied again.
- the shaft 20a is housed in the solenoid 20 and changes to the open state.
- the outer conductive polymer tubular membrane 3 electrically connected to the retaining ring 6a to which a positive potential is applied is inserted and expanded.
- the inner conductive polymer tubular membrane 2 that is electrically connected to the holding ring 7a to which a negative potential is applied the ion is released and contracts. .
- the moving body 14 is displaced by a displacement greater than or equal to the maximum displacement d generated by the inner conductive polymer tubular film 2. In other words, even if the maximum displacement d is in one cycle, for example, if the cycle is repeated twice, a displacement 2d that is twice the maximum displacement d will occur, and in one cycle.
- a displacement greater than the maximum displacement d generated in the inner conductive polymer tubular membrane 2 can be generated. This is because the position of the moving body 14 moved by the maximum displacement d generated in the inner conductive polymer tubular membrane 2 in one cycle is held by the solenoid 20, and the inner conductive in the next cycle. This is because the maximum displacement d generated in the cylindrical membrane 2 of the conducting polymer can be transferred to the moving body 14.
- the length of the inner conductive polymer tubular membrane 2 varies depending on the load applied to the moving body 14, but how much the inner conductive polymer tubular membrane 2 expands or contracts. The state of whether or not it is determined by the amount of anion inserted into the cylindrical film 2 of the inner conductive polymer.
- the state in which the arion is sufficiently inserted is an expanded state
- the state in which the anion is sufficiently detached is a contracted state.
- the inner conductive polymer cylindrical membrane 2 is electrically connected to the outer conductive polymer cylindrical membrane 3 via the electrolyte solution 4, thereby including the DC power supply 5a or 5b. It forms part of the electric circuit, and the outer conductive polymer cylindrical membrane 3 is also turned on in response to insertion and removal of the inner conductive polymer cylindrical membrane 2 Will be removed and inserted. Furthermore, the inner conductive polymer cylindrical membrane 2 and the outer conductive polymer cylindrical membrane 3 do not have any mechanical interaction because of contact via the electrolyte solution 4, so known.
- the inner conductive polymer tubular membrane 2 and the outer conductive polymer cylindrical film 3 are made of a material (for example, a polymer) having the same characteristics with respect to the surrounding environment. This is equivalent to the characteristics of the surrounding environment such as temperature (influence of external factors), and is also a force that increases the correlation force in expansion and contraction. Furthermore, the electrical capacity of the inner conductive polymer cylindrical membrane 2 and the outer conductive polymer cylindrical membrane 3 is the same as that of the outer conductive polymer cylindrical membrane 3. It is desirable to exceed the capacity of the cylindrical membrane 2 of the conductive polymer.
- the outer conductive polymer tubular membrane 3 has a capacity V lower than that of the inner conductive polymer cylindrical membrane 2, and the outer conductive polymer cylindrical membrane 3
- the expansion and contraction of the inner conductive high-molecular tubular membrane 2 is restricted, and the inner conductive polymer tubular membrane 2 cannot be fully vibrated. Because it ends up.
- the outer conductive polymer tubular film 3 is displaced in accordance with the stretched or contracted state of the inner conductive polymer tubular film 2 so that the electrical terminal 18 is connected to the electrodes 17a,
- the inner conductive polymer high-molecular tubular membrane 2 related to the load applied to the moving body 14 is allowed to have a maximum amplitude between the stretched state and the contracted state ( However, the amplitude range is the maximum displacement d).
- the DC power supply 5a, 5b which is cheaper than the AC power supply, is a simple potential difference switching unit composed of the outer conductive polymer tubular film 3, the electrical terminal 18 and the electrodes 17a, 17b, etc. .
- the function of the rod-shaped protrusions 26a connected to the outer conductive polymer tubular membrane 3 as a displacement detection unit is that the outer conductive polymer tubular membrane 3 is connected to the inner conductive polymer.
- it is the counter electrode originally necessary for operating the cylindrical membrane 2 of the present invention, it is much easier than measuring the displacement and load of the conductive polymer membrane with an external sensor to determine the expansion / contraction state.
- the configuration is inexpensive.
- by combining simple mechanisms such as claws 16a, 16b, 16c, 16d, moving body 14, solenoid 20, etc., it is possible to further realize displacement beyond the generation of the inner conductive polymer tubular film 2. it can.
- the cylindrical film 2 of the inner conductive polymer that is an example of the first polymer structure and the outer membrane that is an example of the second polymer structure is electrically connected.
