Conductive rubber composition for sensing

Abstract

To provide a conductive rubber composition for sensing, capable of detecting a strain amount of a rubber product with high accuracy without using a sensor, when applied to the rubber product.SOLUTION: A conductive rubber composition for sensing comprises a diene-based rubber, carbon black, and an anti-aging agent, wherein the anti-aging agent satisfies the following expression (i): HeavyAtomCount / MolWt≤5.46×MaxPartialCharge / MolWt+0.071. [In the expression, HeavyAtomCount represents the number of non-hydrogen atoms in the anti-aging agent; MolWt represents a molecular weight of the anti-aging agent; and MaxPartialCharge represents a bias of atoms on the furthest plus side of the anti-aging agent (value of +δ)].SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a conductive rubber composition for sensing. [Background technology]

[0002] It is sometimes necessary to measure the amount of strain in rubber products such as rubber actuators and tires. To detect the amount of strain in a typical rubber product, a separate sensor (strain sensor, acceleration sensor, position detection sensor, angle sensor, etc.) must be installed outside the rubber product. Meanwhile, there is known a technique for estimating the amount of strain of a rubber product by measuring the electrical resistance of the rubber product without using a sensor. For example, Patent Document 1 below discloses a technique for estimating the amount of strain of a rubber material by compounding highly conductive carbon black or carbon nanotubes into the rubber material to prepare the rubber material, thereby imparting conductivity to the rubber material, and then correlating the change in electrical resistance due to strain with the strain. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-037906 Summary of the Invention [Problem to be solved by the invention]

[0004] However, although the technology described in Patent Document 1 makes it possible to roughly estimate the amount of distortion, the accuracy of the estimation is insufficient, and there is room for further improvement in the accuracy of the estimation.

[0005] Therefore, an object of the present invention is to solve the above-mentioned problems of the conventional technology and to provide a conductive rubber composition for sensing that can be applied to rubber products to detect the amount of strain on the rubber products with high accuracy without using a sensor. [Means for solving the problem]

[0006] The gist and configuration of the present invention to solve the above problems is as follows.

[0007] The conductive rubber composition for sensing of the present invention contains a diene rubber, carbon black, and an antioxidant, The antioxidant is represented by the following formula (i): HeavyAtomCount / MolWt≦5.46×MaxPartialCharge / MolWt+0.071 ··· (i) [wherein HeavyAtomCount is the number of non-hydrogen atoms in the antioxidant, MolWt is the molecular weight of the antioxidant, and MaxPartialCharge is the charge of the most positively biased atom in the antioxidant (value of +δ)]. By applying the conductive rubber composition for sensing of the present invention to a rubber product, it is possible to detect the amount of strain on the rubber product with high accuracy without using a sensor.

[0008] In a preferred embodiment of the conductive rubber composition for sensing of the present invention, the content of the carbon black is 45 parts by mass or more per 100 parts by mass of the diene rubber, whereby the electrical resistance value of the rubber composition becomes sufficiently low.

[0009] In the conductive rubber composition for sensing of the present invention, the carbon black has a cetyltrimethylammonium bromide (CTAB) adsorption specific surface area of ​​110 m 2 / g or more is preferable. In this case, the electrical resistance value of the rubber composition is also sufficiently low.

[0010] The conductive rubber composition for sensing of the present invention preferably has a lower dielectric constant during elongation than a rubber composition in which the antioxidant in the conductive rubber composition for sensing is replaced with N-phenyl-N'-(1,3-dimethylbutyl)-p-phenylenediamine (antioxidant 6PPD). In this case, it becomes possible to detect the amount of strain of a rubber product to which the conductive rubber composition for sensing is applied with higher accuracy.

[0011] The conductive rubber composition for sensing of the present invention preferably has a larger resistance range than a rubber composition in which the antioxidant in the conductive rubber composition for sensing is replaced with N-phenyl-N'-(1,3-dimethylbutyl)-p-phenylenediamine (antioxidant 6PPD). In this case, too, it becomes possible to detect the amount of strain of a rubber product to which the conductive rubber composition for sensing is applied with higher accuracy.

[0012] In another preferable embodiment of the conductive rubber composition for sensing of the present invention, the antioxidant is a compound represented by the following formula (ii): HeavyAtomCount / MolWt≧5.46×MaxPartialCharge / MolWt+0.068 (ii) [wherein HeavyAtomCount is the number of non-hydrogen atoms in the antioxidant, MolWt is the molecular weight of the antioxidant, and MaxPartialCharge indicates the bias (value of +δ) of the atom that is most biased to the positive side of the antioxidant.] In this case, the amount of strain in a rubber product to which the conductive rubber composition for sensing is applied can be detected with higher accuracy.

[0013] In the conductive rubber composition for sensing of the present invention, the antioxidant preferably has a HeavyAtomCount / MolWt ratio in formula (i) of 0.072 or more, which also allows the amount of strain of a rubber product to which the conductive rubber composition for sensing is applied to be detected with higher accuracy.

[0014] In the conductive rubber composition for sensing of the present invention, the antioxidant preferably has MaxPartialCharge / MolWt in formula (i) of 0.001 or less, which also makes it possible to detect the amount of strain of a rubber product to which the conductive rubber composition for sensing is applied with higher accuracy. [Effects of the Invention]

[0015] According to the present invention, it is possible to provide a conductive rubber composition for sensing that, when applied to a rubber product, can detect the amount of strain on the rubber product with high accuracy without using a sensor. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a graph showing an example of the change in volume resistivity (Ωm) when strain is applied to a rubber test piece made of a rubber composition containing an antioxidant 77PD and a rubber test piece made of a rubber composition containing an antioxidant 6PPD. [Figure 2] FIG. 1 is a side view of an example of a rubber actuator. [Figure 3] FIG. 1 is a partially exploded perspective view of an example of a rubber actuator. [Figure 4] 1 is a cross-sectional view of an example of a tire. [Figure 5] 1 is a graph showing the relationship between "HeavyAtomCount / MolWt" (vertical axis) and "MaxPartialCharge / MolWt" (horizontal axis) for various antioxidants. DETAILED DESCRIPTION OF THE INVENTION

[0017] The conductive rubber composition for sensing of the present invention will be illustrated and described in detail below based on embodiments thereof.

