Driving device using dielectrics

Description: TECHNICAL FIELD [Detailed description of the invention]

【0001】

[Technical field to which the invention belongs]

The present invention relates to a linear drive device, and more particularly to a dielectric-based drive device capable of driving various devices by using an action of expanding and contracting by energizing a dielectric.

【0002】

[Conventional technology]

Conventionally, various drive devices have been used in various fields. For example, in various fields such as industrial robots, precision machines, switch operation elements, medical equipment, etc., servo motors, linear motors, stepping motors, electromagnetic actuators, fluid pressures, etc. Various drive devices such as actuators are used.

【0003】

Among such various drive devices, electrostatic actuators have been attracting attention in recent years as actuator elements having excellent output / weight ratios and output / volume ratios, and among them, interest in actuators using polymer materials has increased. ing. Among the polymer materials, Electroactive Polymer can be deformed by electrical stimulation, and can be driven and controlled by electrical control signals, so it is easy to operate and can be driven. Suitable for use in equipment.

【0004】

Furthermore, among the electroactive polymers, the dielectric polymer is mainly driven by Maxwell stress from the electrostatic force generated by the applied electric field. For example, silicon (Silicone). ), Polyurethane, and other polymers with high insulating properties are used as a general term, and are commonly found in our daily lives and are widely used as various materials.

【0005】

In order to construct a drive device using a dielectric elastic body made of such a dielectric polymer, conductive electrodes 52 and 53 are usually connected to both sides of the dielectric elastic body 51 as shown in FIG. 14, for example. , Apply voltage to this. As a result, the dielectric elastic body 51 receives a compressive force due to the electrostatic force and contracts in the thickness direction (Z) and extends in the lateral (XY) direction. In this way, in the normal usage of a drive device using a dielectric elastic body, Maxwell stress from the electrostatic force generated by the applied electric field is the main driving principle, and voltage is applied. The basic transformation method is expansion and contraction, which expands and returns to the original shape when the voltage is removed.

【0006】

[Problems to be Solved by the Invention]

Such a dielectric rubber has a deformation rate of more than 200%, which is particularly large. Therefore, when connecting an electrode to the dielectric rubber, it is necessary to maintain conductivity so as not to interfere with the deformation of the dielectric rubber. Various measures are required for that purpose.

【0007】

Moreover, it cannot be used as a drive machine only by the basic deformation as shown in Fig. 1. The first reason is that the dielectric rubber is too soft to exert a structural pushing force. Secondly, the expansion of the dielectric rubber can be actively performed by applying a voltage, but the operation can only be passively returned to the original shape because of its unidirectional operation.

【0008】

Therefore, it is a main object of the present invention to provide a dielectric utilization drive device capable of driving various devices by using an action of expanding and contracting by energizing a dielectric material.

【0009】

[Means for solving problems]

In order to solve the above problem, the invention according to claim 1 includes a dielectric member provided with a flexible electrode facing the dielectric material made of a polymer material, and an operating member fixed to the dielectric member, and has an energizing range. Is a dielectric material characterized in that a plurality of the dielectric members are arranged in a force transmission relationship with each other and a force for deforming the dielectric member is applied by adjusting a supply voltage for at least one energizing range. It is a use drive device.

【0010】

The dielectric-utilizing drive according to claim 1, wherein at least one of the movement of the operating member and the rigidity of the operating member is adjusted by adjusting the supply voltage. It is a device.

【0011】

The invention according to claim 3 is characterized in that the plurality of energizing ranges of the dielectric member are two energizing ranges formed by at least three electrodes provided on the integral dielectric member. It is a drive device using a dielectric material of.

【0012】

The invention according to claim 4 is characterized in that the plurality of energizing ranges of the dielectric member are formed of separate dielectric members, and a force transmitting member for connecting a part of each dielectric member to each other is provided. This is the dielectric utilization drive device according to claim 1.

【0013】

Further, in the invention according to claim 5, the dielectric members of the separate body are each in the form of a film or a plate, and a dielectric member is formed by providing flexible electrodes on both sides thereof, and the ends thereof are fixed. The dielectric-utilizing drive device according to claim 4, wherein a part of the dielectric members of the above is connected to each other by a force transmission member.

【0014】

Further, in the invention according to claim 6, the peripheral end portions of the dielectric members are fixed and arranged so as to face each other, and the force transmission member is sandwiched between the intermediate portions of both dielectric members, depending on the size of the force transmission member. The dielectric-based drive device according to claim 5, wherein the initial tension of the dielectric member is adjusted.