- the outer conductive polymer tubular film 3 is weakly connected, and the inner conductive film 2 is not dependent on the load applied to the inner conductive polymer tubular film 2. Since the actuator can be operated according to the expansion / contraction state of the outer conductive polymer tubular membrane 3 corresponding to the expansion / contraction state of the conductive polymer cylindrical membrane 2, extra charge measuring devices, force sensors, etc.
- the first polymer structure can generate the maximum expansion and contraction without depending on the load.
- the mechanism for transmitting the driving force in one direction to the moving body 14 is not limited to a mechanism that uses a ratchet mechanism for driving and uses a solenoid 20 for holding as in the present embodiment. Any combination of known techniques can be used as long as they achieve the same effect.
- the potential difference applied between the inner and outer cylindrical conductive polymer membranes 2 and 3 is used to operate the solenoid 20, it is not directly operated by the potential difference.
- the potential difference may be used as the command voltage.
- FIG. 4 is a perspective view schematically showing an artificial muscle activator 1A as an example of the polymer activator of the second embodiment according to the present invention.
- 5A, FIG. 5B, FIG. 5C, FIG. 5D, and FIG. 5E show X-X cross-sectional views showing the operation of the artificial muscle actuator 1A.
- FIGS. 6A and 6B show a cross-sectional view taken along line 8-8 in FIG. 5A and a cross-sectional view taken along line ⁇ 8, respectively. It should be noted that parts having the same functions as those in the first embodiment described above are denoted by the same reference numerals and redundant description is omitted.
- the output of the inner conductive polymer tubular membrane 2 is directly transmitted to the outside as a reciprocating motion.
- This reciprocating operation is performed by changing the displacement direction in conjunction with the potential difference applied between the inner conductive polymer tubular membrane 2 and the outer conductive polymer membrane 3. I try to make it.
- the output of the actuator 1A which corresponds to the moving body 14 in the first embodiment, is provided in the holding ring 7b and the through hole 13c in the center of the lower lid 13 It is designed to be taken out by an output shaft 25 that penetrates through and freely.
- a stopper 23e is fixed to the output shaft 25, and a coil panel 24e, which is an example of an elastic body, is sandwiched between the stopper 23e and the lower lid 13 so as to be compressed.
- the compressed coil panel 24e always applies a force in the extending direction to the inner conductive polymer tubular membrane 2, and when the inner conductive polymer tubular membrane 2 extends.
- a driving force in the extension direction is generated without buckling.
- the output shaft 25 is held in a freely movable manner in the axial direction while being restrained in the radial direction by the seal member 22 in the through hole 13c of the lower lid 13.
- the conductive holding ring 7a is provided with only one conductive rod-like protrusion 27, and this is fitted into the fitting hole 12c of the insulating upper lid 12, so that the holding ring 7a is It is fixed to the top lid 12. Further, the holding ring 7a is provided with a T-shaped through-hole 38 having a T-shaped cross section that allows the inner space of the inner conductive polymer tubular membrane 2 and the outer space to always communicate with each other.
- the electrolyte solution 4 inside and outside the tubular membrane 2 can move freely through the through-hole 38, and the inner conductive polymer tubular membrane 2 is prevented from being subjected to a pressure difference due to the electrolyte solution 4 inside and outside.
- the wiring from the switch 28 is electrically connected to the holding ring 7a through the conductive rod-shaped protrusion 27.
- FIGS. 5A, 5B, 5C, 5D, and 5E The conductive polymer cylindrical films 2 and 3 and the state of the electrical terminal 18 in FIGS. 5A, 5B, 5C, 5D, and 5E are shown in FIGS. 2A, 2B, 2C, and 5C, respectively. 2D and FIG. 2E, and in the second embodiment, by turning on the switch 28, a series of cycles similar to those in the first embodiment are repeated. However, the difference from the first embodiment is that the displacement generated by the inner conductive polymer tubular film 2 is taken out by the output shaft 25 as it is, so that the displacement generated by the actuator 1A has an amplitude d. This is a reciprocal motion.
- the length of the inner conductive polymer tubular membrane 2 varies depending on the load applied to the output shaft 25.
- the degree of expansion or contraction is determined by the amount of keyons inserted into the inner conductive polymer tubular membrane 2. That is, the state in which the ion is sufficiently inserted into the inner conductive polymer tubular membrane 2 is the stretched state of the inner conductive polymer tubular membrane 2, and the inner conductive polymer 2 The state in which the anion is sufficiently detached from the cylindrical film 2 of the force. The inner conductive polymer cylindrical film 2 is contracted.
