JP5347713B2 - Polymer actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive polymer actuator having high efficiency of deformation. <P>SOLUTION: A metal conductor 3 is bonded by adhesive layers formed on each surface of strechable electrodes 6, 7 stuck to surface and backside of an elastic dielectric polymer sheet 5. More specifically, the metal conductor 3 passes through predetermined positions P1, P2 on a first long side 10 adjoining its apexes P1, P2 on the first long side 10; and is bonded to the strechable electrodes 6, 7 in a flexed shape at an outer position P6 from a crossing point P5 of a second long side 11 and an extension of a central line L by a predetermined amount. Further, one portion is bonded on the surface and an another portion on the backside, when the metal conductor 3 is divided to two portions with a flexure part as a border line. A sheet member 4 with the metal conductor 3 bonded thereto is folded to two portions along the central line L, and is rolled up from the portion at a side of the central line L along a longitudinal direction of the sheet member 4, so that the portion at the side of the central line L is positioned in an inner-diameter side of a roll. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a polymer actuator that is configured on the basis of expansion and contraction or deformation of a polymer material as a driving principle.

  Conventionally, polymer actuators based on the principle of expansion and contraction of ion exchange resins and dielectric polymers are known. As one configuration example of the polymer actuator, the polymer actuator includes a conductive polymer film constituting a conductive polymer element and two thin film electrodes bonded to both surfaces of the conductive polymer film. There is.

  As technical documents related to the polymer actuator, there are the following Patent Documents 1 to 4. In Patent Document 1 below, an actuator film spirally wound around a surface of a mixed film of ion conductive polymer and conductive fine particles having a thin film structure while contacting a metal thin film electrode having one end connected to the electrode. A structure is disclosed.

  In the following Patent Document 2, a conductive polymer element formed by laminating a plurality of conductive polymer films in the thickness direction of a film in a cylindrical container in which the electrolyte solution is sealed is immersed in the electrolyte solution. In a polymer actuator, a technique is disclosed in which electrodes are arranged in a meandering shape so as to straddle the entire region of the conductive polymer film.

  In Patent Document 3 below, a plurality of strip-like stretchable thin film electrodes are juxtaposed on one surface of a sheet-like conductive polymer film, and a lead wire is connected to one end of each stretchable thin film electrode. A transducer constructed by wrapping around is described.

  Patent Document 4 below discloses a polymer in which a spring is closely attached to an outer wall and an inner wall of a cylindrical tube made of a polymer material, and the tube is expanded and contracted in the axial direction by using these springs as electrodes. An actuator is disclosed.

JP 2005-176212 A JP 2006-42447 A US Pat. No. 6,891,317 JP 2007-155912 A

  In the converter disclosed in Patent Document 3, since the stretchable thin film electrode is joined to the surface of the conductive polymer film, when the conductive polymer film is deformed, the thin film accompanies this deformation. The electrode is also thinly stretched. Here, the stretchable thin film electrode is made of a conductive polymer material having good stretchability and has a large electric resistance. Therefore, a large voltage drop occurs due to the electric resistance, and there is a problem that the deformation efficiency deteriorates as the portion of the stretchable thin film electrode is farther from the connection point with the lead wire.

  In the converter of Patent Document 3, a step of arranging a plurality of strip-like stretchable thin film electrodes on one side of a sheet-like conductive polymer film, or a lead wire at one end of each stretchable thin film electrode The process of connecting is required, and these processes are very time-consuming and time-consuming.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide an inexpensive polymer actuator having high deformation efficiency.

The invention according to claim 1 is a polymer actuator in which a sheet-like elastic body made of a polymer material that expands and contracts when a voltage is applied is wound into a roll and formed into a laminated shape. conductive lines disposed between the layers in a manner to contact to forming a three-dimensional shape, each layer is in contact electrodes of the layers and the electrodes of the adjacent layer with each having an electrode, two of the electrodes in contact with each other Have the same polarity, the conductive wire is disposed between the two electrodes, and at least two sets of the two electrodes having the same polarity and the conductive wire disposed between the electrodes are provided. Adjacent pairs are of different polarities .

