Device for holding independent basic components

Abstract

The invention relates to a device comprising a structure of voxels (11) and a shell (12) surrounding the structure, the shell forming at least a first layer (1) and a second layer (2) when stacked along a direction called stacking direction (z), wherein each layer comprises a first shell portion (121) and a second shell portion (122), respectively, wherein each shell portion comprises a first cavity (1211) and a second cavity (1222), respectively, wherein each cavity comprises a side wall (1211a), and each layer comprises a first group (111) of voxels and a second group (112) of voxels, respectively, wherein each group of voxels comprises a side face (113) connecting a first surface portion (114) and a second surface portion (115) opposite each other, wherein the first cavity and the second cavity receive the first group and the second group, wherein the side wall of the first cavity and the side wall of the second cavity are configured to hold the side face of the first group and the side face of the second group, and wherein the layers are stacked such that the second surface portion of the first group and the first surface portion of the second group at least partially contact and form an integral structure.

Description

Technical Field

[0001] This invention relates to the field of three-dimensional printing, but more preferably to the field of four-dimensional (referred to as 4D) printing. 4D printing enables the printing of independent basic components or voxels that actively respond to external stimuli. More specifically, this invention relates to improving the retention in place of voxels composed of active and / or inactive materials. Background Technology

[0002] 4D printing technology is known in the prior art. 4D printing is generally limited to using additive manufacturing methods to print 4D objects from a single active material under external stimulation, which results in soft structures that are difficult to withstand high mechanical stress.

[0003] Therefore, 4D printing involves printing objects that can change shape and / or properties under the influence of energy. This energy stimulation can be achieved, for example, through solvents, moisture, light, temperature, electric fields, or magnetic fields. To manufacture these objects, the technology involves the use of additive manufacturing methods and active materials, or so-called "smart" materials.

[0004] To achieve performance approaching that of traditional commercial actuators, this technology necessitates controlled multi-material printing. However, this capability is currently limited by 3D printing methods that allow for specific coupling mechanisms. Considering the need to manufacture objects composed of both similar and dissimilar materials, a variety of additive manufacturing methods should be employed; therefore, the technology should encompass the assembly of heterogeneous prefabricated components. Consequently, the printing technology should be hybrid and advantageously linked to assembly and / or bonding operations via robotic means.

[0005] One approach to achieving this goal is based on adhesive bonding techniques, but adhesives can hinder repeated use if poorly selected or positioned, as they may limit the durability of the assembly. Furthermore, adhesives also play a role in controlling desired shape changes in the component. Similarly, adhesives cannot be used with all types of materials that might be desired. Finally, bonding methods can be irreversible and hinder the disassembly, recycling, or reuse of individually prefabricated components.

[0006] In this way, document US2015217459A1 discloses a solution for assembling individual components, which are referred to as multi-material “soft robots” (similar to voxels).

[0007] In this solution, the shape of the soft robot makes it easy to assemble, either manually or robotically. This division advantageously allows the soft robot to be reused in multiple solutions.

[0008] However, this assembly method makes it impossible to have a continuous outer surface. Furthermore, the joints that bring the soft robot together may be insufficient during static or dynamic loading. In fact, voxel delamination or detachment can still be observed despite local joints between individual components.

[0009] Therefore, the object of the present invention is to provide an enhanced solution for holding voxels composed of active and / or inactive materials in place.

[0010] The objects, features, and advantages of this invention will become clear from the following description and the accompanying drawings. It should be understood that other advantages may be incorporated. Summary of the Invention

[0011] To achieve this objective, according to a first aspect, an apparatus is provided comprising a voxel structure having at least one voxel based on an active material configured such that the voxel is activated by external or internal energy stimulation.

[0012] The device is particularly characterized in that it includes a housing that surrounds at least a portion of the structure, the housing and the structure being stacked in a so-called stacking direction (z) to form at least a first layer and a second layer, each of the first and second layers comprising: - A first housing portion and a second housing portion, each of the first housing portion and the second housing portion including a first receiving portion and a second receiving portion, each receiving portion including a sidewall extending a certain height h in the stacking direction; - At least one voxel in a first group and at least one voxel in a second group, each group of voxels including a side extending in the stacking direction, the side being joined at a first surface portion and a second surface portion opposite in the stacking direction. The first receiving portion receives at least one voxel from the first group, and the second receiving portion receives at least one voxel from the second group. The sidewalls of the first and second receiving portions are configured to hold the sidewalls of the at least one voxel from the first group and the at least one voxel from the second group in place, respectively. The layers are stacked such that the second surface portion of the at least one voxel from the first group is at least partially in contact with the first surface portion of the at least one voxel from the second group, thereby forming an integral assembly of the structure.

