JP5045877B2 - Polymer actuator - Google Patents

Description

  The present invention relates to a polymer actuator that moves a rod-shaped object in a longitudinal direction.

  In the fields of medical equipment, industrial robots, micromachines, etc., there is a demand for actuators that are small, light, and flexible. Shape memory alloy type, polymer expansion and contraction type, etc. have been proposed.

  Among these, polymer actuators using ion conductive polymers as a polymer stretchable type have been studied as new actuators because of their light weight and high generation force. This polymer actuator is composed of an ion conductive polymer film (ion exchange resin film) and a metal electrode joined to the surface thereof in an insulated state. Is applied to cause bending or deformation of the ion conductive polymer film (see, for example, Patent Documents 1 and 2).

  However, the operation is basically curved, and its application is limited as it is. Therefore, in Patent Document 3, a polymer actuator element in which electrodes are arranged on the outer peripheral side and the inner peripheral side of a cylindrical expansion / contraction part is used, and the expansion / contraction part is laminated via the electrode in the radial direction, whereby a diameter is applied when voltage is applied. Polymer actuators have been proposed that shrink in the direction and extend in the axial direction. Japanese Patent Application Laid-Open No. H10-228667 proposes a bending operation converted into an expansion / contraction operation by a combination of actuator elements. Patent Document 5 proposes a polymer actuator that can generate a sufficiently large output and stroke in both the extension direction and the contraction direction by devising a motion conversion mechanism. Patent Document 6 proposes a diaphragm pump that uses a plurality of plates of polymer actuator elements.

JP 2002-330598 A JP 2005-033991 A JP 2003-199365 A JP 2004-314219 A Japanese Patent Laying-Open No. 2005-081487 Japanese Patent Laid-Open No. 2002-332956

  However, these applications are limited, and it is not yet sufficient for use in various applications while taking advantage of the characteristics of the polymer actuator element, and further development of an operation mechanism has been demanded.

  The present invention has been made in view of the above problems in the prior art, and an object thereof is to provide a polymer actuator capable of moving a rod-like object in the longitudinal direction.

In order to solve the above-mentioned problems, the present invention provides an ion conductive polymer body that is cylindrical and impregnated with a cationic substance, and three or more internal electrodes on the inner peripheral surface of the ion conductive polymer body Are arranged in the longitudinal direction of the ion conductive polymer body, and three or more external electrodes are arranged in the longitudinal direction of the ion conductive polymer body on the outer peripheral surface of the ion conductive polymer body. A polymer actuator comprising an external electrode array arranged in a rod-like shape inside a cylinder of the polymer actuator by changing an inner diameter of the polymer actuator by controlling a voltage applied between the internal electrode and the external electrode. a reportage Rimmer actuator to move the object in the longitudinal direction.

  Here, by controlling the applied voltage state, the inner diameter of the ion conductive polymer body is reduced, and one end of the rod-like object is gripped by the inner wall of the polymer actuator, and then the rod-like object is pulled from the gripping portion. The ion conductive polymer body is deformed into a bellows shape by alternately expanding and reducing the inner diameter of the ion conductive polymer body in the longitudinal arrangement order of the internal electrode and the external electrode toward the other end side After reducing the length of the polymer actuator, the inner diameter of the ion conductive polymer body is reduced to grip the other end side portion of the rod-like object on the inner wall of the polymer actuator, and the rod-like object It is preferable to move the rod-like object in the longitudinal direction by returning the ion conductive polymer body other than the part to the original cylindrical shape while holding the other end side part of the object.

The internal electrode is composed of three or more strip-shaped electrode films provided on the circumference of the inner peripheral surface of the ion conductive polymer, and the external electrode is formed of the ion conductive polymer. It is preferable that it consists of three or more strip-shaped electrode films provided on the circumference of the outer peripheral surface.

  Moreover, it is good to have the wiring for applying a voltage to an internal electrode inside the said ion conductive polymer body.

  In addition, the inner diameter change amount of the ion conductive polymer body is adjusted by adjusting at least one of the arrangement relationship between the internal electrode and the external electrode, the area ratio between the internal electrode and the external electrode, and the magnitude of the applied voltage. It is preferable to do.

  Moreover, it is preferable to have a protective layer on at least the internal electrode, and it is preferable that the ion conductive polymer body has a strength maintaining frame therein.

  Moreover, it is good to have a grip layer which hold | maintains the said rod-shaped object on the internal peripheral surface of the said ion conductive polymer body.

  The present invention provided to solve the above problems is a polymer actuator comprising a plurality of polymer actuators according to any one of claims 1 to 8 arranged concentrically.

According to the present invention, by controlling the voltage application state to the internal electrode array and the external electrode array to control the inner diameter change of each position in the longitudinal direction of the ion conductive polymer body, A certain rod-like object can be moved in and out with a large displacement in the longitudinal direction with good responsiveness. Alternatively, an external rod-like object can be grasped inside the cylinder at the tip of the polymer actuator and taken out via the inside of the cylinder of the polymer actuator.
Moreover, it becomes possible to take out a long bar | burr in a narrow space using this polymer actuator. That is, various things can be taken in and out of the limited space of the medical catheter with a precisely controlled force.
In addition, the polymer actuator of the present invention requires less space than before to move the rod-like object in and out, so that the polymer actuators are arranged in a two-dimensional matrix so that they can be individually driven, The pin display (3D display) can be obtained by controlling the movement of the rod-shaped object of the polymer actuator.