【0015】

Further, in the invention of claim 7, at least one of the dielectric members arranged to face each other is configured by a group of dielectric members composed of a plurality of independent dielectric members divided in the circumferential direction in an insulated state from each other, and is independent. The dielectric-utilizing drive device according to claim 5, wherein the operating member is adjusted to an arbitrary direction or an arbitrary rigidity by adjusting the supply voltage to each of the dielectric members.

【0016】

Further, the invention according to claim 8 comprises a group of four independent dielectric members in which both of the dielectric members arranged opposite to each other are divided into four at equal intervals in the circumferential direction in an insulated state from each other. The dielectric-based drive device according to claim 7, wherein the device is characterized by the above.

【0017】

BEST MODE FOR CARRYING OUT THE INVENTION

Examples of the present invention will be described with reference to the drawings. The most basic examples of the drive device according to the present invention are shown in FIGS. 1 and 2, FIG. 1 shows a perspective view of the assembled state, FIG. 2 shows a perspective view of the disassembled state, and FIG. (a) shows a partial cross-sectional view of AA in FIG.

【0018】

In this drive device 1, the dielectric 3 is attached to the frame type frame 2 in a state of being pulled in advance, and the upper surface flexibility electrode 4 is attached to the upper surface of the dielectric and the lower surface flexibility electrode 5 is attached to the lower surface. It is worn. The first electrode portion 6 and the second electrode portion 7 are projected from the upper surface flexible electrode 4 on both the left and right sides facing each other, and the central portion on the front side of the lower surface flexible electrode 5 is downward from the inside of the frame type frame 2. By extending it in the forward direction and further extending it in the forward direction, it protrudes forward from the lower surface of the frame type frame 2 to form the third electrode portion 8.

【0019】

In this embodiment, an output member 9 extending in the left-right direction in the drawing is fixed to the surface of the upper surface flexible electrode 4, and an operating portion 10 for driving various members is provided on the central upper surface of the output member 9. There is. Further, in this embodiment, a shield cover 12 is provided in order to insulate the ground plane 11 on which the drive device 1 is installed. Further, a first lead wire 13 is provided in the first electrode portion 6, a second lead wire 14 is provided in the second electrode portion 7, and a third lead wire 15 is provided in the third electrode portion 8, and each lead wire is provided with a third lead wire 15. Allows the application of "+" or "-" voltages.

【0020】

When the drive device 1 having the above configuration is operated, for example, the first electrode portion 6 located on the left side in FIG. 3 has a voltage of + from the outside as shown in FIG. When a voltage of "-" is applied to the electrode portion 7 and a voltage of "-" is applied to the third electrode portion 8 in the center, only the portion of the dielectric 3 to which the first electrode portion 6 is attached becomes soft. Since the other side shrinks by that amount, the output member 9 moves in the direction in which the dielectric 3 shrinks as shown in FIG. 3 (b), that is, to the second electrode portion 7 side on the right side in the figure.

【0021】

Conversely, as shown in FIG. 3 (c), when a voltage of "-" is applied to the first electrode portion 6, a voltage of "+" is applied to the second electrode portion 7, and a voltage of "-" is applied to the third electrode portion 8, it is dielectric. Since only the part of the body 3 to which the second electrode portion 7 is attached becomes soft and the other side shrinks, the output member 9 is in the direction in which the dielectric shrinks as shown in FIG. 3 (c), that is, on the left side in the figure. Move to the 6th side of the 1st electrode. As a result of performing the above operation, the operating portion 10 provided on the output member 9 moves left and right as shown in FIGS. 3 (b) and 3 (c), and this movement is used to function as an actuator. Can be done.

【0022】

As described above, the actuator of the above embodiment has a bidirectional property of generating a driving force in two directions, and can be used as an actuator in a wide range. In particular, in this actuator, its rigidity can be freely adjusted depending on the state of energization. For example, when a voltage is applied to the first electrode 6 and the second electrode to "+" and the third electrode 8 to "-". The output stage is in a very soft state, that is, it can move freely even with a light force from the outside with low rigidity, and conversely, the first electrode 6 and the second electrode 7 are set to "-", and the third electrode 8 is set to "-". In the state where the voltage is applied to "-", that is, when all the electrodes are set to "-", the output stage is in a state of high rigidity and can be prevented from moving by a large force from the outside.

【0023】

Therefore, this actuator can move in either the positive direction or the negative direction, and adjust its rigidity in each of the soft state and the hard state. This function works in the same way as human muscles, and it can be used to perform various operations similar to human muscles.