[0018] <Conductive rubber composition for sensing> The conductive rubber composition for sensing of the present invention contains a diene rubber, carbon black, and an antioxidant. In the conductive rubber composition for sensing of the present invention, the antioxidant is a compound represented by the following formula (i): HeavyAtomCount / MolWt≦5.46×MaxPartialCharge / MolWt+0.071 ··· (i) [wherein HeavyAtomCount is the number of non-hydrogen atoms in the antioxidant, MolWt is the molecular weight of the antioxidant, and MaxPartialCharge is the charge of the most positively biased atom in the antioxidant (value of +δ)].

[0019] As described above, a rubber composition having electrical conductivity can be obtained by compounding highly conductive carbon black or carbon nanotubes with a rubber component such as a diene rubber. Although the amount of strain of such a conductive rubber composition can be roughly estimated by measuring the electrical resistance value, the accuracy of the estimation is insufficient. In response to this, the present inventors focused on antioxidants commonly compounded in rubber compositions and found that these antioxidants also contribute to the electrical resistance of the rubber composition. As a result of further investigation, the present inventors found that a rubber composition capable of estimating the amount of strain with higher accuracy can be obtained by compounding an antioxidant that satisfies the relationship of formula (i) above, instead of N-phenyl-N'-(1,3-dimethylbutyl)-p-phenylenediamine (antioxidant 6PPD), which is commonly used as an antioxidant. Figure 1 shows an example of the change in volume resistivity (Ωm) when strain is applied to a rubber test piece made from a rubber composition containing N,N'-bis(1,4-dimethylpentyl)-p-phenylenediamine (antioxidant 77PD), an example of an antioxidant that satisfies the relationship of formula (i), and a rubber test piece made from a rubber composition containing N-phenyl-N'-(1,3-dimethylbutyl)-p-phenylenediamine (antioxidant 6PPD). In Figure 1, the left end represents no deformation, and the right end represents the point where the rubber has been deformed up to 70%, and the graph shows the electrical resistance measured over one cycle from no deformation → deformation (maximum 70%) → no deformation. When a rubber composition containing an antioxidant that satisfies the relationship of the above formula (i) is used, the difference in electrical resistance between the rubber product before and after deformation is larger than when a rubber composition containing the antioxidant 6PPD is used, making it possible to estimate the amount of strain with higher accuracy. Therefore, when the conductive rubber composition for sensing of the present invention is applied to a rubber product, it becomes possible to detect the amount of strain in the rubber product with high accuracy without using a sensor.

[0020] (Diene rubber) The conductive rubber composition for sensing of the present invention contains a diene rubber, which provides rubber elasticity to the composition and enables the rubber composition to stretch. Furthermore, by blending the diene rubber in combination with an antioxidant (described later) into the rubber composition, the rubber composition has sufficient ozone resistance. Examples of the diene rubber include natural rubber (NR), synthetic isoprene rubber (IR), butadiene rubber (BR), styrene-butadiene rubber (SBR), acrylonitrile-butadiene rubber (NBR), chloroprene rubber (CR), etc. The diene rubber may be one type alone or a blend of two or more types.

[0021] (carbon black) The conductive rubber composition for sensing of the present invention contains carbon black, which provides conductivity to the composition and enables sensing of the rubber composition.

[0022] The amount of carbon black is preferably 45 parts by mass or more, and more preferably 50 parts by mass or more, per 100 parts by mass of the diene rubber. When the amount of carbon black is 45 parts by mass or more, per 100 parts by mass of the diene rubber, the electrical resistance of the rubber composition becomes sufficiently low (electricity flows sufficiently). The amount of carbon black is preferably 70 parts by mass or less, more preferably 60 parts by mass or less, and even more preferably 55 parts by mass or less, per 100 parts by mass of the diene rubber. When the amount of carbon black is 55 parts by mass or less, per 100 parts by mass of the diene rubber, the electrical resistance of the rubber composition becomes sufficiently high (electricity does not flow too much), making it easier to detect changes in the electrical resistance, and the hardness of the rubber composition becomes low, making it suitable for use as, for example, the tube rubber of a rubber actuator.

[0023] The carbon black has a cetyltrimethylammonium bromide (CTAB) adsorption specific surface area of ​​110 m 2 / g or more. The CTAB adsorption specific surface area of ​​the carbon black is preferably 110 m 2 When the carbon black has a particle size of at least 1 / g, the particle size of the carbon black is sufficiently small, and the electrical resistance value of the rubber composition is sufficiently low (electricity flows sufficiently). The cetyltrimethylammonium bromide (CTAB) adsorption specific surface area of ​​the carbon black is set to 140 m from the viewpoint of workability. 2 / g or less is preferred. In this specification, the cetyltrimethylammonium bromide (CTAB) adsorption specific surface area of ​​carbon black is a value measured in accordance with JIS K6217-3, and is the external surface area of ​​carbon black excluding micropores, expressed as the specific surface area when CTAB (cetyltrimethylammonium bromide) is adsorbed onto carbon black.