The configuration of the polymer actuator according to the present invention will be described below.
FIG. 1 is a schematic diagram showing a configuration of a polymer actuator according to a first embodiment of the present invention. FIG. 1A is a perspective view showing an appearance of a polymer actuator of the present invention, and FIG. 1B is a cross-sectional view showing a configuration when cut along aa ′ in FIG.

  As shown in FIG. 1, the polymer actuator 10 includes a cylindrical ion-conductive polymer body 11 impregnated with a cationic substance, and a plurality of polymer actuators 10 (three in FIG. 1 on the inner peripheral surface of the ion-conductive polymer body 11). ) Internal electrodes 12a arranged in the longitudinal direction of the ion conductive polymer body 11, and a plurality (three in FIG. 1) of external electrodes 12b on the outer peripheral surface of the ion conductive polymer body 11. Includes an external electrode array 15 b arranged in the longitudinal direction of the ion conductive polymer body 11. Further, in the polymer actuator 10, the inner diameter of the polymer actuator 10 is changed by controlling the state of the voltage applied between the internal electrode 12a and the external electrode 12b, and the rod-shaped object inside the cylinder of the polymer actuator 10 is moved in the longitudinal direction. Can be moved.

  Here, the internal electrode 12 a which is one electrode of the internal electrode array 15 a is composed of one or a plurality of strip-shaped electrode films, and is provided on the circumference of the inner peripheral surface of the ion conductive polymer body 11. Alternatively, the inner peripheral surface of the ion conductive polymer body 11 may be provided in a spiral shape. The external electrode 12b, which is one electrode of the external electrode array 15b, is also formed of one or a plurality of strip-shaped electrode films, and is provided on the circumference of the outer peripheral surface of the ion conductive polymer body 11. Alternatively, the outer peripheral surface of the ion conductive polymer body 11 may be provided in a spiral shape. The internal electrode 12a and the external electrode 12b shown in FIG. 1 are both connected belt-like electrode films.

  Further, the internal electrode 12a and the external electrode 12b are respectively arranged at equal intervals in the longitudinal direction of the ion conductive polymer body 11 to form the internal electrode array 15a and the external electrode array 15b. Further, the internal electrode 12a and the external electrode 12b have the same width, that is, an area ratio of 1: 1, and the internal electrode 12a and the external electrode 12b are arranged to face each other at the electrode positions E1, E2, and E3. ing. Further, each of the internal electrode 12a and the external electrode 12b is connected to a voltage application system (not shown) including an external power source, and a voltage is applied separately. In FIG. 1, three electrodes are arranged in each of the internal electrode array 15a and the external electrode array 15b, but there is no particular limitation as long as the number of the arranged electrodes is three or more.

The polymer actuator 10 here may be a conventionally known one disclosed in Japanese Patent No. 2961125, Japanese Patent Application Laid-Open No. 11-206162, or the like. Good.
FIG. 2 is a cross-sectional view showing a basic configuration of a polymer actuator element constituting the polymer actuator of the present invention.
The polymer actuator element a1 includes an ion conductive polymer film (ion conductive polymer film) 1 impregnated with a cationic substance, an electrode film 2 provided on each of both surfaces of the ion conductive polymer film 1, A lead wire 4 electrically connected to each electrode film 2, and the ion conductive polymer film 1 is bent or deformed when a voltage is applied between the electrode films 2 from a pair of lead wires 4. It is.

  The ion conductive polymer film 1 is made of an ion exchange resin having a skeleton made of a fluororesin, a hydrocarbon, or the like, and has a shape having two main surfaces. It is a cylindrical shape in the present invention. The ion exchange resin may be any of an anion exchange resin, a cation exchange resin, or a both ion exchange resin, and among these, a cation exchange resin is preferred.

  Examples of the cation exchange resin include those in which functional groups such as sulfonic acid groups and carboxyl groups are introduced into polyethylene, polystyrene, fluororesin, and the like. In particular, functional groups such as sulfonic acid groups and carboxyl groups are introduced into fluororesins. Preferred cation exchange resins are preferred.

  The electrode film 2 corresponds to the internal electrode 12a and the external electrode 12b, and is composed of carbon powder and an ion conductive resin, and the carbon powders are bonded to each other through the ion conductive resin. . The carbon powder is a fine powder of carbon black having electrical conductivity, and the larger the specific surface area, the larger the surface area in contact with the ion conductive polymer film 1 as the electrode film 2 and the larger deformation amount can be obtained. For example, ketjen black is preferable. Further, the ion conductive resin may be the same as the material constituting the ion conductive polymer film 1.

The electrode film 2 is formed by applying a paint containing an ion conductive resin component and carbon powder to the ion conductive polymer film 1. Alternatively, the electrode film 2 is formed by pressure-bonding a conductive film made of carbon powder and an ion conductive resin to the ion conductive polymer film 1.
In any method, the electrode film 2 can be easily formed in a short time.

