Actuating apparatus

Abstract

An actuation device includes a support base, a swing arm, a braking elastic element, a braking element, a first shape memory alloy wire, and a second shape memory alloy wire. The swing arm is mounted on the support base and swings relative to the support base. The braking element is connected to the support base via the braking elastic element, which drives the braking element to abut against and lock the swing arm. When the first shape memory alloy wire is energized, it drives the swing arm to swing. When the second shape memory alloy wire is energized, it drives the braking element away from the swing arm to release it. In this invention, the braking element is supported by the braking elastic element, eliminating the need for rotating components and structures such as shafts and bearings, reducing tolerance requirements, and allowing the braking element to effectively reduce its space occupation and manufacturing costs while ensuring locking effect.

Description

Technical Field

[0001] This invention relates to the field of actuation device technology, and more particularly to an actuation device. Prior Technology

[0002] Shape memory alloys (SMA) are alloys that recover their original shape when heated. SMA wires are threads made of shape memory alloys. When used, an electric current is passed through the SMA wire to generate Joule heating, thus deforming the wire. Compared with traditional electromechanical, hydraulic, and pneumatic actuators, SMA wire-based actuators have advantages such as simple structure, high energy density, low noise, and stable reliability, and can be widely used in fields such as bionic robots, microelectromechanical systems (MEMS), and aerospace. In existing actuators, the SMA wire drives a swing arm to generate the actuation stroke; however, to maintain the actuation stroke, the SMA wire needs to be continuously energized, resulting in high energy consumption.

[0003] To address the aforementioned issues, existing technologies employ a swingable brake arm to lock the swing arm against it, thereby maintaining the actuation stroke. However, to ensure the locking effect when the rotation is in place, the existing brake arm occupies a large space during assembly and has high tolerance requirements, which increases manufacturing costs. Summary of the Invention

[0004] The purpose of this invention is to provide an actuation device that can effectively reduce the space occupied by the braking structure, lower tolerance requirements, and reduce manufacturing costs.

[0005] To achieve this objective, the present invention adopts the following technical solution: an actuation device, comprising: a support base; a swing arm mounted on the support base and capable of swinging relative to the support base; a braking elastic element connected to the support base; a braking element connected to the support base via the braking elastic element, the braking elastic element being configured to drive the braking element to abut and lock the swing arm; a first shape memory alloy wire disposed on the support base, the first shape memory alloy wire being energized to drive the swing arm to swing; and a second shape memory alloy wire disposed on the support base, the second shape memory alloy wire being energized to drive the braking element away to release the swing arm.

[0006] Preferably, the braking elastic element includes a first fixed support arm, a first intermediate portion, and a first movable support arm connected in sequence, wherein the first fixed support arm is connected to the support base, and the first movable support arm is connected to the braking element.

[0007] Preferably, the system also includes a swing arm elastic element, through which the swing arm is connected to the support base.

[0008] Preferably, the swing arm elastic element includes a second fixed support arm, a second intermediate part, and a second movable support arm connected in sequence. The second fixed support arm is connected to the support base, and the second movable support arm is connected to the swing arm.

[0009] Preferably, the swing arm is rotatably connected to the support base.

[0010] Preferably, two first shape memory alloy wires are provided, and the two first shape memory alloy wires can drive the swing arm to swing in opposite directions.

[0011] Preferably, the swing arm is provided with a traction part, an execution part, and a stop part, the first shape memory alloy wire is configured to drive the traction part to move, and the brake member is configured to abut against the stop part.

[0012] Preferably, the stop portion is a curved surface, and when the actuator moves to different positions, the brake abuts against different positions of the curved surface.

[0013] Preferably, the braking element is provided with a force-receiving part, and the second shape memory alloy wire is configured to drive the force-receiving part to move.

[0014] Preferably, a sensor is also included, which is disposed on the support and configured to detect the position of the actuator of the swing arm.

[0015] The beneficial effects of this invention are as follows: The braking component is connected to the support base via a braking elastic element. On the support base, the braking component is entirely supported by the braking elastic element. The braking elastic element alone can drive the braking component to abut and lock the swing arm, enabling the swing arm to achieve zero holding energy, efficiently maintaining the actuation stroke, and ensuring the locking effect. The second shape memory alloy wire can drive the braking component to pull the braking elastic element to undergo elastic deformation, causing the braking component to move away from the swing arm. When the braking component moves away from the swing arm, the locking of the swing arm can be released. This eliminates the need for rotating components and structures such as shafts and bearings, reducing tolerance requirements. Compared with existing braking arms, the braking component can effectively reduce the space occupied and compress manufacturing costs while ensuring the locking effect. Simple Explanation of the Diagram

[0016] Figure 1 is a schematic diagram of the actuation device according to Embodiment 1 of the present invention; Figure 2 is a rear view of the actuation device according to Embodiment 1 of the present invention; Figure 3 is a schematic diagram of the actuation device according to Embodiment 1 of the present invention after omitting the swing arm and the brake component; Figure 4 is a schematic diagram of the swing arm according to Embodiment 1 of the present invention; Figure 5 is a structural schematic diagram of the braking component according to Embodiment 1 of the present invention; Figure 6 is a structural schematic diagram of an actuation device according to Embodiment 2 of the present invention; Figure 7 is a rear view of an actuation device according to Embodiment 2 of the present invention; Figure 8 is a structural schematic diagram of another actuation device according to Embodiment 2 of the present invention; Figure 9 is a rear view of another actuation device according to Embodiment 2 of the present invention. Implementation