【0024】

In the above embodiment, an example in which the actuator is operated using one dielectric 3 is shown, but since there is only one dielectric, the operating range must be limited. Not very realistic. As an improvement of this, in the examples shown in FIGS. 4 to 6, two dielectrics are used to increase the operating range.

【0025】

That is, in this embodiment, as shown in FIG. 4A, the peripheral portion of the first dielectric member 22 in which electrodes are attached to the front and back surfaces as described above in the central opening of the annular first frame 21. To form the first dielectric structure 23, and to fix the peripheral edge of the second induction member 25 to the central opening of the annular second frame 24 to form the second dielectric structure 26, both of which have the same configuration. A cylindrical block 27 is arranged at the center position in the vertical direction in the drawing, sandwiched between the first dielectric member 22 and the second dielectric member 26, and as shown in FIG. 4 (b), of both dielectric structures. By joining the first frame 21 and the second frame 24, they are integrated into one dielectric actuator 28.

【0026】

Further, a first operating member 30 as an actuator operating terminal is provided on the surface side of the first dielectric member 22 at a position where the end portion of the rod 27 faces, and similarly, a block 27 is provided on the surface side of the second guiding member 26. A second actuating member 31 is provided as an actuating terminal of the actuator at a position where the ends of the actuator face each other. The block 27 can adjust the initial tension of both dielectrics according to its length, and also functions as a tension adjusting device.

【0027】

FIG. 5A shows a part of the first guiding member 22 in the dielectric actuator 28 removed and its frame structure, and FIG. 5B shows the first guiding member 22 taken out. An enlarged view is shown. In particular, as is clear from FIG. 3B, the first induction member 22 has a first flexible electrode 37 attached to the front side of one dielectric 33 and a second flexible electrode 38 attached to the back side. It is configured. The second dielectric member 25 is also configured in the same manner, so that any voltage of "+" or "-" is applied to the flexible electrode of each dielectric member by the voltage regulator 37, and the voltage value is further applied as needed. By adjusting, various operations can be performed.

【0028】

When various operations are performed by this dielectric actuator, it can be operated by adjusting the voltage with the first and second voltage regulators, for example, as shown in FIG. In FIG. 6A, the first voltage regulator 35 applies a + voltage to the front surface side of the first dielectric member 22 of the dielectric actuator 28, a - voltage to the back surface side, and a second voltage. The regulator 36 applies a voltage of "-" to the front surface side of the second dielectric member 25, and applies a voltage of "-" to the back surface side, which is the same as the back surface side of the first dielectric member 22. As a result, the first dielectric member 22 to which voltages of different polarities are applied to both sides of the dielectric becomes soft, and the second dielectric member 22 to which voltages of the same polarity are applied is maintained at a predetermined hardness. The first actuating member 30 provided at the center of the first dielectric member 22 moves to the left as shown by the balance of forces. Various members can be operated by this movement.

【0029】

On the contrary, as shown in FIG. 6B, the first voltage regulator 35 applies a voltage of "-" to both the front side and the back side of the first dielectric member 22 of the dielectric actuator 28, and further, the second voltage is applied. A "+" is applied to the front surface side of the second dielectric member 25 by the voltage regulator 36, and the same "-" as the back surface side of the first dielectric member 22 is applied to the back surface side. As a result, the second dielectric member 25 to which voltages of different polarities are applied to both sides of the dielectric becomes soft, and the first dielectric member 22 to which voltages of the same polarity are applied is maintained at a predetermined hardness. By balancing the forces, the first actuating member 30 provided at the center of the second dielectric member 22 can be moved to the right as shown.

【0030】

Further, as shown in FIG. 6 (c), a voltage of "+" is applied to the front surface side of the first dielectric member 22 of the dielectric actuator 28 and a voltage of "-" is applied to the back surface side by the first voltage regulator 35, and further. A "+" is applied to the front surface side of the second dielectric member 25 by the second voltage regulator 36, and the same "-" as the back surface side of the first dielectric member 22 is applied to the back surface side. As a result, voltages of different polarities are applied to both the first dielectric member 22 and the second dielectric member 25, so that both dielectric members are in a soft state and the operating member does not move. The rigidity Kc shown in the shape of a medium spring is small. As a result, when an external force acts on the actuator, it can be easily moved.