  At least the ion conductive polymer membrane 1 is impregnated with a cationic substance, and the cationic substance is preferably any one of water and metal ions, water and organic ions, and ionic liquid. Here, examples of the metal ion include sodium ion, potassium ion, lithium ion, and magnesium ion. Examples of organic ions include alkyl ammonium ions. These ions exist as hydrates in the ion conductive polymer film 1. When the ion conductive polymer film 1 contains water and metal ions, or water and organic ions and is in a water-containing state, the polymer actuator element a1 is sealed so that the water does not volatilize. It is preferable.

  The ionic liquid is a solvent composed only of non-flammable and nonvolatile ions, which is also called a room temperature molten salt. For example, an imidazolium ring compound, a pyridinium ring compound, or an aliphatic compound may be used. it can. When the ion conductive polymer film 1 is impregnated with an ionic liquid, the polymer actuator element a1 can be used even at high temperature or in vacuum without worrying about volatilization.

FIG. 3 shows a modification of the polymer actuator element.
FIG. 3 is a sectional view showing a basic configuration of another polymer actuator element constituting the polymer actuator of the present invention.
The polymer actuator element a2 includes a metal conductive film 3 made of gold or platinum on each of the pair of electrode films 2 of the polymer actuator element a1 described above, and a lead wire 4 is electrically connected to the metal conductive film 3. It has a configuration. Here, the cation substance impregnated in the ion conductive polymer film 1, the electrode film 2, and the ion conductive polymer film 1 is the same as that shown in FIG.

  Here, the metal conductive film 3 is formed by forming a gold or platinum thin film on each of the pair of electrode films 2 by a conventionally known film forming method such as a wet plating method, a vapor deposition method, or a sputtering method. is there. The thickness of the metal conductive film 3 is not particularly limited, but is preferably such a thickness that a continuous film is formed so that the potential from the lead wire 4 is evenly applied to the electrode film 2.

FIG. 4 shows the operation principle of these polymer actuator elements a1 and a2. Here, the ion conductive polymer film 1 will be described as being impregnated with sodium ions.
In FIG. 4A, a positive potential is applied from the power source E to the electrode film 2 of the polymer actuator a1 on the left side of the figure through the lead wire 4, and a negative potential is applied to the electrode film 2 on the right side of the figure. Due to this potential difference (for example, about 0.5 to 2.0 V), in the ion conductive polymer film 1 of the polymer actuator element a1 (a2), the electrode film 2 on the side to which a negative potential is applied (right side in the figure). The sodium ion hydrate is attracted to and moved and concentrated in the vicinity of the electrode film 2, and this region expands in volume. On the other hand, the sodium hydrate concentration in the vicinity of the electrode film 2 on the side to which a positive potential is applied (left side in the figure) decreases, and this region contracts in volume. As a result, a volume difference is generated between the two electrode film 2 vicinity regions of the ion conductive polymer film 1, and the ion conductive polymer film 1 is curved to the left in the figure.

  In FIG. 4B, since the two electrode films 2 are connected in a short-circuit state, discharge occurs according to the electric charge accumulated in the region near the two electrode films 2. As a result, there is no potential difference between the two electrode films 2, so there is no volume difference between the two electrode film 2 neighboring regions of the ion conductive polymer film 1, and the ion conductive polymer film 1 is in the initial state. It becomes a straight state which is a shape state.

  In FIG. 4C, a negative potential is applied from the power source E to the electrode film 2 of the polymer actuator element a1 (a2) on the left side of the figure through the lead wire 4, and a positive potential is applied to the electrode film 2 on the right side of the figure. Thus, the voltage application method is the reverse of that in FIG. Due to this potential difference, in the ion conductive polymer film 1 of the polymer actuator element a1 (a2), a region near the electrode film 2 on the side to which a negative potential is applied (left side in the figure) becomes volume-expanded. The area near the electrode film 2 on the side to which the positive potential is applied (right side in the figure) comes to shrink in volume. As a result, the ion conductive polymer film 1 is bent to the right side in the drawing.

Based on the operation principle of the polymer actuator elements a1 and a2, the polymer actuator 10 of the present invention operates as follows.
FIG. 5 shows the operation steps of the polymer actuator 10 of the present invention. Here, the ion conductive polymer 11 is described as being impregnated with sodium ions.

(S11) The rod-like object P is inserted inside the cylinder of the polymer actuator 10, and no voltage is applied to all the internal electrodes 12a and the external electrodes 12b (the state shown in FIG. 5A). Here, the polymer actuator 10 is in an upright state on the horizontal plane, and gravitational acceleration acts on the rod-like object P in the downward direction in the figure, but in the initial state, the inner wall of the polymer actuator 10 is in close contact with the rod-like object P is doing. In the drawing, the internal electrode 12a and the external electrode 12b of the polymer actuator 10 are omitted.

(S12) First, a voltage is applied only to the internal electrode 12a and the external electrode 12b at the electrode position E1 of the polymer actuator 10 (state shown in FIG. 5B). Here, a negative potential is applied to the internal electrode 12a, and a positive potential is applied to the external electrode 12b. Due to this potential difference, the inner diameter of the ion conductive polymer 11 is reduced, and the inner wall of the polymer actuator 10 clamps and grips one end of the rod-like object P. The polymer actuator 10 is slightly curved so that its inner and outer diameters increase from the electrode position E1 to the electrode position E3.