  According to this invention, since the conductive wire is disposed between the layers in a manner of contacting the stretchable body, it is possible to stretch and contract as wide a portion of the stretchable body as possible. In addition, since the conductive wires are arranged so as to form a three-dimensional shape, the three-dimensional shape formed by the conductive wires can be deformed in accordance with the expansion and contraction of the stretchable body. As a result, it can prevent or suppress that a conductive wire becomes resistance with respect to the expansion-contraction of the said expansion-contraction body.

  In addition, since the polymer actuator according to the present invention can be manufactured by simply winding the conductive wire around the stretchable body and winding it in a roll shape, labor and time can be reduced as compared with the prior art. As a result, an inexpensive polymer actuator can be realized.

  As the three-dimensional shape, as in the invention described in claim 2, the three-dimensional shape is obtained by orthogonally projecting the conductive wire on a plane parallel to the roll axis, and on the plane orthogonal to the roll axis. A shape is assumed in which each orthogonal projection is a line segment when the conductive line is orthogonally projected. As an example of the shape, a spiral shape is assumed. In particular, a spiral shape in which the spiral diameter increases toward one direction parallel to the roll axis as in the invention described in claim 3 is preferable. By adopting such a shape, the conductive wire is arranged over the widest possible range of the stretchable body, so that high deformation efficiency of the stretchable body can be ensured.

  According to a fourth aspect of the present invention, in the polymer actuator according to any one of the first to third aspects, the conductive wire is fixed to the stretchable body using a conductive adhesive. It is.

  According to this invention, since the said conductive wire was fixed to the said expansion-contraction body using the adhesive agent which has electroconductivity, the three-dimensional shape which the said conductive wire comprises changes according to the expansion-contraction of the said expansion-contraction body. Thereby, it can prevent or suppress that a conductive wire becomes resistance with respect to the expansion-contraction of the said expansion-contraction body.

  A fifth aspect of the present invention is the polymer actuator according to any one of the first to fourth aspects, wherein the conductive wire is exposed from an end of the polymer actuator in a roll axis direction. It is.

  According to this invention, since the conductive wire is exposed from the end in the roll axis direction of the polymer actuator, the polymer actuator can be moved to a predetermined position only by connecting the exposed end of the conductive wire and the power source. The polymer actuator can be easily installed.

  A sixth aspect of the present invention is the polymer actuator according to the fifth aspect, wherein the conductive wire is disposed across both ends of the polymer actuator in the roll axis direction.

  According to this invention, both ends of the polymer actuator can be fixed and the central portion in the roll axis direction can be greatly deformed.

  A seventh aspect of the present invention is the polymer actuator according to any one of the first to sixth aspects, wherein the conductive wire is disposed such that a pitch between windings becomes shorter toward an inner diameter side. It is a thing.

  Since the diameter becomes shorter toward the inner diameter side, when the shape formed by the conductive wire is deformed, there is less room for deformation in the roll axis direction toward the inner diameter side. Therefore, as in the present invention, the conductive wire is disposed so that the pitch between the windings becomes shorter toward the inner diameter side, so that a margin for deformation in the roll axis direction in the inner diameter side portion is increased. It can be made equal to the deformation margin in the roll axis direction at the outer diameter side portion, and can be uniformly deformed as much as possible across the entire stretchable body.

The invention according to claim 8 is the polymer actuator according to any one of claims 1 to 7 , wherein each of the conductive wires is connected to a roll axis at the same end in the roll axis direction of the polymer actuator. On the other hand, it is revealed at a symmetrical position.

  According to the present invention, since each conductive wire is exposed at a symmetrical position with respect to the roll axis at the same end in the roll axial direction of the polymer actuator, each conductive wire is placed at the same position in the circumferential direction. Compared with the structure to reveal, possibility that a conductive wire will contact and short-circuit will become low.

As the stretchable body, as in the invention according to claim 9 , the stretchable body can include a dielectric polymer and stretchable electrodes respectively provided on the front and back surfaces of the dielectric polymer. It is.

  According to the present invention, an inexpensive polymer actuator having high deformation efficiency can be realized.