[0024] The carbon black preferably has a compressed dibutyl phthalate (24M4DBP) absorption of 90 mL / 100 g or more. The 24M4DBP absorption of carbon black is a physical property related to the structure of the carbon black; the higher the 24M4DBP absorption, the lower the electrical resistance of the rubber composition. The 24M4DBP absorption of carbon black also serves as an indicator of high strain loss and is related to the amount of friction between carbon black particles at high strain. At high strain, the greater the amount of friction between carbon black particles, the greater the change in electrical resistance. When the 24M4DBP absorption of carbon black is 90 mL / 100 g or more, the electrical resistance of the rubber composition is sufficiently low and the change in electrical resistance with strain is large. Furthermore, the compressed dibutyl phthalate (24M4DBP) absorption amount of the carbon black is preferably 130 mL / 100 g or less, from the viewpoint of suppressing variations due to kneading. In this specification, the compressed dibutyl phthalate (24M4DBP) absorption of carbon black is a value measured by applying a pressure of 24,000 psi four times in accordance with ISO 6894. The 24M4DBP absorption is used to determine the DBP absorption based on the non-destructive true structural form (primary structure), excluding the DBP absorption due to the deformable and destructive structural form (secondary structure) caused by so-called van der Waals forces, and is an index for evaluating the skeletal structure of carbon black, which is mainly composed of the primary structure.

[0025] The carbon black is not particularly limited, and examples thereof include HAF, ISAF, and SAF grade carbon black, etc. These carbon blacks may be used alone or in combination of two or more.

[0026] (anti-aging agent) The conductive rubber composition for sensing of the present invention contains an antioxidant, and the antioxidant has the following formula (i): HeavyAtomCount / MolWt≦5.46×MaxPartialCharge / MolWt+0.071 ··· (i) Satisfy the relationship. In formula (i), HeavyAtomCount is the number of non-hydrogen atoms in the antioxidant, MolWt is the molecular weight of the antioxidant, and MaxPartialCharge in formula (i) is the charge imbalance of the most positive atom (+δ value) after calculating the Gasteiger charge for each atom in the antioxidant molecule, and is an index that affects the dielectric constant. "HeavyAtomCount," "MolWt," and "MaxPartialCharge" in formula (i) and formula (ii) described below are values ​​obtained by logical calculations by inputting the structural formula of a compound using RDkit (Open-source cheminformatics; http: / / www.rdkit.org), a free software of OSS (open source software). Antioxidants that satisfy the relationship of formula (i) tend to have less bias in charge, so that the dielectric constant is likely to be low, and by reducing the dielectric constant of the rubber composition, the resistance range (the range of change in electrical resistance value) of the rubber composition when strain is applied is likely to be wide. Therefore, by applying a rubber composition containing an antioxidant that satisfies the relationship of formula (i) to a rubber product, it becomes possible to detect the amount of strain on the rubber product with high accuracy without using a sensor.

[0027] The antioxidant is represented by the following formula: ii ): HeavyAtomCount / MolWt≧5.46×MaxPartialCharge / MolWt+0.068 ··· ( ii ) [Wherein, HeavyAtomCount is the number of non-hydrogen atoms in the antioxidant, MolWt is the molecular weight of the antioxidant, and MaxPartialCharge is the charge of the most positive atom in the antioxidant (value of +δ)]. In this case, the amount of strain in a rubber product to which the conductive rubber composition for sensing is applied can be detected with higher accuracy.

[0028] The antioxidant is represented by the formula ( i In this case, too, the amount of strain in a rubber product to which the conductive rubber composition for sensing is applied can be detected with higher accuracy.

[0029] The antioxidant is represented by the formula ( i ) is preferably 0.001 or less. In this case, the amount of strain in a rubber product to which the conductive rubber composition for sensing is applied can be detected with higher accuracy.

[0030] The anti-aging agent is preferably a p-phenylenediamine-based anti-aging agent. The p-phenylenediamine-based anti-aging agent is preferably one having no double bond other than the phenylenediamine moiety, and more preferably one having a structure represented by the following general formula (1): [ka] [In the formula, R 1 and R 2 are each independently a monovalent saturated hydrocarbon group].

[0031] In the above general formula (1), R 1 and R 2 R is independently a monovalent saturated hydrocarbon group. 1 and R 2 may be the same or different, but from the viewpoint of synthesis, they are preferably the same.

[0032] The number of carbon atoms in the monovalent saturated hydrocarbon group is preferably 1 to 20, more preferably 3 to 10, and particularly preferably 6 or 7. When the number of carbon atoms in the saturated hydrocarbon group is 20 or less, the number of moles per unit mass increases, resulting in a greater anti-aging effect and improved ozone resistance of the vulcanized rubber and / or rubber composition. R in the above general formula (1) 1 and R 2 are preferably each independently a linear or cyclic monovalent saturated hydrocarbon group having 1 to 20 carbon atoms.

[0033] Examples of the monovalent saturated hydrocarbon group include an alkyl group and a cycloalkyl group. The alkyl group may be linear or branched, and the cycloalkyl group may further have an alkyl group or the like bonded thereto as a substituent. Examples of the alkyl group include a methyl group, an ethyl group, an n-propyl group, an isopropyl group, an n-butyl group, an isobutyl group, a sec-butyl group, a tert-butyl group, a 1,2-dimethylbutyl group, a 1,3-dimethylbutyl group, a 2,3-dimethylbutyl group, an n-pentyl group, an isopentyl group, a neopentyl group, a 1-methylpentyl group, a 2-methylpentyl group, a 3-methylpentyl group, a 4-methylpentyl group, a 1,2-dimethylpentyl group, a 1,3-dimethylpentyl group, a 1,4-dimethylpentyl group, a 2,3-dimethylpentyl group, a 2,4-dimethylpentyl group, a 3,4-dimethylpentyl group, an n-hexyl group, a 1-methylhexyl group, a 2-methylhexyl group, various octyl groups, various decyl groups, and various dodecyl groups. Of these, a 1,4-dimethylpentyl group is preferred. Examples of the cycloalkyl group include a cyclopentyl group, a methylcyclopentyl group, a cyclohexyl group, a methylcyclohexyl group, a cycloheptyl group, and a cyclooctyl group, and among these, a cyclohexyl group is preferred.