[0017] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0018] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0019] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0020] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0021] Example 1

[0022] As shown in Figures 1-5, this embodiment provides an actuation device, including a support base 1, a swing arm 2, a braking elastic element 3, a braking element 4, a first shape memory alloy wire 5, and a second shape memory alloy wire 6. The swing arm 2 is mounted on the support base 1 and can swing relative to the support base 1. The braking elastic element 3 is connected to the support base 1, and the braking element 4 is connected to the support base 1 via the braking elastic element 3. The braking elastic element 3 is configured to drive the braking element 4 to abut and lock the swing arm 2. The first shape memory alloy wire 5 is disposed on the support base 1. When the first shape memory alloy wire 5 is energized, it can drive the swing arm 2 to swing. The second shape memory alloy wire 6 is disposed on the support base 1. When the second shape memory alloy wire 6 is energized, it can drive the braking element 4 away from and release the swing arm 2.

[0023] In this invention, the brake element 4 is connected to the support base 1 via the brake elastic element 3. On the support base 1, the brake element 4 is completely supported by the brake elastic element 3. The brake element 4 can be driven by the brake elastic element 3 alone to lock the swing arm 2 against it, so that the swing arm 2 can achieve zero holding energy, efficiently maintain the actuation stroke, and ensure the locking effect. The second shape memory alloy wire 6 can drive the brake element 4 to pull the brake elastic element 3 to elastically deform, so that the brake element 4 moves away from the swing arm 2. When the brake element 4 moves away from the swing arm 2, the locking of the swing arm 2 can be released. The related components and structures of rotating connections such as shafts and bearings are omitted, the tolerance requirements are reduced, and the brake element 4 can effectively reduce the space occupied and reduce the manufacturing cost compared with the existing brake arm while ensuring the locking effect.

[0024] Specifically, the support base 1 includes a base plate 11 and a partition plate 12. The braking elastic element 3 is installed on the base plate 11, and the partition plate 12 is vertically connected to the base plate 11. The clamps of the first shape memory alloy wire 5 and the second shape memory alloy wire 6 are located on both sides of the partition plate 12. The above arrangement makes the first shape memory alloy wire 5 and the second shape memory alloy wire 6 safer when they are powered on.

[0025] In this embodiment, the bottom support plate 11 is elongated, the arrangement direction of the partition plate 12 is parallel to the length direction of the bottom support plate 11, the clamp of the first shape memory alloy wire 5 is fixed to the bottom support plate 11, and the clamp of the second shape memory alloy wire 6 is fixed to the partition plate 12.

[0026] Specifically, the swing arm 2 is provided with a traction part 21, an execution part 22, and a stop part 23. The first shape memory alloy wire 5 is configured to drive the traction part 21 to move, and the brake member 4 is configured to abut against the stop part 23. The above configuration makes the cooperation between the swing arm 2, the first shape memory alloy wire 5, and the brake member 4 smoother and safer and more reliable during operation.

[0027] More specifically, the stop part 23 is a curved surface, and when the actuator 22 moves to different positions, the brake 4 abuts against different positions on the curved surface. The above arrangement avoids poor abutment of the brake 4 due to the deflection of the swing arm 2, and ensures the locking effect of the brake 4.

[0028] In this embodiment, the actuator 22 and the stop 23 are located at both ends of the swing arm 2, and the traction part 21 is located between the actuator 22 and the stop 23. The swing axis of the swing arm 2 relative to the support base 1 is the support axis. The distance from the traction part 21 to the support axis is less than the distance from the actuator 22 to the support axis, so that when the first shape memory alloy wire 5 drives the swing arm 2 to move, the actuation stroke is effectively improved while ensuring the driving force value and response speed.

[0029] Specifically, the traction part 21 has a convex head structure, and the first shape memory alloy wire 5 is wound around the traction part 21. The above arrangement facilitates the first shape memory alloy wire 5 to apply force to the traction part 21.

[0030] More specifically, the convex structure of the traction part 21 is provided with a winding groove, and the first shape memory alloy wire 5 extends into the winding groove, thereby preventing the first shape memory alloy wire 5 from coming off the traction part 21.

[0031] In this embodiment, one end of the swing arm 2 is provided with a straight rod, and the other end is provided with a block. The cross-sectional area of ​​the straight rod is smaller than that of the block. The actuator 22 is a through hole provided on the straight rod, which facilitates the connection and assembly of other components and makes the movement more flexible. The stop part 23 is provided on the end face of the block, which has a larger area and is more reliable when braking under force. The traction part 21 is a circular or square protrusion with its axis parallel to the extension direction of the first shape memory alloy wire 5. Two wire clamps that cooperate with the first shape memory alloy wire 5 are provided on the support base 1. The two ends of the first shape memory alloy wire 5 are respectively connected to the two wire clamps. After being wound around the traction part 21, the two segments of the first shape memory alloy wire 5 are parallel to each other.

