ACTUATOR AND ACTUATOR DEVICE

Abstract

To improve manufacturing efficiency.SOLUTION: An actuator includes a laminate 20 in which a plurality of actuator elements 30, each composed of a gelatinous dielectric 31 that deforms in a thickness direction by power supply and an anode 32 and a cathode 33 disposed to sandwich the gelatinous dielectric 31, are stacked with the gelatinous dielectric 31 interposed in between. The actuator is configured to be able to generate a restoring force in the thickness direction as a driving force by restoration of each gelatinous dielectric 31 when power supply is stopped in a state in which power is supplied to each gelatinous dielectric 31 via each anode 32 and each cathode 33 of the laminate 20. A non-conductive sheet 40 is disposed on an end face in the thickness direction of the laminate 20. On the non-conductive sheet 40, an electrode 41a electrically connected to each anode 32 is provided at a first position on an outer surface of the non-conductive sheet 40, and an electrode 41b electrically connected to each cathode 33 is provided at a second position on the outer surface of the non-conductive sheet 40 different from the first position.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an actuator including a laminate in which a plurality of actuator elements are laminated, each of which has a gel dielectric sandwiched between an anode and a cathode, and to an actuator device including the actuator. [Background technology]

[0002] As this type of actuator and actuator device, an actuator and a unit disclosed by the applicant in the following Patent Document 1 are known. This actuator is configured by laminating a plurality of basic structural units, each of which has a gel layer made of a dielectric polymer material between a mesh-shaped anode member and a sheet-shaped cathode member. In this case, when a voltage is applied between the anode member and the cathode member, the gel layer is drawn into the mesh gap of the anode member, which causes the gel layer to shrink in the thickness direction. When the voltage application is stopped, the gel layer returns to its original thickness and generates a restoring force. This actuator is configured to extract the restoring force of the gel layer as a generating force. Also, this unit is configured to include a plurality of actuators. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-171225 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned conventional actuators and units have the following problems to be solved. Specifically, in the above-mentioned actuators, the anode side conductors connected to the respective anode members are bundled and connected to the power supply wiring, and the negative side conductors connected to the respective negative members are bundled and connected to the power supply wiring to apply a voltage. In addition, in conventional units including a plurality of such actuators, it is necessary to further bundle the anode side conductors of the bundled actuators together and connect them to the power supply wiring, and further bundle the negative side conductors of the bundled actuators together and connect them to the power supply wiring. Thus, conventional actuators and units have the problem that it is difficult to improve manufacturing efficiency due to the complicated wiring work.

[0005] The present invention has been made in view of the above problems, and has as its main object to provide an actuator and an actuator device that can improve manufacturing efficiency. [Means for solving the problem]

[0006] In order to achieve the above object, the actuator according to claim 1 includes a laminate in which a gel-like dielectric that deforms in a thickness direction when a voltage is applied thereto and actuator elements each including an anode and a cathode arranged to sandwich the gel-like dielectric are laminated with the gel-like dielectric sandwiched between them, and generates, as a driving force, a restoring force in the thickness direction caused by the restoration of each of the gel-like dielectrics when the supply of voltage to each of the gel-like dielectrics is stopped from a state in which the voltage is applied to each of the gel-like dielectrics via each of the anodes and each of the cathodes, and a non-conductive sheet made of a material different from the gel dielectric constituting the actuator element is disposed on at least one end surface in the thickness direction of the laminate, and the non-conductive sheet has a first electrode electrically connected to each of the anodes disposed at a first position on the outer surface of the non-conductive sheet, and a second electrode electrically connected to each of the cathodes disposed at a second position different from the first position on the outer surface of the non-conductive sheet. A notch is formed on the edge of the non-conductive sheet. is. Effect of the Invention

[0011] According to the actuator of claim 1, the first electrode electrically connected to the anode of the actuator element and the second electrode electrically connected to the cathode of the actuator element are disposed on the outer surface of a non-conductive sheet arranged on the end surface of the laminate, so that all the anodes and all the cathodes of all the actuator elements constituting the laminate can be electrically connected to the power supply wiring simply by connecting the first electrode and the second electrode to the power supply wiring, respectively. Therefore, according to this actuator, compared to a conventional configuration in which it is necessary to bundle and connect the conductors connected to each anode to the power supply wiring and to bundle and connect the conductors connected to each negative electrode to the power supply wiring, the wiring work can be omitted, and the manufacturing efficiency can be sufficiently improved.