(S13) Next, a voltage is applied to the internal electrode 12a and the external electrode 12b at the electrode positions E2 and E3 while maintaining the voltage application to the electrode position E1 of the polymer actuator 10 (state shown in FIG. 5C). Here, a positive potential is applied to the internal electrode 12a at the electrode position E2, a negative potential is applied to the external electrode 12b, a negative potential is applied to the internal electrode 12a at the electrode position E3, and a positive potential is applied to the external electrode 12b. Apply. Thereby, the inner diameter of the ion conductive polymer body 11 is enlarged at the electrode position E2, and the inner diameter of the ion conductive polymer body 11 is reduced at the electrode position E3, so that the ion conductive polymer body 11 is deformed into a bellows shape. As a result, the overall length of the polymer actuator 10 is reduced. In the figure, the length A is shortened. At the same time or thereafter, the inner wall of the polymer actuator 10 at the electrode position E3 clamps and grips the other end portion (upper portion in the figure) of the rod-like object P. When the number of electrodes arranged in each of the internal electrode array 15a and the external electrode array 15b is 4 or more, the internal electrode 12a and the internal electrode 12a from the gripping portion in step S12 toward the other end side of the rod-shaped object P In order of the arrangement of the external electrodes 12b in the longitudinal direction, a voltage is applied to each electrode so that the inner diameter of the ion conductive polymer body 11 in this step is alternately enlarged and reduced. In addition, the voltage application at that time may be performed simultaneously on the electrodes at all electrode positions, but may be performed in order from the gripping portion in step S12 toward the other end of the rod-shaped object P.

(S14) Next, the internal electrode 12a and the external electrode 12b at the electrode positions E1 and E2 are short-circuited while the voltage application to the electrode position E3 of the polymer actuator 10 is maintained. Alternatively, when the ion conductive polymer body 11 is returned to the initial state, the inner wall of the polymer actuator 10 comes into contact with the rod-like object P. May be applied (state shown in FIG. 5D). As a result, the ion conductive polymer 11 is deformed so as to return to the original cylindrical shape, and extends so that the length of the entire polymer actuator 10 returns to the original length. Here, since the end part of the upper part of the rod-like object P is gripped by the inner wall of the polymer actuator 10, the rod-like object P also moves in the longitudinal direction (upward in the figure) as the polymer actuator 10 extends. Will do.

(S15) Finally, the internal electrode 12a and the external electrode 12b at all electrode positions are short-circuited, and the polymer actuator 10 is returned to the initial state (the state shown in FIG. 5E). As a result, the rod-like object P has moved in the longitudinal direction by the displacement amount A from the initial state.

  In the driving step of the polymer actuator 10 as described above, the curvature of the polymer actuator 10 can be small, so that the object (rod-like object P) can be moved in the longitudinal direction in a short response time. The polymer actuator 10 having the configuration shown in FIG. 1 has a minimum unit configuration as the polymer actuator of the present invention, and the displacement amount in the longitudinal direction (axial direction) is small as the unit displacement amount A. By increasing the number of electrodes of the external electrode array 15b, the number of curves of the ion conductive polymer body 11 can be increased to increase the displacement when the steps S11 to S15 are performed once (one cycle). .

That is, if the number of electrodes of the internal electrode array 15a and the external electrode array 15b is L, the number of curves n = (L−1) / 2, and therefore, the displacement amount in one cycle is expressed by the following equation.
(Displacement amount in one cycle) = A × (L−1) / 2

Alternatively, as shown in FIG. 6, the procedure from step S11 to step S15 may be set as one cycle, and the cycle may be repeated to secure the amount of displacement. The total amount of displacement in this case is given by
(Total displacement) = A x m (number of cycles)

The above polymer actuator 10 can be manufactured, for example, by the following procedure.
(S21) A cylindrical ion conductive polymer 11 is prepared.
(S22) A material in which an ion conductive resin is dissolved in an organic solvent, a carbon powder having a predetermined specific surface area is mixed and dispersed so as to obtain a solid weight ratio of the target carbon powder and the ion conductive resin, and the paint is dispersed. Get.
(S23) Applying to the necessary part of the ion conductive polymer 11 using the paint of step S22, the coating film is dried in the air. This process (coating-drying) is repeated, and electrode films having a desired thickness are formed on the inner peripheral surface and the outer peripheral surface, respectively, to form the internal electrode 12a and the external electrode 12b. In addition, an electrode film made of a conductive metal may be formed by a plating method.
(S24) A treatment for impregnating the ion conductive polymer 11 with a cationic substance is performed. Specifically, by immersing an ion conductive polymer body 11 formed with an electrode film in a chloride solution or hydroxide solution containing either metal ions or organic ions, or an ionic liquid, these metals are obtained. Ions, organic ions, and ionic liquid are impregnated into the ion conductive polymer 11 and the electrode film.
(S25) A lead wire is connected to each of the internal electrode 12a and the external electrode 12b to complete the polymer actuator.

  FIG. 7 and FIG. 8 show cross-sectional views taken along aa ′ as a modification of the polymer actuator 10 of the present invention.