[0034] Specific examples of the p-phenylenediamine compound represented by the general formula (1) include N,N'-bis(1,4-dimethylpentyl)-p-phenylenediamine (antiaging agent 77PD), N,N'-bis(1-ethyl-3-methylpentyl)-p-phenylenediamine, and N,N'-dicyclohexyl-p-phenylenediamine (antiaging agent CCPD). Of these, N,N'-bis(1,4-dimethylpentyl)-p-phenylenediamine (antiaging agent 77PD) and N,N'-dicyclohexyl-p-phenylenediamine (CCPD) are preferred, with N,N'-bis(1,4-dimethylpentyl)-p-phenylenediamine (antiaging agent 77PD) being particularly preferred. The p-phenylenediamine compounds may be used alone or in combination of two or more.

[0035] The p-phenylenediamine compound represented by the general formula (1) may be supported on any carrier, for example, the p-phenylenediamine compound represented by the general formula (1) may be supported on an inorganic filler such as silica or calcium carbonate. The p-phenylenediamine compound represented by the general formula (1) may also constitute a masterbatch together with the rubber component used in the vulcanized rubber. The p-phenylenediamine compound represented by the general formula (1) may be converted into a salt with an organic acid. The organic acid used to convert the salt is not particularly limited, but examples thereof include stearic acid.

[0036] In addition to the above-mentioned p-phenylenediamine compounds, the antioxidants also include phenolic compounds such as styrenated phenol (antioxidant SPH) and pentaerythritol tetrakis[3-(3,5-di-tert-butyl-4-hydroxyphenyl)propionate] (antioxidant 1010).

[0037] The content of the antioxidant is preferably 1 part by mass or more, more preferably 2 parts by mass or more, and preferably 10 parts by mass or less, more preferably 6 parts by mass or less, per 100 parts by mass of the diene rubber. When the content of the antioxidant is 2 parts by mass or more per 100 parts by mass of the diene rubber, the effect of lowering the dielectric constant of the rubber composition and the effect of widening the resistance range are enhanced. Furthermore, when the content of the antioxidant is 6 parts by mass or less per 100 parts by mass of the diene rubber, the degree of discoloration due to blooming is good.

[0038] (carbon nanotubes) The conductive rubber composition for sensing of the present invention may further contain carbon nanotubes, which have the effect of improving the conductivity of the composition.

[0039] The content of the carbon nanotubes is preferably 1 part by mass or more and 5 parts by mass or less, and more preferably 2 parts by mass or more and 5 parts by mass or less, per 100 parts by mass of the rubber component. When the content of the carbon nanotubes is 1 part by mass or more per 100 parts by mass of the rubber component, the electrical resistance value of the rubber composition becomes sufficiently low (electricity flows sufficiently), making it easier to detect changes in the electrical resistance value. On the other hand, when the content of the carbon nanotubes is 5 parts by mass or less per 100 parts by mass of the rubber component, the electrical resistance value of the rubber composition becomes sufficiently high (electricity does not flow too much), making it easier to detect changes in the electrical resistance value.

[0040] The carbon nanotube (CNT) is a structure made of carbon atoms with a diameter of about several nm to several tens of nm, and has an extremely fine tubular structure. The carbon nanotubes may be single-walled or multi-walled nanotubes. The carbon nanotubes preferably have a length of 0.1 μm to 30 μm, and more preferably 0.1 μm to 10 μm. The carbon nanotubes preferably have a diameter of 10 nm to 300 nm, more preferably 100 nm to 250 nm.

[0041] The carbon nanotubes can be synthesized by plasma CVD (chemical vapor deposition), thermal CVD, surface decomposition, flow gas synthesis, arc discharge, etc., and commercially available products can also be used. Examples of commercially available carbon nanotubes include carbon nanotubes manufactured by KUMHO, vapor grown carbon fiber VGCF (registered trademark) manufactured by Showa Denko K.K., and carbon nanotubes manufactured by Materials Technologies Research (MTR) in the United States.

[0042] (Dielectric constant when stretched) The conductive rubber composition for sensing of the present invention preferably has a lower dielectric constant when elongated than a rubber composition in which the antioxidant in the conductive rubber composition for sensing is replaced with N-phenyl-N'-(1,3-dimethylbutyl)-p-phenylenediamine (antiaging agent 6PPD). By reducing the dielectric constant of the rubber composition when elongated, the resistance range (range of change in electrical resistance value) of the rubber composition when strain is applied tends to increase, making it possible to detect the amount of strain in a rubber product to which the conductive rubber composition for sensing is applied with higher accuracy. Methods for reducing the dielectric constant of the rubber composition during elongation include blending an antioxidant that satisfies the above formula (i) and adjusting the blending amount thereof. Furthermore, the length of extension is not particularly limited, and any increase in length in any direction compared to a state in which no external force is applied may be considered to be extension.

[0043] (Resistance range) The conductive rubber composition for sensing of the present invention preferably has a larger resistance range than a rubber composition in which the antioxidant in the conductive rubber composition for sensing is replaced with N-phenyl-N'-(1,3-dimethylbutyl)-p-phenylenediamine (antiaging agent 6PPD).The larger resistance range (range of change in electrical resistance value) of the rubber composition when strain is applied makes it possible to detect the amount of strain in a rubber product to which the conductive rubber composition for sensing is applied with higher accuracy. Methods for widening the resistance range of a rubber composition include blending an antioxidant that satisfies the above formula (i) and adjusting the blending amount thereof.

[0044] <Method for producing conductive rubber composition for sensing> The rubber composition of the present invention can be produced, for example, by using a Banbury mixer, a roll, or the like to blend carbon black and an antioxidant with a diene rubber, and optionally further blend carbon nanotubes, and then kneading the mixture, followed by heating, extrusion, or the like.