[0012] Also, this According to the actuator, by forming a notch in the edge of the non-conductive sheet, for example, a rod-shaped member or a rib-shaped member can be placed on the outer periphery of the actuator and fitted into the notch, thereby reliably preventing the collapse of the stacked actuators and misalignment of the actuators in the rotational direction.

[0013] Also, this According to the actuator, a non-conductive sheet is provided on each of both end faces in the thickness direction of the laminate, and a first electrode and a second electrode are provided on both of the non-conductive sheets, so that even if power supply wiring is connected to the first electrode and the second electrode provided on either of the non-conductive sheets, a voltage can be supplied to each anode and each cathode. Furthermore, according to this actuator, by simply stacking the first electrodes and the second electrodes of the actuators facing each other, it is possible to electrically connect all the anodes and all the cathodes of the actuators without performing wiring work between the actuators.

[0014] Also, thisAccording to the actuator device, the actuator according to any one of claims 1 to 3, a non-conductive plate on which the actuator can be placed, a pair of conductors arranged on the surface of the plate so that the first electrode and the second electrode of the actuator in the placed state can be in contact with each other, and a power supply unit that supplies a voltage to the actuator via each conductor, so that the actuator can be driven by supplying a voltage to all of the gel-like dielectrics via all of the anodes and cathodes of the actuator simply by placing the actuator on the surface of the plate so that the first electrode and the second electrode are in contact with each conductor. Also, according to this actuator device, for example, by arranging each of the conductors formed in a strip shape over a wide range on the surface of the plate, any number of actuators can be arranged at any position within the range of the conductors, and each actuator can be driven.

[0015] Also, this According to the actuator device, there are provided a plurality of actuators as described in claim 3 stacked so that the first electrodes and the second electrodes are in contact with each other and conductive with each other, and a power supply unit that supplies voltage to each actuator via any of the first electrodes and second electrodes of each actuator. This makes it possible to electrically connect all of the anodes and cathodes of each actuator without performing wiring work between each actuator, thereby supplying voltage to all of the gel-like dielectrics via all of the anodes and cathodes of each actuator, thereby driving each actuator. [Brief description of the drawings]

[0016] [Figure 1] FIG. 2 is a diagram showing the configuration of an actuator 10. [Diagram 2] 2 is a diagram showing the configuration of an actuator element 30. FIG. [Diagram 3] FIG. 2 is a plan view of the actuator 10. [Figure 4] 2 is a diagram showing the configuration of an actuator device 50. FIG. [Diagram 5] 2 is a diagram showing the configuration of an actuator device 60. FIG. [Figure 6] 1 is a diagram showing a configuration in which the actuator 10 is covered with a cover 70. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an actuator and an actuator device will be described with reference to the accompanying drawings.

[0018] First, a description will be given of the configuration of an actuator 10 shown in Fig. 1. The actuator 10 is an example of an actuator according to the present invention, and is configured to include a laminate 20 and a non-conductive sheet 40 as shown in the figure.

[0019] 1 and 2, the laminate 20 is formed by laminating a plurality of actuator elements 30 (10 layers, for example) sandwiching the gel-like dielectric 31, each actuator element 30 being made up of a sheet-like gel-like dielectric 31 that is circular in plan view and has the property of deforming in the thickness direction when a voltage is applied, and an anode 32 that is circular in plan view and has a mesh shape, and a cathode 33 that is circular in plan view and is sheet-like, as well as the gel-like dielectric 31. As shown in FIG. 1, the anode 32 and the cathode 33 are connected to wires (conductors) for supplying power.

[0020] The non-conductive sheet 40 is formed of a material having non-conductivity (for example, a PET sheet) and is disposed on both end surfaces in the thickness direction of the laminate 20, as shown in FIG. 1. Also, as shown in FIGS. 1 and 3, an electrode 41a (first electrode) electrically connected to each anode 32 of each actuator element 30 via a wire (conductor) 34, and an electrode 41b (second electrode) electrically connected to each cathode 33 of each actuator element 30 via a wire 34 are disposed on the edge of each outer surface of each non-conductive sheet 40. In this case, the disposition position (first position) of the electrode 41a and the disposition position (second position) of the electrode 41b are defined as positions facing each other (different positions) with the center of the non-conductive sheet 40 in between, as an example. Also, a notch 42 is formed on the edge of the non-conductive sheet 40, as shown in FIG. 3.