- the inner conductive polymer cylindrical membrane 2 is electrically connected to the outer conductive polymer cylindrical membrane 3 via the electrolytic solution 4, thereby including the DC power supply 5a or 5b.
- a part of the electrical circuit is formed, and the outer conductive polymer cylindrical membrane 3 is also inserted into and removed from the inner conductive polymer cylindrical membrane 2 in response to insertion and removal of the ion. -On and off will be performed and inserted.
- the inner conductive polymer tubular film 2 as an example of the first polymer structure and the outer polymer film as an example of the second polymer structure.
- the electrical potential difference between the conductive polymer cylindrical membrane 3 and the inner conductive polymer cylindrical membrane 2 is electrically connected.
- the outer conductive polymer tubular film 3 is weakly connected, and the inner conductive film 2 is not dependent on the load applied to the inner conductive polymer tubular film 2. Since the actuator 1A can be operated according to the expansion / contraction state of the outer conductive polymer cylindrical membrane 3 corresponding to the expansion / contraction state of the conductive polymer tubular membrane 2, a charge measuring device, a force sensor, etc.
- the polymer actuator 1A that can realize the maximum expansion and contraction operation regardless of the load without adding an extra system is obtained. It is possible.
- the present invention can be similarly implemented.
- the case where an organic conductive polymer having high conductivity is used as the conductive polymer structure has been described.
- the polymer structure having the structure is not limited to this, and the same functional effect can be obtained even in a structure in which a conductor is combined with a polymer structure.
- a structure in which a granular carbon material such as carbon fine particles is contained in a fluorine-based polymer is desirable because the characteristics of the polymer structure can be adjusted by the content of the carbon particles.
- a structure using a tube-shaped carbon material such as a carbon nanotube instead of carbon fine particles is desirable because stable conductivity can be obtained even when the polymer structure expands and contracts.
- the conductor included in the polymer structure is not limited to carbon but may be a metal conductor.
- the principle of elongation and contraction is not limited to the oxidation-reduction reaction, and the structural change of the polymer may be due to electrostatic repulsion. In either case, since there is a correlation between the displacement of the first polymer structure and the second polymer structure, it can be similarly implemented.
- the polymer structure with conductivity is stretched in the extension direction.
- the force that uses the coil panel to give the driving force is not limited to this. It is also possible to use a structure that applies a tensile force to the external polymer structure with a weight, By forming a high molecular structure using a polymer having only strength that does not buckle when stretched, it may be operated alone without an additional elastic element.
- cylindrical membranes 2 and 3 of the polymer structure are not mechanically affected by the elastic deformation of each other even in the case of a solid electrolyte having a gel structure or the like, in which the electrolyte housing layer is not necessarily limited to a liquid. It can be used if there is a degree of sliding at the interface or the flexibility of the solid electrolyte.
- the potential difference applied between the first polymer structure and the second polymer structure need not be limited to two types, and it does not matter if the types are increased as necessary.
- the potential difference switching unit 100 that changes the potential difference according to the displacement of the second polymer structure is also not limited to the method using the magnetic force in the above-described embodiment, and performs switching according to the displacement. Any known technique can be used.
- the power source is an inexpensive DC power source, but the present invention is not limited to this, and an AC power source or a power source that outputs an arbitrary waveform voltage may be used. good.
- the polymer actuator according to the present invention is capable of obtaining an actuator that realizes the maximum expansion and contraction operation without depending on the load without adding an extra system such as a charge measuring device or a force sensor. It is useful as an artificial muscle activator.
- the present invention can be used as an arm tendon.
- the present invention can also be used as an actuator for a self-propelled robot in which the end-carrying person moves forward and backward with respect to the fixed rail.