[0045] In addition to the above-mentioned components, the conductive rubber composition for sensing may contain a softener, stearic acid, zinc oxide (zinc white), a vulcanization accelerator, a vulcanizing agent, etc., which may be appropriately selected and blended within a range that does not impair the object of the present invention. Commercially available products can be suitably used as these blending agents.

[0046] <Applications of conductive rubber composition for sensing> The conductive rubber composition for sensing of the present invention described above has a wide resistance range (the range of change in electrical resistance value) when strain is applied, and therefore can be used for sensing (detecting, detecting, detecting, perceiving) strain amounts. The conductive rubber composition for sensing can be used in a variety of rubber products, and is particularly suitable for use in rubber tubes and tires for rubber actuators. Furthermore, the conductive rubber composition can be appropriately adapted for use in other rubber components that generate strain during use, such as vibration-proof rubber, vibration-isolating rubber, hoses, conveyor belts, rubber crawlers, gloves, etc. It goes without saying that the uses are not limited to the above examples and can be widely applied.

[0047] (Rubber Actuator) A preferred embodiment of a rubber actuator using the conductive rubber composition for sensing of the present invention is shown in Fig. 2. The rubber actuator 10 shown in Fig. 2 has an actuator main body 100 composed of a cylindrical tube rubber 110 that expands and contracts due to fluid pressure, and a sleeve 120 that is a cylindrical structure in which cords oriented in a predetermined direction are woven and covers the outer surface of the tube rubber 110, and the above-mentioned conductive rubber composition for sensing of the present invention is used for the tube rubber 110.

[0048] Fig. 2 is a side view of the rubber actuator 10 according to this embodiment. As shown in Fig. 2, the rubber actuator 10 comprises an actuator main body 100, a sealing mechanism 200, and a sealing mechanism 300. Furthermore, a connecting portion 20 is provided on each end of the rubber actuator 10. Furthermore, a resistance value measuring device 30 is connected to each connecting portion 20.

[0049] The actuator main body 100 is composed of a rubber tube 110 and a sleeve 120. A working fluid flows into the actuator main body 100 via a fitting 400 and a passage hole 410. The rubber actuator 10 is operated by fluid pressure and may be pneumatic or hydraulic. When a liquid is used as the working fluid, examples of the liquid include oil and water. When the rubber actuator is hydraulic, the working fluid may be hydraulic oil that has traditionally been used in hydraulic drive systems.

[0050] When the working fluid flows into the rubber tube 110, the actuator body 100 moves in the axial direction D AX contracts in the radial direction D R In addition, as the working fluid flows out of the tube rubber 110, the actuator body 100 expands in the axial direction D AX expands in the radial direction D R This change in shape of the actuator body 100 allows the rubber actuator 10 to function as an actuator. Furthermore, such a rubber actuator 10 is of the so-called McKibben type, and can be applied not only to artificial muscles but also to robot limbs (upper limbs, lower limbs, etc.) that require higher performance (contractile force). Members constituting the limb are connected to the connecting part 20. In this embodiment, the resistance value measuring device 30 is connected to the connecting part 20, but the connection point of the resistance value measuring device 30 is not limited thereto, and it may be connected directly to both ends of the tube rubber 110, for example.

[0051] The sealing mechanism 200 and the sealing mechanism 300 are AX Specifically, the sealing mechanism 200 includes a sealing member 210 and a crimping member 230. The sealing member 210 seals both ends of the actuator body 100 in the axial direction D AX The crimping member 230 also crimps the actuator body 100 together with the sealing member 210. An indentation 231 is formed on the outer circumferential surface of the crimping member 230, which is a mark made by crimping the crimping member 230 with a jig.

[0052] The difference between the sealing mechanism 200 and the sealing mechanism 300 is that the roles of the fittings 400 and 500 (and the passage holes 410 and 510) are different. The fitting 400 provided on the sealing mechanism 200 protrudes so that a drive pressure source for the rubber actuator 10, specifically a hose (pipe) connected to a compressor for the working fluid, can be attached. The working fluid that flows in through the fitting 400 passes through the passage hole 410 and flows into the inside of the actuator main body 100, specifically into the inside of the tube rubber 110. On the other hand, the fitting 500 provided on the sealing mechanism 300 protrudes so that it can be used as a gas vent when injecting the working fluid into the rubber actuator 10. When the working fluid is injected into the rubber actuator 10 at the beginning of operation of the rubber actuator 10, the gas that was originally present inside the rubber actuator 10 is discharged from the fitting 500 through the passage hole 510.

[0053] 3 is a partially exploded perspective view of the rubber actuator 10. As shown in FIG. As described above, the actuator body 100 is made up of the tube rubber 110 and the sleeve 120.

[0054] The rubber tube 110 is a cylindrical body that expands and contracts due to fluid pressure. The rubber tube 110 repeatedly contracts and expands due to the working fluid, and the conductive rubber composition for sensing of the present invention described above is applied to the rubber tube 110.

[0055] The sleeve 120 is cylindrical and covers the outer circumferential surface of the tube rubber 110. The sleeve 120 is a structure in which cords oriented in a predetermined direction are woven, and the oriented cords cross to form repeated diamond shapes. Because of this shape, the sleeve 120 undergoes pantograph deformation and follows the contraction and expansion of the tube rubber 110 while regulating it.

[0056] In FIG. 3, the sealing mechanism 200 is AX The sealing mechanism 200 is composed of a sealing member 210, a locking ring 220, and a crimping member 230.

[0057] The sealing member 210 has a body portion 211 and a flange portion 212. The sealing member 210 is preferably made of a metal such as stainless steel, but is not limited to such a metal and may be made of a hard plastic material or the like.

[0058] The body portion 211 has a cylindrical shape, and is formed with a passage hole 215 through which the working fluid passes. The passage hole 215 communicates with the passage hole 410 (see FIG. 2). The tube rubber 110 is inserted into the body portion 211.