[0021] In this actuator 10, when a voltage is supplied to each gel-like dielectric 31 via each anode 32 and each cathode 33 constituting each actuator element 30, the laminate 20 contracts and lengthens due to the deformation of each gel-like dielectric 31, and when the supply of voltage to each gel-like dielectric 31 is stopped, the laminate 20 expands with the restoring force due to the restoration of each gel-like dielectric 31. That is, in this actuator 10, it is possible to generate this restoring force as a driving force F (see FIG. 1). Here, the driving force F generated by the actuator 10 is proportional (or approximately proportional) to the area of ​​the gel-like dielectric 31, the anode 32 and the cathode 33 constituting each actuator element 30, and the amount of displacement (amount of expansion and contraction) of the laminate 20 is proportional (or approximately proportional) to the number of layers of the actuator elements 30.

[0022] In this actuator 10, as described above, the electrode 41a electrically connected to each anode 32 of each actuator element 30 and the electrode 41b electrically connected to each cathode 33 of each actuator element 30 are disposed on the outer surface of the non-conductive sheet 40 disposed on the end surface of the laminate 20. Therefore, according to this actuator 10, all the anodes 32 and all the cathodes 33 in each actuator element 30 constituting the laminate 20 can be electrically connected to the power supply wiring simply by connecting the power supply wiring to the electrodes 41a, 41b, respectively. Therefore, according to this actuator 10, compared to the conventional configuration in which it is necessary to bundle and connect the wires 34 connected to each anode 32 to the power supply wiring and to bundle and connect the wires 34 connected to each cathode 33 to the power supply wiring, the wiring work can be omitted, and the manufacturing efficiency can be sufficiently improved.

[0023] In addition, in this actuator 10, non-conductive sheets 40 are disposed on both end surfaces in the thickness direction of the laminate 20, and electrodes 41a, 41b are disposed on both of the non-conductive sheets 40. Therefore, with this actuator 10, even if power supply wiring is connected to the electrodes 41a, 41b of either of the non-conductive sheets 40, a voltage can be supplied to each anode 32 and each cathode 33. Furthermore, with this actuator 10, all the anodes 32 and all the cathodes 33 of each actuator 10 can be electrically connected by simply stacking the electrodes 41a and the electrodes 41b of the multiple actuators 10 facing each other, without performing wiring work between each actuator 10.

[0024] Next, a description will be given of the configuration of the actuator device 50 shown in Fig. 4. Note that the same components as those of the actuator 10 described above are given the same reference numerals and duplicated descriptions will be omitted.

[0025] The actuator device 50 is an example of an actuator device according to the present invention, and is configured with a plurality of actuators 10 (for example, six actuators), a plate 51, conductors 52a, 52b, and a controller 53, as shown in FIG.

[0026] The plate 51 is formed of a non-conductive material (e.g., acrylic resin or PTFE) and is configured to be able to support multiple actuators 10 with the outer surface of the non-conductive sheet 40 (the lower surface in FIG. 1) facing downward, as shown in FIG. 4.

[0027] 4, the conductors 52a, 52b are formed in strips and disposed over a wide range (almost the entire area) of the surface 51a of the plate 51. The positions of the conductors 52a, 52b are specified so that they come into contact with the electrodes 41a, 41b, respectively, of the actuator 10 placed on the surface 51a of the plate 51.

[0028] The controller 53 is configured with a power supply unit capable of outputting a driving voltage for driving the actuator 10, and a control unit capable of controlling the voltage value and frequency of the output voltage, and supplies the driving voltage to the actuator 10 via the conductors 52a and 52b.

[0029] In this actuator device 50, as shown in FIG. 4, by outputting a driving voltage from a controller 53 with multiple actuators 10 placed on a plate 51, the voltage is supplied to the actuators 10 via conductors 52a, 52b arranged on the plate 51 and electrodes 41a, 41b of the actuator 10 which are in contact with the conductors 52a, 52b, thereby driving the actuators 10 to generate a driving force F.