1 is an external perspective view of a first embodiment of a polymer actuator according to the present invention. It is a figure for demonstrating the structure of a sheet | seat body. It is a figure for demonstrating operation | movement of this sheet | seat body when a voltage is applied to a sheet | seat body. It is a figure which shows the arrangement | positioning form of a metal conducting wire. It is sectional drawing when cut | disconnecting in the surface orthogonal to the roll-axis direction of a polymer actuator. It is a figure for demonstrating operation | movement of a polymer actuator. It is a figure which shows the other arrangement | positioning form of a metal conducting wire. It is a figure which shows the other arrangement | positioning form of a metal conducting wire. It is a figure which shows the other arrangement | positioning form of a metal conducting wire. It is a figure which shows the other arrangement | positioning form of a metal conducting wire. It is a figure which shows the other arrangement | positioning form of a metal conducting wire. It is a figure which shows the other arrangement | positioning form of a metal conducting wire. It is a figure which shows the other arrangement | positioning form of a metal conducting wire. It is a figure which shows the other arrangement | positioning form of a metal conducting wire.

  Hereinafter, embodiments of a polymer actuator according to the present invention will be described with reference to the drawings. In addition, the structure which attached | subjected the same code | symbol in each figure shows that it is the same structure, The description is abbreviate | omitted.

(First embodiment)
FIG. 1 is an external perspective view of a first embodiment of a polymer actuator according to the present invention. As shown in FIG. 1, a polymer actuator 1 according to this embodiment includes a roll portion 2 in which a sheet body 4 described later is wound in a roll shape, and a metal conductor 3 for applying a voltage to the roll portion 2. And is configured.

  As shown in FIG. 2, the sheet body 4 constituting the roll unit 2 can be stretched and formed by coating a thin film-like elastic dielectric polymer sheet 5 having a high dielectric constant and, for example, carbon powder with high density or mixing with rubber. It has a flexible elastic electrode 6, 7.

  The elastic dielectric polymer sheet 5 is configured by adding an additive for increasing a dielectric constant to a low elastic modulus polymer such as rubber, for example, and is in a state (planar shape) before the polymer actuator 1 is manufactured. In a state of being developed in (1), it has a band shape.

  The stretchable electrodes 6 and 7 are attached to the entire area of the front and back surfaces of the elastic dielectric polymer sheet 5 having a belt-like shape using a conductive adhesive or the like having a stretchability when solidified.

  As shown in FIG. 3, the sheet body 4 configured as described above extends in the plane direction when a voltage is applied in the thickness direction.

  On the surface of the stretchable electrodes 6, 7, an adhesive layer made of a conductive adhesive that stretches when solidified is provided, and the metal conductor 3 is attached to the sheet body 4 using the adhesive layer. It is pasted.

  Specifically, as shown in FIG. 4, the metal conducting wire 3 includes two long sides (hereinafter, referred to as first long sides) 10 out of long sides parallel to the longitudinal direction of the sheet body 4. It is pasted so as to pass through predetermined positions P1, P2 on the first long side 10 located in the vicinity of the vertices P1, P2. Further, when a line segment indicating the center position in the longitudinal direction of the sheet body 4 is referred to as a center line L, the metal conductor 3 has the other long side (hereinafter referred to as a second long side) 11 and the center line L. Affixed to the stretchable electrodes 6 and 7 in such a manner as to be bent at a position P6 outward by a predetermined amount from the intersection P5 with the extension line. Further, when the metal conductor 3 is divided into two parts with the bent portion as a boundary, one part is attached to the front surface and the other part is attached to the rear surface.

  The sheet body 4 to which the metal conducting wire 3 is attached is folded in half at the center line L and then wound in a roll shape along the longitudinal direction of the sheet body 4. At that time, winding is started in a roll shape from a portion on the center line L side so that the portion on the center line L side is on the inner diameter side of the roll. The polymer actuator 1 according to the present embodiment is produced as described above.

  In this polymer actuator 1, when attention is paid to one cut surface by a surface passing through the central axis of the roll, as shown in FIG. 5, there are a plurality of electrode layers facing the stretchable electrodes 6 and 7 having the same polarity. It becomes the form which laminated | stacked and the electrode layer from which polarity differs alternately is located in a line. Moreover, as shown in FIG. 1, the metal conducting wire 3 forms a spiral shape between two opposing stretchable electrodes 6 and 7, and the spiral shape increases toward the inner diameter side of the roll. The diameter becomes smaller.