[0013] Existing technologies guide those skilled in the art to optimize voxel position holding in a passive manner through overall holding and internal holding, while the present invention claimed herein provides an effective, active, and external solution that is easy to implement.

[0014] Therefore, the device comprises both an integral structure consisting of multiple voxels (composed of active and inactive materials) and a functional housing surrounding the structure. These voxels can be interconnected by adhesive bonding and obstacle fitting, by mechanical connection (optionally obtained by "riveting" with adhesive materials), and can also be connected to the housing in the same manner.

[0015] Based on this structure, which differs from existing technologies, the device is able to hold the entire voxel structure in place, while not excluding the presence of other holding members. In fact, the housing includes both overall and external forces applied to the monolithic voxel structure.

[0016] Therefore, during the stimulation of the active material present in the voxel structure, the shell will allow the device to deform but also prevent voxel detachment, while allowing it to return to the initial position after the energy stimulation ends, thereby achieving better action repeatability and thus improving the mechanical strength of the 4D object (and thus extending the lifespan of the 4D object).

[0017] According to one embodiment, a method for manufacturing an apparatus according to the first aspect is also disclosed, the method comprising: printing a first housing portion of a first layer, the first housing portion being configured to form a first receiving portion having sidewalls; integrating a first set of at least one voxels into the first receiving portion of the first housing portion of the first layer; printing a second housing portion of a second layer, the second housing portion being configured to form a second receiving portion, wherein at least a portion of the bottom of the second receiving portion corresponds to at least a portion of the surface of the first set of at least one voxels of the first layer; integrating a second set of at least one voxels into the second receiving portion such that at least a portion of the second set of at least one voxels of the second layer is in contact with the first set of at least one voxels of the first layer. Attached Figure Description

[0018] The object, features, and advantages of the present invention will become clearer from the detailed description of one embodiment of the invention illustrated in conjunction with the following accompanying drawings, in which: Figure 1 A cross-sectional view along the plane (x, z) is shown of an embodiment of the device according to the invention.

[0019] Figure 2 A cross-sectional view along the plane (x, y) is shown of an embodiment of the device according to the invention.

[0020] Figure 3 A cross-sectional view of the layers of the device along the plane (x, z) is shown.

[0021] Figure 4A cross-sectional view of the layer of the device according to one embodiment is shown along the plane (x, z).

[0022] Figures 5A to 5D A method for manufacturing an apparatus according to one embodiment of the present invention is shown.

[0023] The accompanying drawings are given by way of example and are not intended to limit the invention. The drawings are schematic representations intended to aid in understanding the invention and are not necessarily drawn to scale for actual application. In particular, the dimensions do not represent actual dimensions. Detailed Implementation

[0024] Before examining the embodiments of the present invention in detail, optional features are listed below, which may be used in combination or alternatively: According to one example, the shell is elastically deformable in one or more spatial directions. This deformation of the shell is necessary because the voxel structure enclosed by the shell may change shape upon energy stimulation. The shell can advantageously possess elastic deformability, thus enabling it to return to the device's initial state when no further stimulation is present. Furthermore, this also prevents accelerated aging of the voxel structure.

[0025] According to one example, the housing is based on an active material. The active material of the housing enables a functional housing with properties suitable for the environment in which the device will be located. For example, this functional housing can be envisioned as a thermal insulation material.

[0026] According to one example, the shell is made of an elastomer, thereby enabling a uniform and smooth interface with the external environment.

[0027] According to one example, at least one shell portion has at least one discontinuous surface, such as a mesh or pattern. Shell portions with discontinuous surfaces allow the device to "breathe" better. Therefore, after stimulating the active voxel, for example, to return to the initial position more quickly, heat can dissipate more easily. Furthermore, shells with mesh-like surfaces can potentially have more flexible shell portions.

[0028] According to one example, the housing includes the following stacked in the stacking direction (z): a first housing portion having a continuous or smooth surface; a second housing portion having a mesh-like surface; and a third housing portion having a smooth, continuous surface. The positions of the continuous or discontinuous housing portions allow for the definition of preferred deformation regions. Here, the device will be more rigid at these ends.

[0029] According to one example, the sidewalls of at least one voxel in the first and second accommodating portions are fitted in a sliding manner relative to the sides of the first and second groups of at least one voxel, respectively, in directions (x) and (y) perpendicular to the stacking direction (z). This sliding fitting allows for easy integration of voxel groups into the accommodating portions without the need for additional mechanical actuators.