[0059] The flange 212 is connected to the body 211 and is located further in the axial direction D of the actuator 10 than the body 211. AX The flange portion 212 is located at the end side of the body portion 211 in the radial direction D. R The flange 212 locks the tube rubber 110 and the locking ring 220 that are inserted into the body 211.

[0060] An uneven portion 213 is formed on the outer peripheral surface of the body portion 211. The uneven portion 213 contributes to preventing slippage of the tube rubber 110 inserted into the body portion 211. It is preferable that the uneven portion 213 form three or more convex portions. Furthermore, a small diameter portion 214 having an outer diameter smaller than that of the body portion 211 is formed at a position closer to the flange portion 212 of the body portion 211 .

[0061] The locking ring 220 locks the sleeve 120. Specifically, the sleeve 120 is axially moved in the radial direction D R It is folded outwards. The outer diameter of the locking ring 220 is larger than the outer diameter of the body portion 211. The locking ring 220 locks the sleeve 120 at the position of the small diameter portion 214 of the body portion 211. In other words, the locking ring 220 is axially spaced apart from the body portion 211 in the radial direction D R The sleeve 120 is locked at a position on the outside adjacent to the flange portion 212 . In this embodiment, the locking ring 220 is split into two parts so that it can be locked onto the small diameter portion 214, which is smaller than the body portion 211. The locking ring 220 is not limited to being split into two parts, and may be split into more parts, or some of the split parts may be rotatably connected. The locking ring 220 can be made of the same metal or hard plastic material as the sealing member 210 .

[0062] The crimping member 230 crimps the actuator body 100 together with the sealing member 210. Metals such as aluminum alloy, brass, and iron can be used as the crimping member 230. When the crimping member 230 is crimped with a crimping jig, an indentation 231 as shown in FIG.

[0063] As described above, the tube rubber 110 repeatedly contracts and expands due to the working fluid, and the conductive rubber composition for sensing of the present invention is applied to the tube rubber 110. Here, when the contraction rate of the actuator body 100 increases, the electrical resistance value of the actuator body 100 (tube rubber 110) decreases. This is because the fluid flows into the actuator body 100 and the actuator body 100 moves in the axial direction D AX When the tube rubber 110 is contracted, the tube rubber 110 moves in the radial direction D within a predetermined range restricted by the sleeve 120. R When the tube rubber 110 expands, the thickness of the tube rubber 110 becomes thinner, and the distance between the carbon black (and carbon nanotubes) contained in the tube rubber 110 becomes narrower. Specifically, when the actuator body 100 contracts, the tube rubber 110 expands, reducing the film thickness of the tube rubber 110. As a result, the dimension (distance) of the carbon black (and carbon nanotubes) in the film thickness direction narrows, and the carbon black (and carbon nanotubes) come closer to each other. That is, when the contraction rate of the actuator body 100 increases and the length decreases, the distance between the carbon black (and carbon nanotubes) decreases, so the conductivity of the tube rubber 110 increases, in other words, the electrical resistance value of the tube rubber 110 decreases. 20 Resistance measurement device connected to 30 By measuring at this angle, it becomes possible to measure the amount of strain of the tube rubber 110 with high accuracy.

[0064] (tire) Next, a preferred embodiment of a tire using the conductive rubber composition for sensing of the present invention is shown in Figure 4. A tire 40 of one preferred embodiment comprises a pair of bead portions 41, a pair of sidewall portions 42, a tread portion 43, and a carcass 45 that reinforces each of these portions, and further comprises a sensing rubber member 47 on the tire inner surface side of the carcass 45.

[0065] 4 includes a pair of bead portions 41, a pair of sidewall portions 42, a tread portion 43, and a carcass 45 extending in a toroidal shape between bead cores 44 embedded in the bead portions 41. The tire further includes a belt 46 consisting of two reinforcing layers 46a, 46b arranged in the tread portion 43 on the radially inner side of the tread surface and on the radially outer side of the crown portion of the carcass 45, and a sensing rubber member 47 arranged on the tire inner surface side of the carcass 45. Resistance measuring devices 48 are connected to both ends of the sensing rubber member 47.

[0066] In the tire 40 shown in Fig. 4, the carcass 45 is composed of a single carcass ply, and includes a main body portion extending in a toroidal shape between a pair of bead cores 44 embedded in the bead portions 41, and turn-up portions wound up radially outward from the inner side to the outer side in the tire width direction around each bead core 44. However, the number of plies and the structure of the carcass 45 are not limited to this. From the viewpoint of tire durability, a radial carcass is preferable as the carcass. Here, the carcass ply constituting the carcass 45 is composed of a plurality of reinforcing cords coated with coating rubber, and the reinforcing cords may be organic fiber cords such as polyethylene terephthalate cords, nylon cords, rayon cords, or steel cords.

[0067] 4 is made up of two belt layers 46a, 46b, each of which is usually made up of a rubberized layer of cords extending at an angle to the tire equatorial plane, preferably a rubberized layer of steel cords, and the two belt layers are laminated such that the cords constituting the belt layers cross each other with the tire equatorial plane in between to form the belt 46. Note that although the belt 46 in the drawing is made up of two belt layers, the number of belt layers constituting the belt 46 is not limited to one and may be one or more.

[0068] 4, a belt reinforcing layer a and a belt reinforcing layer b may be further arranged radially outward of the belt 46 of the tire 40. The belt reinforcing layer a may be arranged so as to cover the entire belt 46, and a pair of belt reinforcing layers b may be arranged radially outward of the belt reinforcing layer a so as to cover only both end portions of the belt reinforcing layer a in the tire width direction. The belt reinforcing layer a and the belt reinforcing layer b may be made of rubberized layers of polyethylene terephthalate cords arranged substantially parallel to the tire circumferential direction, but are not limited to this.