Similar to the polymer actuator 10, the polymer actuator 10A shown in FIG. 7 has a cylindrical shape and a plurality of ion conductive polymer bodies 11 impregnated with a cationic substance, and a plurality of ion conductive polymer bodies 11 (see FIG. 7). 7, three internal electrodes 12 a ₁ , 12 a ₂ , 12 a ₃ are arranged in the longitudinal direction of the ion conductive polymer body 11, and a plurality of ( 7 includes three external electrodes 12b ₁ , 12b ₂ , 12b ₃ arranged in the longitudinal direction of the ion conductive polymer 11. Further, the polymer actuator 10, between the internal electrodes 12a ₁ and the external electrode 12b _1, between the internal electrodes 12a ₂ and the external electrode 12b _2, by controlling the voltage applied state to between the internal electrodes 12a ₃ and the external electrode 12b ₃ By changing the inner diameter of the polymer actuator 10A, the rod-shaped object inside the cylinder of the polymer actuator 10A can be moved in the longitudinal direction.

The polymer actuator 10A is different from the polymer actuator 10 in that the internal electrodes 12a ₁ , 12a ₂ , 12a ₃ and the external electrodes 12b ₁ , 12b ₂ , 12b ₃ are not directly opposed to the corresponding electrodes and are ion conductive polymers. 11 is shifted in the longitudinal direction. In FIG. 7, the internal electrodes 12 a ₁ , 12 a ₂ , and 12 a ₃ are shifted by a certain distance in the downward direction in the drawing with respect to the external electrodes 12 b ₁ , 12 b ₂ , and 12 b ₃ . Thereby, for example, the bending deformation of the ion conductive polymer body 11 when the inner diameter of the polymer actuator 10A is reduced is not only the cylindrical diameter direction of the ion conductive polymer body 11 but also the longitudinal direction of the cylinder (upward in the drawing). Thus, the movement of the rod-like object P in the longitudinal direction of the cylinder (downward movement in the figure) can be further suppressed. For example, when the gravity acts on the rod-shaped object P in the downward direction in the figure, the ion conductive polymer body 11 is bent and deformed in the upward direction in the figure against the gravity. It becomes easier to move in the middle-up direction. On the contrary, when the bending deformation of the ion conductive polymer body 11 is directed downward in the figure, for example, a spring is disposed at the lower end of the rod-like object P in the figure, and an upward force is always generated in the figure. In this case, the ion conductive polymer body 11 is curved and deformed downward in the figure against the force of the spring, and the upward movement of the rod-like object P in the figure can be suppressed.

Further, similarly to the polymer actuator 10, the polymer actuator 10 </ b> B shown in FIG. 8 has a cylindrical shape that is impregnated with a cation substance and a plurality of ion conductive polymers 11 on the inner peripheral surface of the ion conductive polymer 11 ( In FIG. 8, three internal electrodes 12 a ₄ , 12 a ₅ , 12 a ₆ are arranged in the longitudinal direction of the ion conductive polymer 11, and a plurality of internal electrodes 12 a ₄ , 12 a ₅ , 12 a ₆ are arranged on the outer peripheral surface of the ion conductive polymer 11. The external electrodes 12b ₄ , 12b ₅ , and 12b ₆ are arranged in the longitudinal direction of the ion conductive polymer body 11 (three in FIG. 8). Further, in the polymer actuator 10, the applied voltage state between the internal electrode 12 a ₄ and the external electrode 12 b ₄ , between the internal electrode 12 a ₅ and the external electrode 12 b ₅ , and between the internal electrode 12 a ₆ and the external electrode 12 b ₆ is controlled. By changing the inner diameter of the polymer actuator 10B, the rod-like object inside the cylinder of the polymer actuator 10B can be moved in the longitudinal direction.

The polymer actuator 10B is different from the polymer actuator 10 in that the internal electrode 12a ₄ , 12a ₄ , 12a ₆ and the external electrode 12b ₄ , 12b ₅ , 12b ₆ have different areas on the surface of the ion conductive polymer body 11. is there. In FIG. 8, the internal electrodes 12a ₄ , 12a ₄ , 12a ₆ and the external electrodes 12b ₄ , 12b ₅ , 12b ₆ are belt-like electrodes, and the belt widths of the internal electrodes 12a ₁ , 12a ₂ , 12a ₃ are the external electrodes. _{12b 4,} 12b 5, is larger than the belt width of 12b _6, the area of the area internal electrodes _{12a 1, 12a 2, 12a 3} is larger than the area of the external electrode _{12b 4, 12b 5, 12b 6} . Thereby, for example, the amount of bending deformation of the ion conductive polymer body 11 when the inner diameter of the polymer actuator 10B is enlarged / reduced becomes small, but the displacement area becomes large and the contact area with the rod-like object P becomes large. The rod-like object P can be gripped more.

Next, a second embodiment of the polymer actuator according to the present invention will be described.
FIG. 9 is a schematic cross-sectional view showing the configuration of the polymer actuator according to the second embodiment of the present invention.

  As shown in FIG. 9, the polymer actuator 20A includes a cylindrical ion conductive polymer body 11 impregnated with a cationic substance, and a plurality (three in FIG. 9) on the inner peripheral surface of the ion conductive polymer body 11. ) Internal electrodes 12a arranged in the longitudinal direction of the ion conductive polymer body 11, and a plurality (three in FIG. 9) of external electrodes 12b on the outer peripheral surface of the ion conductive polymer body 11. Are arranged in the longitudinal direction of the ion conductive polymer body 11, the internal electrode 12a and the protective layer 26a protecting the inner wall of the ion conductive polymer body 11, the external electrode 12b and the ion conductive film. And a protective layer 26b for protecting the outer wall of the polymer body 11. Further, in the polymer actuator 20A, the inner diameter of the polymer actuator 20A is changed by controlling the voltage applied between the internal electrode 12a and the external electrode 12b, and the rod-like object inside the cylinder of the polymer actuator 20A is moved in the longitudinal direction. Can be moved.