  A portion of the metal conducting wire 3 that appears from the roll portion 2 in the vicinity of the center line L is cut at the bent portion. Thereby, the metal conducting wire 3 is divided into two, and at this time, each metal conducting wire 3 comes into contact with each of the stretchable electrodes 6 and 7 one by one. In addition, the end part of the metal conducting wire 3 that appears from the end part on the long side 10 side is cut off according to the end surface of the roll part 2.

  As shown in FIG. 6, the polymer actuator 1 according to the present embodiment is configured so that each metal lead 3 is exposed from an end portion that is exposed from the roll part 2 so that the two metal lead wires 3 have different polarities. When a voltage is applied to the conductive wire 3, charges having different polarities accumulate in the stretchable electrodes 6 and 7, and the distance between the stretchable electrode 6 and the stretchable electrode 7 is reduced by the Coulomb force of the charges. As a result, while decreasing in the radial direction of the roll, it greatly expands in the central axis direction of the roll.

  Here, the metal wiring 3 has a spiral shape and has a component in a direction orthogonal to the roll axis direction. Therefore, the shape formed by the metal wiring 3 has a margin for deformation in the roll axis direction, and the metal wiring 3 easily follows the extension of the roll portion 2 in the roll axis direction. The left diagram in FIG. 6 shows a state where no voltage is applied, and the right diagram shows a state where a voltage is applied. The metal wiring 3 in the figure has been described as a wire-like metal wire, but the same effect can be obtained even when a thin strip-like metal wire having a width is used.

  As described above, in the present embodiment, the metal conductor 3 is brought into contact with the sheet body 4 and is brought into line contact over the widest possible region of the sheet body 4, and the metal conductor 3 is spirally wound around the sheet body 4. Since it is configured to form a shape, a more uniform voltage is applied across the entire area of the sheet body 4 compared to the conventional technique in which the metal conductor 3 is point-contacted with the stretchable electrode (over the entire area of the sheet body 4). There is no or little potential gradient), and a polymer actuator with high deformation efficiency can be realized with no or little deformation amount depending on each part.

  Moreover, in this embodiment, since the metal conducting wire 3 was linearly pasted to the sheet body and the simple arranging method of pasting the metal conducting wire 3 from the front surface to the back surface of the sheet body 4 was adopted, the deformation efficiency is high. A polymer actuator can be manufactured at low cost.

  Further, the polymer actuator 1 according to the present embodiment uses the expansion and contraction operation in the roll axis direction, and of both ends, the end on the side where the metal wire 3 appears is the fixed end, and the opposite end The end is used as a free end (end that exerts a force). Therefore, when the polymer actuator 1 performs the expansion / contraction operation, the end portion on the exposed side of the metal conducting wire 3 that is a fixed end does not slidably contact the drive target. Therefore, it is possible to avoid disconnection of the metal conductor 3 due to the sliding contact.

  Further, since the metal conductor 3 is exposed at one end portion of the polymer actuator 1, the polymer actuator 1 and the like are matched to the required size of the polymer actuator 1 (length in the roll axis direction). The length of the polymer actuator 1 can be appropriately set by cutting off the end side. Thereby, according to the size (length in the roll axis direction) of the polymer actuator 1 required, the width of the sheet body 4 is changed in advance, or the arrangement mode of the metal conductor 3 dedicated to the width is adopted. Since it is not necessary, the productivity of the polymer actuator 1 can be improved.

  Next, another embodiment of the polymer actuator according to the present invention will be described.

(Second Embodiment)
FIG. 7 is an explanatory diagram of a second embodiment of the polymer actuator according to the present invention.

  The polymer actuator according to the present embodiment is configured by arranging the metal wiring 3 in an arrangement manner as shown in FIG. That is, as shown in FIG. 7, the long side 11 is exceeded while being inclined from the predetermined position P7 on the long side 10 located near the vertex P1 on the first long side 10 toward the center line L side. A first portion 12 extending to a position, a second portion 13 continuous to the first portion 12 and extending in a minute amount parallel to the longitudinal direction of the sheet body 4 toward the center line L side, and the second portion A third portion 14 extending to a position exceeding the long side 10 while inclining in a direction opposite to the central line L, and continuing to the third portion 14, and the central line L A fourth portion 15 extending in a minute amount parallel to the longitudinal direction of the sheet body 4 toward the side, and a position that continues to the fourth portion 15 and exceeds the long side 11 while being inclined toward the center line L side The metal conductor 3 is disposed so as to have the fifth portion 16 extending to the end.