[0030] According to one example, the device includes a seal disposed between the sidewalls of the first and second accommodating portions and the sides of at least one voxel from the first and second groups. To ensure connection between the housing and the voxel structure, the seal can be attached to form a stable device.

[0031] According to one example, at least one receiving portion has a sidewall and a set of at least one voxel sidewalls having at least one cavity for receiving a portion of a seal.

[0032] According to one example, at least one receiving portion's sidewall and the sidewalls of at least one group of voxels have at least one cavity for receiving a portion of the seal. The presence of the cavity on the receiving portion's sidewall of the housing or on the voxel group itself can allow for better deformation of the component group in the device by increasing the cohesion of these elements while limiting the shear effect of the adhesive. Therefore, a longer service life can be expected. Furthermore, if the seal present in these cavities is preferably a polymerizable resin, the seal will advantageously have both chemical and physical fixing functions (riveting effect).

[0033] According to one example, the sidewalls of the first and second accommodating portions are respectively fitted in directions (x) and (y) perpendicular to the stacking direction (z) in a manner that clamps them relative to the sides of at least one voxel in the first group and at least one voxel in the second group, respectively. Therefore, it is not necessary to use adhesives such as glues to obtain a stable device.

[0034] According to one example, the first surface portion of at least one set of voxels has a smaller dimension relative to the size of its second surface portion in a direction perpendicular to the stacking direction (x). In the case of sliding fit, this shape of the voxel set allows the voxel set to be better integrated into the receiving portion. In the case of interference fit, this allows for easier initial insertion into the receiving portion before clamping.

[0035] According to one example, a step in the manufacturing process may include: after at least one integration step, applying a sealant, preferably a polymerizable resin, between the sidewall of at least one receiving portion and the sidewall of a corresponding set of at least one voxel. The sealant will enable a connection to be established between the housing portion (and thus the housing) and the voxel set (and thus the voxel structure).

[0036] According to one example, a step in the manufacturing process may include: integrating at least one of a first group of at least one voxels and a second group of at least one voxels in a press-fit manner using mechanical tools. Thus, an additional robotic arm can apply a force against the stacking direction z.

[0037] It should be noted that, within the scope of this invention, the terms "upper," "top," "cover," "lower," "facing," and their equivalents do not necessarily mean "contact." Therefore, for example, depositing, mounting, bonding, assembling, or applying a first element onto a second element does not necessarily mean that the two elements are in direct contact with each other, but rather that the first element at least partially covers the second element while either being in direct contact with the second element or being separated from the second element by at least one other element. These elements may, for example, be layers.

[0038] Figures 1 to 3 The diagram shows a preferred orthogonal reference frame, including the X, Y, and Z axes.

[0039] The terms “basically,” “about,” and “approximately” mean “within 10%, preferably within 5%.”

[0040] In the following detailed description, terms such as “horizontal,” “vertical,” “longitudinal,” “lateral,” “top,” “bottom,” “lower,” and “upper” may be used. These terms must be interpreted relative to the stacking orientation of the layers of the apparatus.

[0041] In the following description, the terms "active" and "inactive" may be used. "Inactive" can be understood as a single element that is insensitive to at least one energy stimulus, preferably insensitive to all stimuli of the same type. "Active" can be understood as a single element that is sensitive to at least one stimulus. Sensitivity to at least one energy stimulus can be understood as the tendency or ability of a single element or material to change its spatial and / or functional properties under the influence of an energy stimulus, or for its properties to be altered.

[0042] In the following description, the term "cavity" may be used. A surface having a cavity can be understood as a surface having a hollow portion capable of holding any type of fluid or object. Thus, a cavity can be defined as a hollow volume relative to the surface normal. This volume is capable of accommodating any type of fluid or object. This volume is preferably a blind orifice volume.

[0043] Multi-material 4D printing enables the creation of diverse objects or structures, at least one of which is active. This provides greater freedom to distribute behavior in space and time, as well as to integrate energy stimuli into the core of the object or structure.