  Here, the ion conductive polymer 11, the internal electrode 12a, and the external electrode 12b are the same as those shown in the first embodiment, and the operation steps of the polymer actuator 20A are the same as those in the first embodiment. is there.

  Since the protective layers 26a and 26b protect the internal electrode 12a and the external electrode 12b, respectively, the protective layers 26a and 26b are preferably made of a material having a friction coefficient as small as possible. For example, a coating layer such as a fluorine resin or a polyethylene resin, a diamond-like carbon thin film, and the like can be given. In addition, you may make it embed the lead wiring to the internal electrode 12a and the external electrode 12b in these protective layers 26a and 26b.

  The protective layers 26a and 26b prevent the internal electrode 12a and the ion conductive polymer 11 from being damaged even when the inner wall of the polymer actuator 20A comes into contact with the rod-like object. Since the electrode 12b and the ion conductive polymer 11 are not damaged, the durability is improved.

FIG. 10 shows a modification of the polymer actuator 20A of the present invention.
As shown in FIG. 10, the polymer actuator 20B includes a cylindrical ion conductive polymer body 11 impregnated with a cation substance, and a plurality of polymer actuators 20B on the inner peripheral surface of the ion conductive polymer body 11 (three in FIG. 10). ) Internal electrodes 12a arranged in the longitudinal direction of the ion conductive polymer body 11, and a plurality (three in FIG. 10) of external electrodes 12b on the outer peripheral surface of the ion conductive polymer body 11. In contact with the rod-like object P, the external electrode array 15b in which the ion conductive polymer body 11 is arranged in the longitudinal direction, the protective layer 26a protecting the internal electrode 12a and the inner wall of the ion conductive polymer body 11, and And a grip layer 27a for gripping the rod-like object P. In the polymer actuator 20B, the inner diameter of the polymer actuator 20B is changed by controlling the voltage applied between the internal electrode 12a and the external electrode 12b, and the rod-like object P inside the cylinder of the polymer actuator 20B is moved in the longitudinal direction. Can be moved to.

  Here, the ion conductive polymer 11, the internal electrode 12a, the external electrode 12b, and the protective layer 26a are the same as those shown in the polymer actuator 20A in FIG. 9, and the operation steps of the polymer actuator 20B are the same as those in the first embodiment. The form is the same.

  The grip layer 27a is preferably made of a material having a large friction coefficient in order to grip the rod-like object P, and examples thereof include styrene butadiene rubber (SBR) and natural rubber (NR). Alternatively, the protective layer 26a may be formed so as to cover the entire inner wall of the polymer actuator 20B, and then the grip layer 27a may be formed by roughening the surface of the protective layer 26a or attaching fine particles only in a predetermined region. The grip layer 27a is preferably formed so as not to include the internal electrode 12a below the grip layer 27a.

  The grip layer 27a not only prevents the ion conductive polymer body 11 from being damaged even if the inner wall of the polymer actuator 20A comes into contact with the rod-like object, but can also reliably grip the rod-like object. The reliability of the movement of the object is improved.

Next, a third embodiment of the polymer actuator according to the present invention will be described.
FIG. 11 is a schematic cross-sectional view showing the configuration of the polymer actuator according to the third embodiment of the present invention.

  As shown in FIG. 11, the polymer actuator 30A includes an ion conductive polymer base 31a that is cylindrical and impregnated with a cationic substance, and the ion conductive polymer base 31a inside the ion conductive polymer base 31a. The ion conductive polymer 31A composed of a frame 31b for maintaining the structure of FIG. 11 and a plurality (three in FIG. 11) of internal electrodes 12a on the inner peripheral surface of the ion conductive polymer 31A are high in ion conductivity. An internal electrode array 15a arranged in the longitudinal direction of the molecular body 31A and a plurality (three in FIG. 11) of external electrodes 12b on the outer peripheral surface of the ion conductive polymer body 31A are arranged in the longitudinal direction of the ion conductive polymer body 31A. And an external electrode array 15b arranged in a direction. Further, in the polymer actuator 30A, the inner diameter of the polymer actuator 30A is changed by controlling the applied voltage state between the internal electrode 12a and the external electrode 12b, and the rod-like object inside the cylinder of the polymer actuator 30A is moved in the longitudinal direction. Can be moved.

  Here, the internal electrode 12a and the external electrode 12b are the same as those shown in the first embodiment, and the operation steps of the polymer actuator 30A are the same as those in the first embodiment.

  Of the ion conductive polymer body 31A, the ion conductive polymer base 31a is the same as the ion conductive polymer body 11 shown in the first embodiment except that it has a frame 31b inside. is there. The frame 31b is for maintaining the rigidity of the ion conductive molecular body 31A, and fibers made of a hard polymer material are stretched around the ion conductive molecular body 31A as an aggregate.