[0030] According to this actuator device 50, the actuator 10, a plate 51 on which the actuator 10 can be placed, conductors 52a, 52b arranged on a surface 51a of the plate 51 so that the electrodes 41a, 41b of the actuator 10 in the placed state can come into contact with each other, and a controller 53 for supplying a voltage to the actuator 10 via the conductors 52a, 52b, it is possible to drive the actuator 10 by supplying a voltage to each gel-like dielectric 31 via each anode 32 and each cathode 33 of the actuator 10 simply by placing the actuator 10 on the surface 51a of the plate 51 so that the electrodes 41a, 41b come into contact with the conductors 52a, 52b. Also, according to this actuator device 50, the conductors 52a, 52b formed in strips are arranged over a wide range on the surface 51a of the plate 51, so that an arbitrary number of actuators 10 can be arranged at arbitrary positions within the range of the conductors 52a, 52b, and each actuator 10 can be driven.

[0031] Next, a description will be given of the configuration of the actuator device 60 shown in Fig. 5. Note that the same components as those of the actuator 10 and actuator device 50 described above are given the same reference numerals and duplicated descriptions will be omitted.

[0032] 5, the actuator device 60 is another example of the actuator device according to the present invention, and is configured to include a plurality of actuators 10 (three, for example), a cylindrical body 61, a fixed plate 62, an upper plate 63a, a lower plate 63b, a plurality of rods 64 (four, for example), and a controller 53. In the figure, in order to facilitate understanding of the configuration of the actuator 10, some or all of the components are shown in a see-through state.

[0033] As an example, the cylindrical body 61 is formed in a cylindrical shape as shown in Fig. 5. Moreover, the cylindrical body 61 is formed from a material (for example, acrylic resin or PTFE) that is resistant to solvents and plasticizers and is non-conductive.

[0034] The fixed plate 62 is formed in a disk shape from the same material as the cylindrical body 61, and is fixed to the bottom side of the cylindrical body 61 as shown in Fig. 5. The fixed plate 62 is also formed with an insertion hole H through which the rod 64 can be inserted. Furthermore, conductors 52a and 52b capable of coming into contact with the electrodes 41a and 41b of the actuator 10, respectively, are disposed on the upper surface of the fixed plate 62 (the surface on which the actuator 10 is disposed).

[0035] The upper plate 63a is formed in a disk shape from the same material as the cylindrical body 61, and is disposed above the actuator 10 within the cylindrical body 61 so as to be slidable in the length direction of the cylindrical body 61, as shown in Fig. 5. The lower plate 63b is formed in a disk shape from the same material as the cylindrical body 61, and is disposed below the fixed plate 62 within the cylindrical body 61 so as to be slidable in the length direction of the cylindrical body 61, as shown in the same figure. A cord 65 (for example, a string formed from aramid fiber) is connected to the lower plate 63b.

[0036] The rod 64 is formed to be non-conductive, and when inserted into the insertion hole H of the fixed plate 62 as shown in FIG. 5, the upper end is engaged with the upper plate 63a and the lower end is engaged with the lower plate 63b, thereby connecting the upper plate 63a and the lower plate 63b.

[0037] 5, the actuators 10 are stacked such that the electrodes 41a face each other and the electrodes 41b face each other, and are disposed above the fixed plate 62 (between the fixed plate 62 and the upper plate 63a) in the cylinder 61. In this state, the electrodes 41a and 41b of the actuator 10 disposed at the bottom come into contact with the conductors 52a and 52b disposed on the upper surface of the fixed plate 62. As shown in the figure, the actuators 10 are disposed with the rods 64 fitted into the cutouts 42 (see FIG. 3) formed in the non-conductive sheets 40.

[0038] The controller 53 supplies a driving voltage to each actuator 10 via the conductors 52 a and 52 b disposed on the upper surface of the fixed plate 62 .

[0039] In this actuator device 60, when a voltage is supplied to each gel-like dielectric 31 via each anode 32 and each cathode 33 constituting each actuator element 30 of each actuator 10, the laminate 20 of the actuator 10 contracts and elongates due to the deformation of each gel-like dielectric 31, and the upper plate 63a and the lower plate 63b move downward, and when the supply of voltage to each gel-like dielectric 31 is stopped, the laminate 20 expands with the restoring force due to the restoration of each gel-like dielectric 31, and the upper plate 63a and the lower plate 63b move upward. This makes it possible to generate the restoring force of each gel-like dielectric 31 as a driving force F (tensile force via the cord 65).