【0031】

On the contrary, as shown in FIG. 6D, the first voltage regulator 35 and the second voltage regulator 36 allow the first dielectric member 22 to be on the front surface side and the back surface side, and the second dielectric member 22 to be on the front surface side. When a voltage of "-" is applied to all of the back side and the back side, a voltage of the same polarity is applied to both the first dielectric member 22 and the second dielectric member 25. The initial value is maintained at a predetermined hardness set by the length, and the operating portion does not move, but the polarity is Ks, which is much larger than the state shown in the figure (c). Therefore, Kc << Ks, and when an external force acts on this actuator, a much larger force than the state shown in FIG. 3C is required to move the actuator.

【0032】

Since the actuator operates in this way, the movement of the block in the axial direction and the rigidity in that direction can be adjusted as described above by adjusting the supply voltage by each voltage regulator. However, the actuator can only operate in one axial direction. On the other hand, by using a dielectric actuator as shown in FIG. 7, for example, movement in the x, y, z-axis directions and rotational movement in the x, y-axis directions can be operated with a total of 5 degrees of freedom.

【0033】

The dielectric actuator 40 shown in FIG. 7 has almost the same outer shape as the actuators shown in FIGS. 4 and 5, but the actuators shown in FIGS. 4 and 5 have two dielectric members at the top and bottom of the drawing. However, in the dielectric actuator 40 shown in FIG. 7, the upper and lower dielectric members in the figure are each divided into four, and the dielectric members are insulated from each other, so that a total of eight dielectric members are used. By applying an arbitrary voltage to each dielectric member, various modes of operation can be performed.

【0034】

That is, for example, in a state where a voltage of "-" is applied to the common lead wire on the back surface side of the above eight dielectric members, each of the dielectric members a to d and e to h shown to be connected to the electrodes on the front side. By applying a voltage having the polarity shown in FIG. 8 to the lead wire, various operating modes as shown in FIG. 8 can be performed.

【0035】

In these operating modes, No. 1 and No. 2 can move in the positive and negative directions of the x-axis, and when moving in the positive direction, for example, each dielectric is shown in FIG. 9 (a). In a state where a common "-" voltage is applied to the electrode on the back surface side of the member, a "+" voltage is applied to the electrode on the front surface side of the dielectric member "a" in the upper dielectric member group. In addition, a "+" voltage is applied to the front electrode of the "e" dielectric member in the lower dielectric member group, and a "-" voltage is applied to all the front electrodes of all the other dielectric members. By applying the above, only the dielectric members of "a" and "e" to which the voltage of "+" is applied expands, and by being pulled by the other dielectric members, the entire block located at the center thereof is shown in the figure. As shown in 9 (a), it moves parallel to the positive direction of the x-axis. Therefore, the operating portions located at both ends of the block move in parallel both vertically and in the positive direction of the x-axis.

【0036】

Similarly, as shown in FIG. 9 (b), a voltage of "+" is applied to the "d" dielectric member of the upper dielectric member group and to the "h" dielectric member of the lower dielectric member group. By applying a voltage of "-" to all others, the block moves parallel to the negative direction of the x-axis in the direction opposite to that of (a). Therefore, in the operation mode shown in FIG. 9, the central block can be moved by switching in the + direction of (a) and the - direction of (b) with respect to the x-axis direction. Therefore, the operating portions located at both ends of the block move in parallel both vertically and in the negative direction of the x-axis. As a result, the operating portions located at both ends of the block move in parallel both vertically and in the negative direction of the x-axis.

【0037】

In addition, No. 3 and No. 4 in Fig. 8 can rotate in the positive and negative directions around the x-axis, and when rotating to the right in the positive direction, that is, in the forward direction of the x-axis. As shown in FIG. 10 (a), a voltage of "+" can be applied only to the "b" dielectric member in the upper dielectric member group and the "c" dielectric member in the lower dielectric member group. By doing so, only the dielectric member applied in the same manner as described above expands, so that the block located at the center of the block is on the right side of the x-axis of the center position in the positive direction of the x-axis axis, that is, positive. Rotate in the direction. On the contrary, as shown in FIG. 10 (b), the voltage of "+" is applied only to the "c" dielectric member in the upper dielectric member group and the "f" dielectric member in the lower dielectric member group. By applying, the block located at the center can be rotated in the negative direction about the x-axis line. Therefore, in the operation mode shown in FIG. 10, the central block can be rotated around the x-axis by switching between the positive direction and the negative direction. As a result, the operating parts located at both ends of the block rotate around the x-axis by switching between the positive direction and the negative direction.