[0069] 4 includes a sensing rubber member 47 on the innermost surface of the tire, on the inner surface side of the carcass 45. The sensing rubber member 47 may be provided as a substitute for an inner liner that is normally provided to ensure the airtightness of a tire (i.e., it may have air impermeability in addition to a sensing function), or it may be separately attached to the inner surface side of the inner liner. Here, the sensing rubber member 47 is made of the above-mentioned conductive rubber composition for sensing of the present invention. In addition, a resistance value measuring device 48 is connected to both ends of the sensing rubber member 47, and the resistance value of the sensing rubber member 47 is measured (monitored) by the resistance value measuring device 48, thereby determining the tire 40 The amount of strain in the tire can be measured with high accuracy. 40By measuring (monitoring) the amount of strain, it is possible to continuously obtain information on the road surface conditions, tire contact status, tire wear, etc. [Example]

[0070] The present invention will be described in more detail below with reference to examples, but the present invention is not limited to the following examples in any way.

[0071] <Preparation of Rubber Composition> A rubber composition having the formulation shown in Table 1 was prepared by kneading in a conventional manner. The relationship between "HeavyAtomCount / MolWt" and "MaxPartialCharge / MolWt" for the antioxidants used is shown in Figure 5. Figure 5 also shows the calculated values ​​(HeavyAtomCount / MolWt = 0.073412, MaxPartialCharge / MolWt = 0.00058854) for N,N'-dicyclohexyl-p-phenylenediamine (antiaging agent CCPD), an example of an antioxidant that satisfies the relationship of formula (i).

[0072] <Test on vulcanized rubber> From the obtained rubber composition, a test piece was prepared in the shape of a strip having a thickness of 1 mm and a width of 4.7 mm, with platinum vapor-deposited on both ends and one side, leaving a length of 20 mm. The resistance range (variation range of electrical resistance value), mean square error (MSE) of strain, and dielectric constant of the test piece were measured using the following methods.

[0073] (1) Resistance range (variation range of electrical resistance value) and mean square error (MSE) of strain The test piece was connected to a tensile testing machine (model K18003) manufactured by System One Co., Ltd., and the strain and electrical resistance (Ωm) were measured at a tensile speed of 6 mm / sec and when the test piece was stretched to 70% (minimum-maximum strain: 0 to 70%). For Comparative Examples 1-1 to 1-2 and Examples 1-1 to 1-4, the range of change in the electrical resistance value (resistance range) of Comparative Example 1-1 is expressed as an index, with the range of change in the electrical resistance value (resistance range) of Comparative Example 1-1 being 100, For Comparative Example 2 and Examples 2-1 to 2-2, the resistance range of Comparative Example 2 is expressed as an index, with the resistance range of Comparative Example 2 being 100. For Comparative Example 3 and Example 3, the resistance range of Comparative Example 3 is expressed as an index, with the resistance range of Comparative Example 3 being 100. For Comparative Example 4 and Example 4, the resistance range of Comparative Example 4 is expressed as an index, with the resistance range of Comparative Example 4 being 100. For Comparative Example 5 and Example 5, the resistance range of Comparative Example 5 is expressed as an index, with the resistance range of Comparative Example 5 being 100. The difference in resistance range with the same filler composition was evaluated.

[0074] In this case, the objective variable was the strain amount and the explanatory variable was the resistance value, and machine learning was performed to obtain the correlation between the strain amount and the electrical resistance value. Next, the mean square error (MSE) between the actual strain amount and the strain amount estimated from the electrical resistance value (i.e., the strain amount estimated from the electrical resistance value using the correlation between the above-mentioned strain amount and the electrical resistance value) was calculated.

[0075] (2) Dielectric constant The test piece was connected to a tensile testing machine (model K18003) manufactured by System One Co., Ltd., and the dielectric constant at 20 Hz when stretched to 70% was measured using a Keysight "E4990A." For Comparative Examples 1-1 to 1-2 and Examples 1-1 to 1-4, the dielectric constant is expressed as an index, with the dielectric constant of Comparative Example 1-1 being 100. For Comparative Example 2 and Examples 2-1 to 2-2, the dielectric constant is expressed as an index, with the dielectric constant of Comparative Example 2 being 100. For Comparative Example 3 and Example 3, the dielectric constant is expressed as an index, with the dielectric constant of Comparative Example 3 being 100. For Comparative Example 4 and Example 4, the dielectric constant is expressed as an index, with the dielectric constant of Comparative Example 4 being 100. For Comparative Example 5 and Example 5, the dielectric constant is expressed as an index, with the dielectric constant of Comparative Example 5 being 100. The difference in dielectric constant with the same filler content was evaluated.

[0076] [Table 1]

[0077] *1 NR: Natural rubber, RSS#2 *2 BR: High-cis butadiene rubber, manufactured by Ube Industries, product name "UBEPOL-BR150L" *3 Wax: Seiko Chemical Co., Ltd., product name "Santanto S" *4 Carbon black 1: Tokai Carbon Co., Ltd., product name "Seast 6", CTAB adsorption specific surface area = 112 m 2 / g, 24M4DBP absorption = 100mL / 100g *5 Carbon black 2: Asahi Carbon Co., Ltd., product name "Asahi #78", CTAB adsorption specific surface area = 123 m 2 / g, 24M4DBP absorption = 100mL / 100g *6 Carbon nanotubes: Kumho, product name "CNT K-Nanos-100P" *7 Antioxidant 6PPD: N-phenyl-N'-(1,3-dimethylbutyl)-p-phenylenediamine, MaxPartialCharge / MolWt=0.000620, HeavyAtomCount / MolWt=0.074515 *8 Antioxidant SDPA: Kawaguchi Chemical Co., Ltd., product name "DDA" MaxPartialCharge / MolWt=0.000441, HeavyAtomCount / MolWt=0.076815 *9 Anti-aging agent SPH: Kawaguchi Chemical Co., Ltd., product name "SP" MaxPartialCharge / MolWt=0.000969, HeavyAtomCount / MolWt=0.076054 *10 Antioxidant 1010: ADEKA Corporation, product name "ADEKA STAB AO-60" MaxPartialCharge / MolWt=0.000260, HeavyAtomCount / MolWt=0.072177 *11 Antioxidant 77PD: R in general formula (1) 1 and R 2 p-phenylenediamine compound in which N is a saturated hydrocarbon group (1,4-dimethylpentyl group), N,N'-bis(1,4-dimethylpentyl)-p-phenylenediamine, manufactured by Eastman Co., Ltd. MaxPartialCharge / MolWt=0.000526, HeavyAtomCount / MolWt=0.072244 *12 Other cross-linking chemicals: total amount of vulcanizing agents, vulcanization accelerators, etc.