  Further, a sixth extending from the predetermined position P8 on the long side 10 located in the vicinity of the other vertex P2 on the first long side 10 to a position exceeding the long side 11 while being inclined toward the center line L side. A seventh portion 18 that is continuous to the sixth portion 17 and extends in a minute amount parallel to the longitudinal direction of the sheet body 4 toward the center line L side, and continuous to the seventh portion 18. And an eighth part 19 extending to a position exceeding the long side 10 while inclining in a direction opposite to the central line L, and the eighth part 19 continuous to the eighth part 19 and toward the central line L side. A ninth portion 20 extending in a minute amount parallel to the longitudinal direction of the body 4, and a tenth portion extending to a position exceeding the long side 11 while continuing to the ninth portion 20 and inclining toward the center line L side. The metal conductor 3 is disposed so as to have the portion 21.

  The end on the long side 11 side of the fifth portion and the end on the long side 11 side of the tenth portion 21 intersect at one point (hereinafter, this portion is referred to as a bent portion). The first part 12 and the sixth part 17, the second part 13 and the seventh part 18, the third part 14 and the eighth part 19, and the fourth part 15. The ninth portion 20, the fifth portion 16, and the tenth portion 21 are in a line symmetric positional relationship with respect to the center line L, respectively. About the winding method of the sheet | seat body 4 which bonded the metal conducting wire 3, it is the same as that of the said 1st Embodiment, The metal conducting wire 3 is the said bending part, 2nd, 4th, 7th, 9th site | part 13, It is cut at 15, 18 and 20, and divided into a plurality of metal conductors 3.

  In the polymer actuator 1 according to the first embodiment, the portions around the two apexes P22 and P23 on the long side 11 among the portions of the sheet body 4 (portions indicated by arrows A and B in FIG. 4). Since the distance between the metal conductor 3 and the metal conductor 3 is large, the area of the portion that is not in contact with the metal conductor 3 is increased on the outer diameter side, so that the expansion / contraction resistance is increased (the expansion / contraction ratio is deteriorated).

  In the present embodiment, in order to cope with this problem, as shown in FIG. 7, the metal conductor 3 is also applied to the parts around the two vertices P22 and P23 on the long side 11 (parts indicated by arrows A and B in FIG. 4). Is stretched linearly, and the expansion / contraction ratio of the sheet body 4 at the parts around the apexes P22 and P23 (parts indicated by arrows A and B in FIG. 4) is brought into contact with the fifth and tenth parts 16 and 21. It is made to approximate the expansion / contraction rate of the sheet body 4 at the site to be performed.

  Also in this embodiment, since a simple arrangement method in which the metal conductor 3 is linearly pasted is adopted, a polymer actuator can be manufactured at a low cost as in the first embodiment, and the first Since the metal conductor 3 is further in line contact over the widest possible region of the sheet body 4 than the polymer actuator according to the first embodiment, the deformation efficiency can be made higher than that of the first embodiment.

(Third embodiment)
FIG. 8 is an explanatory diagram of a third embodiment of the polymer actuator according to the present invention.

  In this embodiment, as shown to Fig.8 (a), the metal conducting wire 3 is each stuck on the same diagonal in each surface of the surface of a sheet | seat body 4, and a back surface. Specifically, it passes through a predetermined position P10 on the first long side 10 and a predetermined position P11 on the second long side 11 respectively located in the vicinity of the two vertices P1, P9 existing on one diagonal line. Thus, the metal conducting wire 3 is linearly pasted on each surface of the front surface and the back surface. In addition, about the winding method of the sheet | seat body 4 which bonded the metal conducting wire 3, it is the same as that of the said 1st Embodiment. In addition, the portion (turn portion from the front surface to the back surface of the metal conducting wire 3) that appears in the vicinity of the predetermined position P11 on the second long side 11 is cut off according to the end surface of the roll portion 2.