[0044] This invention relates to multi-material 4D printing of an apparatus 10, which enables the retention of a voxel structure 11. The active and / or inactive voxels are composed of materials that allow the 4D object to change shape and / or properties under the influence of energy stimuli (which can be external and / or internal). This retention can be achieved by means of a shell 12 that at least partially surrounds the structure 11. The apparatus 10 and methods of manufacturing the apparatus by printing will now be described according to several particular exemplary embodiments. According to one option, the active property is the ability to change size or function under energy stimulation (e.g., elongation under electronic control). This active property is preferably reversible, i.e., the material returns to its original state after energy stimulation. According to one example, the active voxels of the structure are of the same kind, or even the same material. The active voxels should be able to have different properties and can be associated with a variety of materials. For example, in the case where the voxels are deformable under energy stimulation, this allows for the combination of deformation effects, such as producing significant specific deformations of the structure by means of the individual expansion / contraction of voxels distributed throughout the object. It should be understood that deformable active voxels can be advantageously distributed in the structure to produce a variety of shape changes; for example, a first stack of active voxels can produce a preferred deformation in a first direction, and a second stack of active voxels can produce a preferred deformation in a second direction inclined relative to the first direction. Other examples of deformation may be torsion or bending. The same applies to changes in function.

[0045] according to Figures 1 to 4 Describes an apparatus according to several embodiments.

[0046] According to one embodiment, the device 10 includes a plurality of layers 1 to N, where N is an integer. Layers 1 to N are preferably stacked in a direction known as the stacking direction z. Layers 1 to N are advantageously continuous and preferably in contact with each other. Thus, layer (N-1) is positioned below layer N relative to the stacking axis z.

[0047] According to one embodiment, the device 10 is assembled layer by layer according to a manufacturing method described in the following paragraphs.

[0048] According to one embodiment, each of the first to Nth layers includes a housing portion 120. The housing portion 120 is preferably located around the periphery of the device 10. Therefore, the housing portion 120 advantageously includes a surface 1201. The surface 1201 is at least partially in contact with air or the medium in which the device 10 may be located.

[0049] According to one embodiment, the surface 1201 of the housing portion 120 may be continuous. This continuous surface 1201 advantageously makes it possible to obtain the first to Nth layers, which can have greater rigidity.

[0050] According to one embodiment, the surface 1201 of the housing portion 120 may be discontinuous. The discontinuous surface 1201 preferably has a mesh-like or even grid-like surface 1201. Typically, the surface is perforated because the discontinuous surface 1201 includes at least one opening that penetrates its entire thickness and exposes a portion of the voxel structure to the outside. The discontinuous surface 1201 advantageously allows the device 10 to be cooled more rapidly at the end of thermal stimulation, thereby allowing the device 10 to return to its initial shape more quickly. In contrast to a continuous surface 1201, the discontinuous surface 1201 advantageously allows for less rigidity, thereby allowing the housing 10 and the voxel structure 11 to move more easily during energy stimulation. In some embodiments, such a surface can ensure this elastic return in a spring-like manner.

[0051] According to one embodiment, each of the first to Nth layers of the same device 10 may have continuous or discontinuous housing portions, regardless of the housing portions of the other layers of the first to Nth layers of the device 10. For example, as Figure 1 As shown, continuous shell portions can be present in layers 1 and N (N being the upper layer, in this case layer 5), while discontinuous shell portions are present in layers 2 through 4. Therefore, this configuration allows for the creation of preferred deformable regions with two more rigid ends. Furthermore, shell regions with varying properties can be manufactured for each layer.

[0052] According to one embodiment, the housing portion includes at least one receiving portion 1202. Therefore, each of the first to Nth layers includes at least one receiving portion 1202. The receiving portion may be defined as a cavity or hollow and configured to allow at least partial insertion of the voxel structure 11.

[0053] According to one embodiment, each accommodating portion 1202 includes a accommodating portion 1202 bottom 1211b. The accommodating portion 1202 bottom 1211b may be at least partially a housing portion 120. The accommodating portion 1202 bottom 1211b may be at least partially a voxel structure 11. The accommodating portion 1202 bottom 1211b extends in a direction x perpendicular to the stacking direction z.

[0054] The bottom portion 1211b may have a smaller dimension than the upper portion of the receiving portion 1202. The upper portion of the receiving portion 1202 refers to the upper end of the receiving portion 1202. Therefore, the receiving portion may have an outwardly flared cross section.

[0055] According to one embodiment, each receiving portion 1202 includes a sidewall 1211a. The sidewall 1211a advantageously extends to a height h in the stacking direction z, preferably parallel to the direction z. The sidewall 1211a is advantageously configured to at least partially hold the voxel structure 11 in place. Preferably, in a cross-section perpendicular to the direction z, the sidewall 1211a forms a closed profile surrounding the voxel group; thus, position retention is achieved by constricting the voxel group.

[0056] According to one embodiment, each of the first to Nth layers includes at least one group 110 of at least one voxel 1100. The group 110 of all at least one voxel 1100 in each of the first to Nth layers forms a voxel structure 11.