[0040] This actuator device 60 includes a plurality of actuators 10 stacked so that the electrodes 41a, 41b are in contact with and conductive with each other, and a controller 53 that supplies voltage to each actuator 10 via the electrodes 41a, 41b (any of the electrodes 41a, 41b) of the bottommost actuator 10 that is in contact with the conductors 52a, 52b of the fixed plate 62. This makes it possible to electrically connect all of the anodes 32 and cathodes 33 of each actuator 10 without performing wiring work between the actuators 10, thereby supplying voltage to all of the gel-like dielectrics 31 via all of the anodes 32 and cathodes 33, and driving each actuator 10.

[0041] Furthermore, according to this actuator device 60, when a failure occurs in some of the actuators 10, such as a short circuit between the anode 32 and the cathode 33 or poor conductivity due to a broken wire 34, repair can be performed quickly by replacing only the actuator 10 in which the failure has occurred with another actuator 10.

[0042] Furthermore, according to this actuator device 60, by fitting a rod 64 into a notch 42 formed in the non-conductive sheet 40 of the actuator 10, it is possible to reliably prevent the collapse of stacked actuators 10 and the misalignment of the actuators 10 in the rotational direction.

[0043] The configurations of the actuator 10, actuator device 50, and actuator device 60 described above are examples of the actuator and actuator device according to the present invention, and appropriate modifications may be made to the configuration. For example, in the configuration of the actuator 10 described above, ten actuator elements 30 are stacked to form the laminate 20, but the number of actuator elements 30 stacked to form the laminate 20 may be specified as desired.

[0044] Furthermore, in the configuration of the actuator 10 described above, the gel-like dielectric 31, the anode 32 and the cathode 33 are formed in a circular shape when viewed from above, but it is also possible to adopt gel-like dielectric 31, anode 32 and cathode 33 having other shapes when viewed from above (for example, elliptical or polygonal).

[0045] In addition, in the configuration of the actuator 10 described above, a non-conductive sheet 40 is disposed on each of both end surfaces in the thickness direction of the laminate 20, but it is also possible to adopt a configuration in which a non-conductive sheet 40 is disposed on only one of the end surfaces of the laminate 20.

[0046] Furthermore, in the above-described actuator device 50, six actuators 10 are mounted on the plate 51, but the number of actuators 10 mounted on the plate 51 can be changed as desired. Also, a configuration in which a plurality of actuators 10 are mounted on the plate 51 in a stacked state can be employed.

[0047] Furthermore, in the above-described actuator device 60, three actuators 10 are stacked, but the number of actuators 10 to be stacked can be changed as desired.

[0048] Also, as shown in FIG. 6, a configuration in which the top and sides of the actuator 10 are covered with an insulating cover 70 can be employed. [Explanation of symbols]

[0049] 10 Actuator 20 Laminate 30 Actuator element 31 Gel-like dielectrics 32 Anode 33 Cathode 40 Non-conductive sheet 41a,41b electrode 42 Cutout 50,60 Actuator device 51 Plate 51a surface 52a, 52b Conductor 53 Controller

Claims

[Claim 1] An actuator comprising a laminate in which a gel-like dielectric is sandwiched between actuator elements, each of which is made of a gel-like dielectric that deforms in a thickness direction when a voltage is applied thereto and an anode and a cathode arranged to sandwich the gel-like dielectric, and which generates, as a driving force, a restoring force in the thickness direction caused by the restoration of each of the gel-like dielectrics when the supply of voltage is stopped from a state in which voltage is being applied to each of the gel-like dielectrics via each of the anodes and each of the cathodes, a non-conductive sheet made of a different material from the gel dielectric constituting the actuator element is disposed on at least one end surface in the thickness direction of the laminate, The non-conductive sheet has first electrodes electrically connected to the anodes disposed at first positions on an outer surface of the non-conductive sheet, and second electrodes electrically connected to the cathodes disposed at second positions different from the first positions on the outer surface of the non-conductive sheet, The actuator has a notch formed in an edge of the non-conductive sheet.

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