  Then, when the sheet body 4 with the metal conducting wire 3 bonded in this way is wound in the same manner as in the first embodiment, as shown in FIG. 8B, for example, the surface of the sheet body 4 is centered. When attention is paid to one divided region when divided into two regions by L, the portion where the metal conducting wire 3 contacts the divided region is on the predetermined position P10 and the center line L in the width direction of the sheet body 4 It becomes a V-shape passing through the center P12 and a predetermined position P13 on the second long side 11 which is the same position as the predetermined position P10 in the longitudinal direction of the sheet body 4, and compared with the first embodiment. The density of the metal conductor 3 can be increased. Thereby, a polymer actuator having higher deformation efficiency than the polymer actuator according to the first embodiment can be realized.

(Fourth embodiment)
FIG. 9 is an explanatory diagram of a fourth embodiment of the polymer actuator according to the present invention.

  In the present embodiment, as shown in FIG. 9A, a predetermined position on the long side 10 located in the vicinity of the vertex P <b> 1 on the first long side 10 in each surface of the front surface and the back surface of the sheet body 4. P14 and predetermined positions P15 and P16 spaced apart from each other by a predetermined distance from the center of the short side 22 far from the vertex P1 among the parts on the two short sides 22 and 23, and on the second long side 11 Among the portions, the metal conducting wire 3 is linearly pasted so as to pass through the predetermined position P14 and the predetermined position P17 which is the same position in the longitudinal direction of the sheet body 4.

  Then, when the sheet body 4 with the metal conducting wire 3 bonded in this way is wound in the same manner as in the first embodiment, as shown in FIG. 9B, for example, the surface of the sheet body 4 is centered. When paying attention to one divided region when divided into two regions at L, in that divided region, the metal conductor 3 passes through the predetermined position P14 and the predetermined position P18 on the center line L, and A line segment passing through the predetermined position P18 and the predetermined position P20 on the short side 23, a line segment passing through the predetermined position P21 on the short side 23 and the predetermined position P19 on the center line L, the predetermined position P19 and the It becomes an aspect arrange | positioned on the line segment which passes along the predetermined position P17, and the density of the metal conducting wire 3 can be enlarged compared with the said 1st Embodiment. Thereby, a polymer actuator having higher deformation efficiency than the polymer actuator according to the first embodiment can be realized.

(Fifth embodiment)
In the polymer actuator 1 according to each of the above embodiments, the roll unit 2 is of a type that expands and contracts in the roll axis direction, but is not limited to this, and both ends of the roll unit 2 are fixed. A polymer actuator of the type that bends the roll 2 is also conceivable. When producing such a polymer actuator, the following arrangement of the metal wiring 3 may be employed. FIG. 10 is an explanatory diagram of the polymer actuator according to the present embodiment.

  In the present embodiment, as shown in FIG. 10, the metal wiring 3 is linearly pasted to the surface of the sheet body 4 so that the metal wiring 3 passes through the predetermined positions P14 and P15, and the metal wiring 3 is placed on the back surface side. After the turn, the metal conductor 3 is pasted so as to pass through the predetermined positions P16 and P17 on the back surface.

  Next, the sheet body 4 on which the metal conducting wire 3 is thus bonded is wound in the same manner as in the first embodiment. At this time, as shown in FIG. 11, the metal wiring 3 appears from both end portions of the roll portion 2. Note that portions of the metal conducting wire 3 that are exposed at the predetermined positions P15 and P16 are cut off.

  By producing the polymer actuator by the above-described production method, both ends of the polymer actuator 1 are fixed, and the metal conductors 3 are exposed at both ends so that the polarities are different from each other. It is possible to configure a polymer actuator that performs an operation of applying a force to a predetermined driving object at a central portion in the roll axis direction by turning on and off the voltage from the end portion of the conducting wire.

(Sixth embodiment)
In the first embodiment, since the two separated metal wirings 3 are arranged so as to be symmetrical with respect to the center line L, when the roll unit 2 is configured, FIG. As shown in b), the revealing positions of the two metal conducting wires 3 appearing from one end side (the first long side 10 side) of the roll part 2 coincide or approximate in the circumferential direction of the roll part 2. Therefore, possibility that the metal conducting wires 3 will contact each other is high. Since the metal conducting wire 3 is a bare wire that is not coated, a short circuit occurs when the metal conducting wires 3 come into contact with each other.