[0078] The structural formulas of the antioxidants used, 6PPD, SDPA, SPH, 1010, and 77PD, are shown below. [ka]

[0079] From Table 1, it can be seen that the rubber compositions of the examples according to the present invention have a lower dielectric constant and a wider resistance range than the rubber compositions containing the antioxidant 6PPD. Furthermore, the mean square error (MSE) between the actual strain amount and the strain amount estimated from the electrical resistance value is smaller, and the strain amount can be detected with high accuracy. [Industrial Applicability]

[0080] By applying the conductive rubber composition for sensing of the present invention to rubber products, it is possible to detect the amount of strain in the rubber products with high accuracy without using a sensor, and the composition can be used in various rubber products such as rubber tubes for rubber actuators and tires. [Explanation of symbols]

[0081] 10: Rubber actuator, 20: Connection part, 30: Resistance value measuring device, 100: Actuator main body, 110: Tube rubber, 111: Inner layer rubber, 112: Outer layer rubber, 120: Sleeve, 200: Sealing mechanism, 210: Sealing member, 211: Body part, 212: Flange part, 213: Concave part, 214: Small diameter part, 215: Passing hole, 220: Locking ring, 230: Caulking member, 231: Indentation, 300: Sealing mechanism, 400, 500: Fitting, 410, 510: Passing hole, D AX :Axial direction, D R : Radial direction, 40: tire, 41: bead portion, 42: sidewall portion, 43: tread portion, 44: bead core, 45: carcass, 46: belt, 46a, 46b: reinforcing layer, 47: sensing rubber member, 48: resistance value measuring device

Claims

1. The rubber composition contains a diene rubber, carbon black, and an antioxidant, the content of the carbon black is 45 parts by mass or more and 70 parts by mass or less relative to 100 parts by mass of the diene rubber, the content of the antioxidant is 1 part by mass or more and 10 parts by mass or less per 100 parts by mass of the diene rubber, The antioxidant is represented by the following formula (i): HeavyAtomCount / MolWt≦5.46×MaxPartialCharge / MolWt+0.071... (i) [wherein HeavyAtomCount is the number of non-hydrogen atoms in the antioxidant, MolWt is the molecular weight of the antioxidant, and MaxPartialCharge represents the charge of the atom that is most positively biased in the antioxidant (value of +δ)], The antioxidant is represented by the following general formula (1): 【Chemistry 1】 A conductive rubber composition for sensing, characterized in that it is a p-phenylenediamine compound represented by the formula: [wherein R 1 and R 2 each independently represent an alkyl group or cycloalkyl group having 6 or 7 carbon atoms], styrenated phenol (antioxidant SPH), or pentaerythritol tetrakis[3-(3,5-di-tert-butyl-4-hydroxyphenyl)propionate] (antioxidant 1010).

2. The carbon black has a cetyltrimethylammonium bromide (CTAB) adsorption specific surface area of ​​110 m ２ The conductive rubber composition for sensing according to claim 1, wherein the surface roughness is 1 / g or more.

3. A conductive rubber composition for sensing as described in claim 1 or 2, which has a reduced dielectric constant during elongation compared to a rubber composition in which the antioxidant in the conductive rubber composition for sensing is replaced with N-phenyl-N'-(1,3-dimethylbutyl)-p-phenylenediamine (antiaging agent 6PPD).

4. A conductive rubber composition for sensing according to any one of claims 1 to 3, which has a larger resistance range than a rubber composition in which the antioxidant in the conductive rubber composition for sensing is replaced with N-phenyl-N'-(1,3-dimethylbutyl)-p-phenylenediamine (antiaging agent 6PPD).

5. The antioxidant is represented by the following formula (ii): HeavyAtomCount / MolWt≧5.46×MaxPartialCharge / MolWt+0.068... (ii) The conductive rubber composition for sensing according to any one of claims 1 to 4, which satisfies the relationship: [wherein HeavyAtomCount is the number of non-hydrogen atoms in the antioxidant, MolWt is the molecular weight of the antioxidant, and MaxPartialCharge represents the bias (value of +δ) of the atom that is most biased toward the positive side of the antioxidant].

6. The conductive rubber composition for sensing according to any one of claims 1 to 5, wherein the antioxidant has a HeavyAtomCount / MolWt in formula (i) of 0.072 or more.

7. The conductive rubber composition for sensing according to any one of claims 1 to 6, wherein the antioxidant has a MaxPartialCharge / MolWt in formula (i) of 0.001 or less.

8. A conductive rubber composition for sensing according to any one of claims 1 to 7, wherein the antioxidant is N,N'-bis(1,4-dimethylpentyl)-p-phenylenediamine (antiaging agent 77PD), styrenated phenol (antiaging agent SPH), or pentaerythritol tetrakis[3-(3,5-di-tert-butyl-4-hydroxyphenyl)propionate] (antiaging agent 1010).

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