[0057] Each voxel 1100 is advantageously printed in a 4D manner via additive manufacturing. Preferably, group 110 comprises at least one voxel 1100 made of an active material. Group 110 may consist of voxels of different materials (e.g., hydrogels, shape memory polymers, shape memory alloys, liquid crystal elastomers, flexible polymers or elastomers, conductive materials).

[0058] According to one embodiment, group 110 may consist of a plurality of voxels 1100. In the case where group 110 of voxels 1100 consists of a plurality of voxels 1100, these voxels 1100 can be assembled together before integration into device 10. Assembly before integration can be performed by adhesion, anchoring, or fitting. Thus, voxels 1100 can be connected to each other by bonding means. Bonding means can be mechanical, physical, and / or chemical bonding means, enabling them to withstand substantial mechanical deformation. Thus, voxels can be connected to each other by protrusions, projections, beads, hollows, grooves, accommodating portions, cuts, or slots. Preferably, this assembly is produced / completed by chemical bonding means (preferably by adhesive, particularly by advantageously filled polymerizable resin). Voxels 110 can also be assembled into groups directly within device 10. According to one option, the housing alone ensures the assembly of the voxels in the group through the aforementioned peripheral retaining effect. According to another option, after each voxel 1100 of the insertion group 110 from the first to the Nth layer, as detailed in the description below, a sealant 13 may be deposited to participate in the desired voxel cohesion.

[0059] According to one embodiment, each group 110 includes a side surface 113. The side surface 113 of at least one voxel 1100 in each group 110 extends in the stacking direction z. Preferably, the side surface 113 is sized such that its extended height is equal to the height h of the receiving portion 1202 of the housing 12 portion 120. The side surface 113 may extend to a height less than or greater than the height h of the receiving portion 1202 of the housing 12 portion 120. Therefore, the receiving portion 1202 of each of the first to Nth layers is advantageously configured to receive at least one voxel 1100 of each of the first to Nth layers in the group 110.

[0060] According to one example, the sidewall 1211a of the receiving portion 1202 is fitted relative to the side surface 113 of the group 110 of at least one voxel 1100 in a direction x perpendicular to the stacking direction z. Therefore, the side surface 113 of the group 110 contacts the sidewall 1211a of the receiving portion 1202. Similarly, the side surface 113 of the group 110 in each of the first to Nth layers contacts the housing portion 120. Similarly, the side surface 113 of the group 110 contacts the housing 12.

[0061] According to one example, each group 110 includes at least one voxel 1100 comprising a first surface portion 114 and a second surface portion 115 connected to each other by side portions 113 and facing each other. The first surface portion 114 and the second surface portion 115 extend in a direction x perpendicular to the stacking direction z. Therefore, the first surface portion 114 and the second surface portion 115 preferably extend parallel to the bottom 1211b of the receiving portion 1202.

[0062] According to one example, the first surface portion 114 of each group 110 may contact the bottom 1211b of the receiving portion 1202. This contact may be direct or generated via an adhesive interface. Thus, for each of the first to Nth layers, each group 110 may be integrated into the receiving portion 1202 of the housing 12 portion 120.

[0063] According to one example, the first surface portion 114 of each group 110 may have a size 114d along the x-axis equal to the size of the bottom 1211b of the receiving portion 1202. Preferably, the second surface portion 115 of each group 110 may have a size equal to the size 114d of the first surface portion 114. Thus, the group 110 is preferably composed of voxels 110 having an advantageous cuboid (preferably cubic) shape. The size of the group 110 can then be equal to the size of the receiving portion 1202 of the housing portion 120; and the group 110 is then preferably assembled by pressing, thereby allowing assembly preferably without an adhesive interface.

[0064] According to one example, the first surface portion 114 of each group 110 of the layers from the first to the Nth layer may at least partially contact the housing 12.

[0065] According to one example, the first surface portion 114 of each group 110 of the layers from the second to the Nth layers is at least partially in contact with the group 110 of the (N-1)th layer.

[0066] according to Figure 3 In the example shown, the first surface portion 114 of each group 110 may have a size 114d along the x-axis smaller than the size of the bottom 1211b of the receiving portion 1202. Similarly, the size 114d of the first surface portion 114 may be smaller than the size of the second surface portion 115. Therefore, it is easy to insert each group 110 into the receiving portion 1202. In practice, preferably, the size of the group 110 is smaller than the size of the receiving portion 1202, thereby allowing the group 110 to be inserted into the receiving portion 1202 by sliding without the use of additional mechanical actuators. However, in order to ensure the engagement between the group 110 and the receiving portion 1202 of the housing portion 120, it is possible to insert... Figure 2 and Figure 3 The seal 13 shown is designed to fill any gaps that may exist, thereby securing the device 10. Therefore, the seal 13 can be present between the sidewall 1211a and the side surface 113. Alternatively or additionally, the seal 13 can form an interface between the voxels 1100 of the assembly 110.