  An ion conductive polymer body 31A in which such an ion conductive polymer base 31a and a frame 31b are integrated is formed by first putting a fiber made of a hard polymer material into a cylindrical mold to form a cylindrical frame 31b. Next, after the raw material of the ion conductive polymer base 31a is put in the mold, the ion conductive polymer base 31a is obtained by processing such as heating.

  The rigidity of the polymer actuator 30A is maintained by the frame 31b of the ion conductive polymer 31A. This is particularly effective when the soft ion conductive polymer base 31a is used to increase the displacement.

FIG. 12 shows a modification of the polymer actuator 30A of the present invention.
As shown in FIG. 12, the polymer actuator 30B includes an ion conductive polymer base 31a that is cylindrical and impregnated with a cationic substance, and the ion conductive polymer base 31a inside the ion conductive polymer base 31a. On the inner peripheral surface of the ion conductive polymer body 31B and the ion conductive polymer body 31B composed of the wiring frame 31e serving as a lead wire for applying a voltage to the internal electrode 12a and the external electrode 12b. A plurality (three in FIG. 12) of internal electrodes 12a are arranged in the longitudinal direction of the ion conductive polymer body 31B, and a plurality (in FIG. 12) are arranged on the outer peripheral surface of the ion conductive polymer body 31B. The three external electrodes 12b are provided with an external electrode array 15b arranged in the longitudinal direction of the ion conductive polymer body 31B. Further, in the polymer actuator 30B, the inner diameter of the polymer actuator 30B is changed by controlling the state of the voltage applied between the internal electrode 12a and the external electrode 12b, and the rod-like object inside the cylinder of the polymer actuator 30B is moved in the longitudinal direction. Can be moved.

  Here, the internal electrode 12a, the external electrode 12b, and the ion conductive polymer base 31a are the same as those shown in the polymer actuator 30A in FIG. 11, and the operation steps of the polymer actuator 30B are the same as those in the first embodiment. is there.

  Of the ion conductive polymer 31B, the wiring frame 31e is a lead wire for applying a voltage to the internal electrode 12a and the external electrode 12b, and maintains the rigidity as the ion conductive molecular body 31B. The lead wire is stretched around the ion conductive molecular body 31B as an aggregate.

  In such an ion conductive polymer 31B in which the ion conductive polymer base 31a and the wiring frame 31e are integrated, first, fibers made of lead wires are put into a cylindrical mold to form a cylindrical wiring frame 31e. Next, after the raw material of the ion conductive polymer base 31a is put in the mold, the ion conductive polymer base 31a is obtained by processing such as heating. In addition, at this time, it forms so that the edge part of the lead wire of the wiring frame 31e may be exposed to the wall surface of the location where the internal electrode 12a of the ion conductive polymer 31B and the external electrode 12b are to be formed.

  The rigidity of the polymer actuator 30B is maintained by the wiring frame 31e of the ion conductive polymer 31B, and it is not necessary to provide wiring space in the cylindrical inner periphery and outer periphery of the polymer actuator 30B. It becomes possible.

FIG. 13 shows another modification of the polymer actuator 30A of the present invention.
As shown in FIG. 13, the polymer actuator 30C includes an ion conductive polymer base 31a that is cylindrical and impregnated with a cationic substance, and the ion conductive polymer base 31a inside the ion conductive polymer base 31a. The ion conductive polymer 31A composed of the frame 31b for maintaining the structure of the structure, and a plurality of (three in FIG. 13) internal electrodes 12a are formed on the inner peripheral surface of the ion conductive polymer 31A. An internal electrode array 15a arranged in the longitudinal direction of the molecular body 31A and a plurality (three in FIG. 13) of external electrodes 12b on the outer peripheral surface of the ion conductive polymer body 31A are arranged in the longitudinal direction of the ion conductive polymer body 31A. An external electrode array 15b arranged in a direction, a protective layer 26a for protecting the internal electrode 12a and the inner wall of the ion conductive polymer 11, the external electrode 12b, And a protective layer 26b which protects the outer wall of the on-conductive polymer 11. Further, in the polymer actuator 30C, the inner diameter of the polymer actuator 30C is changed by controlling the state of the voltage applied between the internal electrode 12a and the external electrode 12b, and the rod-like object inside the cylinder of the polymer actuator 30C is moved in the longitudinal direction. Can be moved.

  Here, the ion conductive polymer 31A, the internal electrode 12a, and the external electrode 12b are the same as those shown in the polymer actuator 30A in FIG. 11, and the protective layers 26a and 26b are those shown in the polymer actuator 20A in FIG. Is the same. The operation steps of the polymer actuator 30B are the same as those in the first embodiment.

Next, a fourth embodiment of the polymer actuator according to the present invention will be described.
FIG. 14 is a schematic diagram showing the configuration of the polymer actuator according to the fourth embodiment of the present invention. FIG. 14A is a perspective view showing the appearance of the polymer actuator of the present invention, and FIG. 14B is a cross-sectional view showing a configuration when cut along aa ′ in FIG.

  As shown in FIG. 14, the polymer actuator 40 is formed by arranging a plurality of polymer actuators 10 shown in the first embodiment concentrically (two in FIG. 14). Here, the ion conductive polymer 11, the internal electrode 12a, and the external electrode 12b are the same as those shown in the first embodiment, and the operation steps of the polymer actuator 40 are the same as those in the first embodiment. is there.