【0038】

By the same operation thereafter, No. 5 and No. 6 in Fig. 8 switch the block located at the center between the positive direction and the negative direction in the axial direction of the y-axis, as shown in FIGS. 11 (a) and 11 (b). It can be moved, and No. 7 and No. 8 can be rotated around the y-axis by switching between the positive direction and the negative direction, as shown in FIGS. 12 (a) and 12 (b). In No. 9 and No. 10, as shown in FIGS. 13 (a) and 13 (b), a voltage of "+" is applied to all the upper dielectric members and "-" is applied to all the lower dielectric members. By applying the voltage of, the block can be moved in the positive direction with respect to the z-axis direction, that is, so as to raise the whole in the figure, and conversely, "+" is applied to all the lower dielectric members. By applying a voltage and applying a voltage of "-" to all of the lower dielectric members, it is possible to move the block in the negative direction with respect to the z-axis direction, that is, to lower the entire block in the figure. It becomes.

【0039】

In this way, various operations as described above can be performed by switching the energizing voltage to each dielectric member, and by adjusting the supply voltage as necessary, the amount of movement and the rigidity of each can be adjusted. The degree can be adjusted and therefore can be used in a wide range of applications as an actuator.

【0040】

Further, the present invention is not limited to the above embodiment, and various operations can be further performed by setting an arbitrary shape of the dielectric, using an arbitrary number of the dielectrics, and arranging them arbitrarily, and their uses are also available. It will be more extensive.

【0041】

[Effect of the invention]

Since the present invention is configured as described above, various devices can be moved to an arbitrary position or the rigidity of the operating member thereof can be adjusted by using the action of expanding and contracting by energizing a dielectric material made of a polymer material. Therefore, it can be used in a wide range of applications as a small and lightweight actuator. In particular, by moving to an arbitrary position and adjusting its rigidity, it is possible to perform the same operation as human muscles, it is lightweight, and its shape can be set arbitrarily, and it operates like a human body. It is also easy to let them do.

[Simple explanation of drawings]

[Figure 1]

It is a perspective view of the Example of this invention.

[Figure 2]

It is an exploded perspective view of the same Example.

[Fig. 3]

It is a figure which shows the operation of the same Example, (a) is the cross-sectional view which shows the state before the operation, (b) shows the state which moved the operating part to the right in the figure, (c) is The state where the operating part is moved to the left in the figure is shown.

[Fig. 4]

It is a perspective view of another embodiment of the present invention, (a) is an exploded perspective view thereof, and (b) is a perspective view showing an assembled state.

[Fig. 5]

It is a figure which shows the state which removed a part of the dielectric member of the same Example, (a) is the perspective view, (b) is the enlarged perspective view of the removed member.

[Fig. 6]

It is a figure which shows the operating state of the same Example, (a) shows the state which moved the operating part A to the left in the figure, (b) shows the state which moved the moving part to the right in the figure, ( c) shows a state in which the internal rigidity is reduced, and (d) is a diagram showing a state in which the internal rigidity is increased.

[Fig. 7]

It is a figure which shows still another Example of this invention, (a) is the top view, (b) is the perspective view, (c) is the bottom view.

[Fig. 8]

It is a table which shows various operation modes performed by switching the energization to each dielectric member of the same Example.

[Fig. 9]

It is a figure which shows the operation of No. 1 and No. 2 in FIG.

[Fig. 10]

It is a figure which shows the operation of No. 3 and No. 4 in FIG.

[Fig. 11]

It is a figure which shows the operation of No. 5 and No. 6 in FIG.

[Fig. 12]

It is a figure which shows the operation of No. 7 and No. 8 in FIG.

[Fig. 13]

It is a figure which shows the operation of No. 9 and No. 10 in FIG.

[Fig. 14]

It is a perspective view which shows the operating state by energization with respect to a polymer elastic body, (a) is the state before energization, and (b) is the perspective view which shows the state after energization.

[Explanation of symbols]

1 Drive 2 formwork 3 Dielectric 4 Top flexibility electrode 5 Bottom flexible electrode 6 1st electrode part 7 2nd electrode 8 3rd electrode 9 Output member 10 Acting part 11 Tread 12 Shield cover 13 1st lead wire 14 2nd lead wire 15 3rd lead wire 21 1st frame 22 First dielectric member 23 1st dielectric structure 24 2nd frame 25 Second dielectric member 26 Second dielectric structure 27 blocks 28 Dielectric actuator 30 1st actuating member 31 Second actuating member 33 Dielectric 35 1st voltage regulator 36 Second voltage regulator 37 1st flexible electrode 38 Second flexible electrode 39 Voltage regulator 40 Dielectric actuator