[0067] according to Figure 4 The example shown is similar to Figure 3 In the example shown, the size of assembly 110 can be smaller than the size of receiving portion 1202, thereby allowing assembly 110 to be inserted into receiving portion 1202 by sliding without the use of additional mechanical actuators. However, to ensure additional connection between assembly 110 and receiving portion 1202, the sidewall 1211a of receiving portion 1202 and / or the sidewall 113 of assembly 110 may include at least one cavity 131. Preferably, the sidewall 1211a of receiving portion 1202 and / or the sidewall 113 of assembly 110 may include multiple cavities 131. The cavities 131 advantageously enable the reception of inserted sealing material 13 to fill any gaps that may exist, thereby optimally securing device 10. According to one example, cavities 131 are respectively present on the sidewall 1211a of receiving portion 1202 and the sidewall 113 of assembly 110, and the cavities 131 are therefore preferably at least partially facing each other. Preferably, the cavities 131 are completely facing each other. Both of the above configurations are shown Figure 4 The cavity 131 can therefore advantageously have such an arrangement and shape to achieve chemical and physical fixation functions. Figure 4The dimensions of cavity 131 shown are indicative and can vary. Therefore, when the active voxel 1100 is activated and the housing 12 deforms, the polymerizable resin or adhesive present in the seal 13 can experience less shear force than without cavity 131. This thereby allows for better deformation and extended device lifespan. Alternatively or additionally, cavity 131 can be formed at the interface between the voxels 1100 of assembly 110 and have the same features and advantages as described for cavity 131 present at the interface between the housing portion 120 of accommodating portion 120 and the assembly 110 of voxels 1100.

[0068] According to one example, the second surface portion 115 of each group 110 of the layers from the first to the Nth layer may at least partially contact the housing 12.

[0069] According to one example, the second surface portion 115 of each group 110 of the layers from the first layer to the (N-1)th layer may at least partially contact the group 110 of the Nth layer.

[0070] Description of a device having at least two layers Device 10 will now be described as a device comprising at least two layers 1 and 2.

[0071] According to one embodiment, the first layer 1 includes a first housing portion 121. The first housing portion 121 includes a first receiving portion 1211 configured to receive at least one voxel 1100 from a first group 111.

[0072] According to one embodiment, the second layer 2 is stacked on the first layer 1 along the stacking axis z. The second layer 2 includes a second housing portion 122. The second housing portion 122 includes a second receiving portion 1222 configured to receive at least one voxel 1100 of the second group 112.

[0073] According to one embodiment, at least a portion of at least one voxel 1100 in the first group 111 of the first layer 1 is in contact with at least a portion of at least one voxel 1100 in the second group 112 of the second layer 2. Similarly, at least one voxel 1100 in the (N-1)th layer is in contact with at least one voxel 1100 in the Nth layer. Preferably, at least one voxel 1100 in a layer that is in contact with one or more voxels in another layer is a voxel 1100 made of an active material. Thus, during energy stimulation, the entire device 10 can be activated on each of the first to Nth layers. In this case, there is a continuity of distribution of active and inactive voxels along the stack forming the voxel structure.

[0074] Similarly, at least a portion of the second surface portion 115 of the first group 111 is in contact with at least a portion of the first surface portion 114 of the second group 112. Therefore, the bottom 1211b of the second receiving portion 1222 is at least partially the second surface portion 115 of the first group 111. Thus, each group 110 is at least partially in contact to form an integral assembly of the voxel structure 11.

[0075] According to one embodiment, after assembling each of the first to Nth layers, all groups 110 voxels 1100 form an integral voxel structure 11 surrounded by a housing 12, thereby allowing the voxels to be held in place.

[0076] According to one embodiment, the housing 12 can therefore be deformed under the action of the active voxel 1100. The deformation of the housing 12 can be elastic, allowing the device 10 to return to its initial state. The elastic deformation of the housing 12 makes the deformation repeatable, thereby preventing accelerated aging of the voxel structure 11. The housing 12 can be based on an elastomer or on a two-component silicone, thereby preferably achieving a smooth interface with the external environment. Furthermore, the housing 12 can be based on a functional material, thereby allowing the housing to function as a thermal insulator or a biocompatible interface. Additionally, the housing 12 can be removed while retaining the voxel structure 11, so the structure 11 can therefore be disassembled and the voxel can be reused. The housing itself can include one or more active material portions, or even be composed entirely of such material. For example, its deformation can be controlled under stimulation to accompany the deformation of the structure, thereby improving actuation performance.