  The inner polymer actuator 10 and the outer polymer actuator 10 perform the same operation only with different diameters. Therefore, a greater displacement force can be generated due to the effect that the polymer actuators 10 are stacked with respect to the radial displacement. In addition, although what laminated | stacked the polymer actuator 10 of 1st Embodiment in radial direction was shown here, the polymer actuator applicable to lamination | stacking is not limited to this, The said 1st Embodiment is not limited. The polymer actuators shown in the other embodiments (FIGS. 7 and 8), the second embodiment (FIGS. 9 and 10), and the third embodiment (FIGS. 11 to 13) can also be used.

It is a figure which shows the structure in 1st Embodiment of the polymer actuator which concerns on this invention. It is sectional drawing which shows the basic composition (1) of a polymer actuator element. It is sectional drawing which shows the basic composition (2) of a polymer actuator element. It is explanatory drawing of the basic operation | movement principle of a polymer actuator element. It is explanatory drawing (1) of the principle of operation of the polymer actuator of this invention. It is explanatory drawing (2) of the operating principle of the polymer actuator of this invention. It is a figure which shows the structure of the modification (1) in 1st Embodiment of the polymer actuator which concerns on this invention. It is a figure which shows the structure of the modification (2) in 1st Embodiment of the polymer actuator which concerns on this invention. It is a figure which shows the structure in 2nd Embodiment of the polymer actuator which concerns on this invention. It is a figure which shows the structure of the modification in 2nd Embodiment of the polymer actuator which concerns on this invention. It is a figure which shows the structure in 3rd Embodiment of the polymer actuator which concerns on this invention. It is a figure which shows the structure of the modification (1) in 3rd Embodiment of the polymer actuator which concerns on this invention. It is a figure which shows the structure of the modification (2) in 3rd Embodiment of the polymer actuator which concerns on this invention. It is a figure which shows the structure in 4th Embodiment of the polymer actuator which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Ion conductive polymer film, 2 ... Electrode film, 3 ... Metal conductive film, 4 ... Lead wire, 10, 10A, 10B, 20A, 20B, 30A, 30B, 30C, 40 ... Polymer actuator, 11, 31A, 31B ... ionic conductive polymer _{material, 12a, 12a 1, 12a 2} , 12a 3, 12a 4, 12a 5, 12a 6 ... internal _{electrode, 12b, 12b 1, 12b 2} , 12b 3, 12b 4, 12b 5, 12b ₆ ... External electrode, 15a ... Internal electrode array, 15b ... External electrode array, 26a, 26b ... Protective layer, 27a ... Grip layer, 31a ... Ion conductive polymer base, 31b ... Frame, 31e ... Wiring frame, a1, a2 ... Polymer actuator element, E1, E2, E3 ... Electrode position, P ... Rod-shaped object

Claims (9)

A cylindrical ion conductive polymer body impregnated with a cationic substance, and three or more internal electrodes arranged in the longitudinal direction of the ion conductive polymer body on the inner peripheral surface of the ion conductive polymer body polymer actuator comprising an internal electrode array is formed by a, and an external electrode array wherein the ion conductive polymer material three or more external electrodes on the outer peripheral surface of the are arrayed in the longitudinal direction of the ion conductive polymer material Because
A polymer actuator, wherein the inner diameter of the polymer actuator is changed by controlling a voltage applied between the internal electrode and the external electrode, and a rod-like object inside the cylinder of the polymer actuator is moved in the longitudinal direction. By controlling the applied voltage state, the inner diameter of the ion conductive polymer body is reduced to grip one end of the rod-shaped object with the inner wall of the polymer actuator, and then from the gripped portion to the other of the rod-shaped object. The inner diameter of the ion conductive polymer body is alternately enlarged and reduced in the longitudinal arrangement order of the internal electrode and the external electrode toward the end side to deform the ion conductive polymer body into a bellows shape, and After shortening the length of the polymer actuator, the inner diameter of the ion conductive polymer body is reduced to grip the other end side portion of the rod-like object with the inner wall of the polymer actuator, Porimaa that the while grasping the end portion back ionic conductive polymer material other than the portion of the original cylindrical shape to move the rod-like object in the longitudinal direction, of claim 1 Chueta. The internal electrode is composed of three or more strip-shaped electrode films provided on the circumference of the inner peripheral surface of the ion conductive polymer body, and the external electrode is an outer periphery of the ion conductive polymer body. of 3 or more strip-shaped electrode film provided on the circumference of the surface, the polymer actuator according to claim 1. The polymer actuator according to claim 1 , further comprising a wiring for applying a voltage to an internal electrode inside the ion conductive polymer body. The inner diameter change amount of the ion conductive polymer is adjusted by adjusting at least one of the arrangement relationship between the internal electrode and the external electrode, the area ratio between the internal electrode and the external electrode, and the magnitude of the applied voltage. the polymer actuator according to claim 1. At least protective layer on the inner electrode, the polymer actuator according to claim 1. Wherein the ion conductive polymer material has a strength retention frame therein, the polymer actuator according to claim 1. Having a grip layer for holding the rod-shaped object on the inner circumferential surface of the ion conductive polymer member, the polymer actuator according to claim 1. Polymer actuator according to any one of claims 1-8 comprising a plurality of concentrically arranged, polymer actuator.

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