  Therefore, in order to solve this problem, the metal conductor 3 is not disposed so that the bent portion is positioned on the extended line of the center line L as in the first embodiment, but as shown in FIG. In addition, the position P6 (see FIG. 4) of the bent portion in the first embodiment is shifted from the extended line of the center line L by a predetermined amount ΔR (position P6 ′), and accordingly, the first long side One of the two positions crossing 10 may be shifted by the predetermined amount ΔR. In FIG. 12, the predetermined amount ΔR corresponds to half the length of the circle formed by the end of the roll portion 2.

  As a result, as shown in FIG. 13A, the exposed positions of the metal conductors 3 are opposite to the roll shaft position O, and the exposed positions of the metal conductors 3 are separated as much as possible. Can do. As a result, it is possible to avoid as much as possible the occurrence of a short circuit due to the contact between the metal conductors 3 and the contact.

  In this case, the following modifications may be employed instead of or in addition to the embodiment.

  (1) The three-dimensional shape formed by the metal conductors in the polymer actuator is not limited to the spiral shape formed by the wiring modes shown in FIGS. 4 and 7 to 10, and rolls while rotating around the roll axis. Any spiral shape extending in the axial direction may be used.

  In addition, for example, as shown in FIG. 14, a three-net-shaped metal conductor 3 ′ formed in a U shape may be disposed so as to surround the center line L. In this embodiment, the stretchability of the polymer actuator 1 can be improved. In this case, among the portions of the metal conductor 3 ′, one straight portion of the two straight portions excluding the curved portion may be pasted to the surface, and the other straight portion may be pasted to the back surface. .

  (2) Since the diameter becomes shorter toward the inner diameter side, when the shape formed by the conductive wire is deformed when the sheet body 4 is extended, there is less room for deformation in the roll axis direction toward the inner diameter side. In consideration of this point, when the conductive wire is arranged so that the pitch between the windings becomes shorter toward the inner diameter side, a margin of deformation in the roll axis direction at the inner diameter side portion is increased. It can be made equal to the allowance for deformation in the roll axis direction at the outer diameter side portion, and can be uniformly deformed over the entire stretchable body as much as possible.

DESCRIPTION OF SYMBOLS 1 Polymer actuator 2 Roll part 3 Metal conducting wire 4 Sheet body 5 Elastic dielectric polymer sheet 6, 7 Stretchable electrode 10 1st long side 11 2nd long side

Claims (9)

A sheet-like elastic body made of a polymer material that expands and contracts by application of a voltage is a polymer actuator that is wound into a roll and formed into a laminate,
It said conductive wire disposed between the layers in a manner in contact with the elastic body to forming a three-dimensional shape,
Each of the layers has an electrode and the electrode of the layer is in contact with an electrode of an adjacent layer,
The two electrodes in contact with each other have the same polarity,
The conductive wire is disposed between the two electrodes;
A polymer actuator in which at least two sets of the two electrodes having the same polarity and conductive wires arranged between the electrodes are provided, and adjacent groups have different polarities .   When the conductive line is orthogonally projected on a plane parallel to the roll axis, and when the conductive line is orthogonally projected on a plane orthogonal to the roll axis, each of the three-dimensional shapes becomes a line segment. The polymer actuator according to claim 1, which has a shape.   The polymer actuator according to claim 2, wherein the three-dimensional shape is a spiral shape having a spiral diameter that increases toward a predetermined direction parallel to the roll axis.   The polymer actuator according to any one of claims 1 to 3, wherein the conductive wire is fixed to the stretchable body using a conductive adhesive.   The polymer actuator according to any one of claims 1 to 4, wherein the conductive wire is exposed from an end portion of the polymer actuator in a roll axis direction.   The polymer actuator according to claim 5, wherein the conductive wire is disposed across both ends of the polymer actuator in a roll axis direction.   The polymer actuator according to any one of claims 1 to 6, wherein the conductive wire is disposed so that a pitch between windings becomes shorter toward an inner diameter side. Wherein each conductive line, at the same end in the roll axis direction of the polymer actuator, a polymer actuator according to any one of claims 1 to 7 are sensible out at symmetrical positions with respect to the roll axis. The polymer actuator according to any one of claims 1 to 8 , wherein the stretchable body includes a dielectric polymer and stretchable electrodes respectively provided on the front and back surfaces of the dielectric polymer.

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