[0077] Method for manufacturing an apparatus The method for manufacturing the apparatus 10 will be described in the following paragraphs. The method is as follows: Figures 5A to 5D As shown in the diagram. The method steps can be discontinuous and can have different orders.

[0078] According to one embodiment, a first layer 1 is created by 3D printing (possibly by direct ink writing or by molten filament fabrication via a printhead 15 of a first housing portion 121), the first housing portion 121 including a first receiving portion 1211.

[0079] According to one embodiment, at least one voxel 1100 of the first group 111, which is pre-assembled (preferably by adhesive bonding), can be inserted into the first receiving portion 1211 by robotic means (preferably by a hinged arm or a suction cup 16 mounted on an assembly station).

[0080] According to one embodiment, the first group 111 voxels are assembled by sliding according to the size of the first group 111 relative to the first receiving portion 1211, and then a sealing material 13 casting step can be added after the step of inserting the first group 111 into the first receiving portion 1211.

[0081] According to one embodiment, the first group 111 will be assembled by interference fit according to the size of the first group 111 relative to the first receiving portion 1211; therefore, after the step of inserting the first group 111 into the first receiving portion 1211 or during the insertion process, a step of compressing the first group 111 in the first receiving portion 1211 by means of a robotic arm can be added.

[0082] According to one embodiment, the second layer 2 is created by printing the second housing 12 portion 122, which includes the second receiving portion 1222, in accordance with the method described above.

[0083] Similar to the first layer, the second group 112 can be inserted into the second receiving portion 1222. The second group 112 preferably contacts the first group 111 at least partially. The first surface portion 114 of the second group 112 at least partially covers the second surface portion 115 of the first group 111. The second surface portion 115 can be formed by a coating (e.g., an adhesive interface) disposed on the group after insertion.

[0084] These steps are performed sequentially until the desired device 10 is obtained. For this purpose, a program can be executed to manage the printing and insertion of groups 110 on each of layers 1 through N.

[0085] This invention is not limited to the previously described embodiments, but extends to all embodiments covered by this invention.

[0086] Figure Labels 1: First layer 2: Second layer 3: Third layer 4: Fourth layer N: Nth level h: Height of the side wall of the accommodating part 10: Device 11: Voxel Structure 110: A group of at least one voxel 111: At least one voxel in the first group 112: At least one voxel in the second group 113: The side view of at least one voxel in a group 114: The first surface portion of at least one voxel in a group 114d: The size of the first surface portion of at least one voxel in a group. 115: The second surface portion of at least one voxel in a group 115d: The size of the second surface portion of at least one voxel in a group. 1100: Voxels 12: Shell 120: Casing section 1201: Surface of the housing portion 1202: Receiving portion of the housing part 121: First shell section 1211: First accommodating section 122: Second shell section 1222: Second accommodating section 1211a: Side wall of the receiving part 1211b: Bottom of the receiving part 13: Sealing material 131: Cavity 14: Printing Platform 15: Print head 16: Robotic arm / suction cup.

Claims

1. A device (10) comprising a voxel structure (11) having at least one voxel (1100) based on an active material, the active material being configured such that the voxel (1100) is activated upon external energy stimulation, characterized in that, The device includes a housing (12) that surrounds at least a portion of the structure (11), the housing (12) and the structure (11) being stacked in a so-called stacking direction (z) to form at least a first layer (1) and a second layer (2), each of the first and second layers comprising: • A first housing (12) portion (121) and a second housing (12) portion (122), each of the first housing portion and the second housing portion including a first receiving portion (1211) and a second receiving portion (1222), each receiving portion including a sidewall (1211a) extending a height (h) in the stacking direction (z). • A first group (111) includes at least one voxel (1100) and a second group (112) includes at least one voxel (1100), each group of voxels including a side surface (113) extending in the stacking direction (z), the side surface (113) connecting a first face (114) and a second face (115) opposite each other in the stacking direction (z). The first receiving portion (1211) receives at least one voxel (1100) of the first group (111), and the second receiving portion (1222) receives at least one voxel (1100) of the second group (112). The sidewalls (1211a) of the first receiving portion (1211) and the sidewalls (1211a) of the second receiving portion (1222) are configured to hold the side surface (113) of at least one voxel (1100) of the first group (111) and the side surface (113) of at least one voxel (1100) of the second group (112) in place, respectively. The layers (1, 2) are stacked such that the second face (115a) of at least one voxel (1100) of the first group (111) is at least partially in contact with the first face (114) of at least one voxel (1100) of the second group (112), thereby forming an integral component of the structure (11).