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Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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CN2007800233974A CN101473522B (zh) | 2006-06-20 | 2007-06-13 | 高分子致动器 |
JP2008522406A JP4279348B2 (ja) | 2006-06-20 | 2007-06-13 | 高分子アクチュエータ |
US12/338,094 US7804226B2 (en) | 2006-06-20 | 2008-12-18 | Polymer actuator |
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JP2006169615 | 2006-06-20 | ||
JP2006-169615 | 2006-06-20 |
Related Child Applications (1)
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US12/338,094 Continuation US7804226B2 (en) | 2006-06-20 | 2008-12-18 | Polymer actuator |
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WO2007148572A1 true WO2007148572A1 (ja) | 2007-12-27 |
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US (1) | US7804226B2 (ja) |
JP (1) | JP4279348B2 (ja) |
CN (1) | CN101473522B (ja) |
WO (1) | WO2007148572A1 (ja) |
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US7982375B2 (en) * | 2006-12-13 | 2011-07-19 | Board Of Trustees Of Michigan State University | Integrated actuator sensor structure |
CN101995917B (zh) * | 2009-08-20 | 2012-03-14 | 鸿富锦精密工业(深圳)有限公司 | 具有操纵杆的电子装置 |
WO2011036861A1 (ja) * | 2009-09-24 | 2011-03-31 | パナソニック株式会社 | 平板積層型導電性高分子アクチュエータ |
JP5930534B2 (ja) * | 2012-06-08 | 2016-06-08 | アルプス電気株式会社 | 高分子アクチュエータデバイスシステム |
JP5780261B2 (ja) * | 2013-04-24 | 2015-09-16 | カシオ計算機株式会社 | アクチュエータ |
CN103192383B (zh) * | 2013-04-25 | 2016-06-08 | 上海海事大学 | 一种人工肌肉及其驱动的机械臂装置 |
Citations (4)
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JP2005086982A (ja) * | 2003-09-11 | 2005-03-31 | Honda Motor Co Ltd | 高分子アクチュエータ |
WO2005076452A1 (ja) * | 2004-02-05 | 2005-08-18 | Matsushita Electric Industrial Co., Ltd. | アクチュエータ及びアクチュエータ用平板状電極支持体の製造方法 |
JP2006050780A (ja) * | 2004-08-04 | 2006-02-16 | Japan Carlit Co Ltd:The | 導電性高分子アクチュエータ |
JP2006087182A (ja) * | 2004-09-15 | 2006-03-30 | Yaskawa Electric Corp | 高分子アクチュエータ装置およびその駆動方法 |
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US6809462B2 (en) * | 2000-04-05 | 2004-10-26 | Sri International | Electroactive polymer sensors |
JPH11169393A (ja) | 1997-12-15 | 1999-06-29 | Keiichi Kanefuji | 人工筋肉体 |
US6249076B1 (en) * | 1998-04-14 | 2001-06-19 | Massachusetts Institute Of Technology | Conducting polymer actuator |
US7256529B2 (en) * | 2001-06-13 | 2007-08-14 | Massachusetts Institute Of Technology | High power-to-mass ratio actuator |
JP4038685B2 (ja) | 2003-12-08 | 2008-01-30 | 独立行政法人科学技術振興機構 | アクチュエータ素子 |
JP2005176412A (ja) | 2003-12-08 | 2005-06-30 | Hitachi Ltd | アクチュエータ膜材料、アクチュエータ膜およびこれを用いたアクチュエータ |
JP4732798B2 (ja) * | 2005-05-19 | 2011-07-27 | 株式会社日立製作所 | アクチュエーターおよびアクチュエーターモジュール |
JP4802680B2 (ja) * | 2005-11-18 | 2011-10-26 | ソニー株式会社 | アクチュエータ |
US7951186B2 (en) * | 2006-04-25 | 2011-05-31 | Boston Scientific Scimed, Inc. | Embedded electroactive polymer structures for use in medical devices |
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2007
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- 2007-06-13 JP JP2008522406A patent/JP4279348B2/ja active Active
- 2007-06-13 WO PCT/JP2007/061862 patent/WO2007148572A1/ja active Search and Examination
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005086982A (ja) * | 2003-09-11 | 2005-03-31 | Honda Motor Co Ltd | 高分子アクチュエータ |
WO2005076452A1 (ja) * | 2004-02-05 | 2005-08-18 | Matsushita Electric Industrial Co., Ltd. | アクチュエータ及びアクチュエータ用平板状電極支持体の製造方法 |
JP2006050780A (ja) * | 2004-08-04 | 2006-02-16 | Japan Carlit Co Ltd:The | 導電性高分子アクチュエータ |
JP2006087182A (ja) * | 2004-09-15 | 2006-03-30 | Yaskawa Electric Corp | 高分子アクチュエータ装置およびその駆動方法 |
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US20090127980A1 (en) | 2009-05-21 |
JP4279348B2 (ja) | 2009-06-17 |
CN101473522B (zh) | 2012-06-06 |
US7804226B2 (en) | 2010-09-28 |
CN101473522A (zh) | 2009-07-01 |
JPWO2007148572A1 (ja) | 2009-11-19 |
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