2. The apparatus (10) according to the preceding claim, wherein, The shell (12) is elastically deformable.

3. The apparatus (10) according to any one of the preceding claims, wherein, The shell (12) is based on an active material.

4. The apparatus (10) according to any one of the preceding claims, wherein, The housing (12) is made of an elastomer.

5. The apparatus (10) according to any one of the preceding claims, wherein, At least one housing portion (120) has at least one discontinuous surface (1201), for example, the at least one discontinuous surface is a mesh or a patterned surface.

6. The apparatus (10) according to any one of the preceding claims, wherein, The housing (12) includes the following stacked in the stacking direction (z): a first housing (121) portion (121) having a continuous or smooth surface (1201), a second housing (122) portion (122) having a mesh-like surface (1201), and a third housing (12) portion having a smooth continuous surface (1201).

7. The apparatus (10) according to any one of the preceding claims, wherein, The sidewall (1211a) of at least one of the first receiving portion (1211) and the second receiving portion (1222) is fitted in a direction (x) perpendicular to the stacking direction (z) in such a way that it slides relative to the side surface (113) of at least one voxel (1100) of the first group (111) and the side surface (113) of at least one voxel (1100) of the second group (112), respectively.

8. The apparatus (10) according to the preceding claim, wherein, The device (10) includes a seal (13) inserted between the side wall (1211a) of the first accommodating portion (1211) and the side surface (113) of at least one voxel (1100) of the first group (111), and inserted between the side wall (1211a) of the second accommodating portion (1222) and the side surface (113) of at least one voxel (1100) of the second group (112).

9. The apparatus (10) according to the preceding claim, wherein, At least one of the sidewall (1211a) of at least one receiving portion (1202) and the side surface (113) of at least one voxel (1100) of the group (110) has at least one cavity (131) for receiving a portion of the seal (13).

10. The apparatus (10) according to the preceding claim, wherein, The sidewall (1211a) of at least one receiving portion (1202) and the side surface (113) of at least one voxel (1100) of the group (110) each have at least one cavity (131) for receiving a portion of the seal (13).

11. The apparatus (10) according to any one of claims 1 to 6, wherein, The sidewalls (1211a) of the first accommodating portion (1211) and the sidewalls (1211a) of the second accommodating portion (1222) are fitted in a direction (x) perpendicular to the stacking direction (z) in a close manner relative to the side surface (113) of at least one voxel (1100) of the first group (111) and the side surface (113) of at least one voxel (1100) of the second group (112), respectively.

12. The apparatus (10) according to any one of the preceding claims, wherein, The size (114d) of the first face (114) of at least one set (110) voxels (1100) in the direction (x) perpendicular to the stacking direction is smaller than the size (115d) of the second face (115).

13. A method for manufacturing the apparatus (10) according to any one of the preceding claims, the method comprising: • Print the first housing (12) portion (121) of the first layer (1), the first housing portion being configured to form a first receiving portion (1211) having a sidewall (1211a). • Integrate at least one voxel (1100) of the first group (111) into the first receiving portion (1211) of the first housing (12) portion (121) of the first layer (1), • Print the second shell (12) portion (122) of the second layer (2), the second shell portion being configured to form a second receiving portion (1222), wherein at least a portion of the bottom (1211b) of the second receiving portion (1222) corresponds to at least a portion of the second face (115) of at least one voxel (1100) of the first group (111) of the first layer (1), • Integrate at least one voxel (1100) of the second group (112) into the second accommodating portion (1222), and at least a portion of at least one voxel (1100) of the second group (112) of the second layer (2) is in contact with at least one voxel (1100) of the first group (111) of the first layer (1).

14. The method for manufacturing the device (10) according to the preceding claim, the method comprising: After at least one integration step, a sealant (13) is applied between the sidewall (1211a) of at least one receiving portion (1202) and the side surface (113) of at least one voxel (1100) of the corresponding group (110), preferably, the sealant (13) is a polymerizable resin.

15. The method for manufacturing the device (10) according to claim 13, wherein, The integration of at least one of the first group (111) at least one voxel (1100) and the second group (112) at least one voxel (1100) is performed by pressing using mechanical tools.

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