[0032] In other embodiments, the traction part 21 can also be a threading channel provided on the swing arm 2, making the assembly safer and making it less likely for the first shape memory alloy wire 5 threaded therein to detach from the swing arm 2.

[0033] Specifically, the braking elastic element 3 includes a first fixed support arm 31, a first intermediate part 32, and a first movable support arm 33 connected in sequence. The first fixed support arm 31 is connected to the support base 1, and the first movable support arm 33 is connected to the braking element 4. This arrangement ensures that when the second shape memory alloy wire 6 drives the braking elastic element 3 to elastically deform, the first movable support arm 33 moves closer to the first fixed support arm 31, effectively driving the braking element 4 away from the swing arm 2, thus achieving rapid unlocking of the swing arm 2.

[0034] In this embodiment, the braking elastic element 3 is a bent spring sheet, in the shape of a V or U, and the first fixed support arm 31 and the first movable support arm 33 are plate-shaped, making the connection and assembly with the support base 1 and the braking element 4 more reliable. In other embodiments, the braking elastic element 3 can also be a common elastic element such as a coil spring.

[0035] Specifically, the braking component 4 is provided with a force-receiving part 41, and the second shape memory alloy wire 6 is configured to drive the force-receiving part 41 to move. The above configuration facilitates the second shape memory alloy wire 6 to apply force to the braking component 4 safely and reliably.

[0036] More specifically, the force-receiving part 41 has a convex structure, and the second shape memory alloy wire 6 is wound around the force-receiving part 41. The above arrangement makes the transmission of force between the second shape memory alloy wire 6 and the braking member 4 more stable and reliable.

[0037] More specifically, the protruding structure of the force-bearing part 41 is provided with a winding groove, and the second shape memory alloy wire 6 extends into the winding groove, thereby preventing the second shape memory alloy wire 6 from coming off the force-bearing part 41.

[0038] In this embodiment, the force-bearing part 41 is a circular or square protruding post with its axis perpendicular to the extension direction of the second shape memory alloy wire 6. Two wire clips that cooperate with the second shape memory alloy wire 6 are set on the support base 1. The two ends of the second shape memory alloy wire 6 are respectively connected to the two wire clips. After being wound around the force-bearing part 41, the two segments of the second shape memory alloy wire 6 are parallel to each other.

[0039] In other embodiments, the force-bearing part 41 can also be a threading channel provided on the brake member 4, making the assembly safer and making it less likely for the second shape memory alloy wire 6 threaded therein to detach from the brake member 4.

[0040] Specifically, two first shape memory alloy wires 5 are provided, and the two first shape memory alloy wires 5 can drive the swing arm 2 to swing in opposite directions. In the above configuration, the two first shape memory alloy wires 5 cooperate to drive the actuator 22 of the swing arm 2 to generate strokes in both positive and negative directions, thereby further improving the actuation stroke.

[0041] More specifically, each first shape memory alloy wire 5 is equipped with a traction section 21, and the two traction sections 21 are parallel to each other and spaced apart.

[0042] More specifically, the first shape memory alloy wire 5 and the second shape memory alloy wire 6 are located on opposite sides of the thickness direction of the braking component 4. This arrangement avoids mutual interference between the first shape memory alloy wire 5 and the second shape memory alloy wire 6.

[0043] In this embodiment, when both first shape memory alloy wires 5 are de-energized, the actuator 22 is in an intermediate state. When one first shape memory alloy wire 5 is energized, it can drive the actuator 22 to swing forward a set distance through the traction part 21 wound around it. When the other first shape memory alloy wire 5 is energized, it can drive the actuator 22 to swing backward a set distance through the traction part 21 wound around it.

[0044] Specifically, the actuation device also includes a swing arm elastic element 7, through which the swing arm 2 is connected to the support base 1. The swing arm 2 is completely supported by the swing arm elastic element 7 on the support base 1. The first shape memory alloy wire 5 can drive the swing arm 2 to pull the swing arm elastic element 7 to undergo elastic deformation, causing the swing arm 2 to swing. This eliminates the need for rotating shafts and bearings, reducing tolerance requirements. Compared to existing rotating connection structures, this effectively reduces space requirements and manufacturing costs.

[0045] More specifically, the swing arm elastic member 7 includes a second fixed support arm 71, a second intermediate part 72, and a second movable support arm 73 connected in sequence. The second fixed support arm 71 is connected to the support base 1, and the second movable support arm 73 is connected to the swing arm 2. This arrangement ensures that when the first shape memory alloy wire 5 drives the swing arm elastic member 7 to elastically deform, the second movable support arm 73 approaches the second fixed support arm 71, enabling the swing arm 2 to swing efficiently, thus driving the swing arm 2.

[0046] In this embodiment, the braking elastic element 3 is a bent spring sheet, in the shape of a V or U, and the second fixed support arm 71 and the second movable support arm 73 are plate-shaped, making the connection and assembly with the support base 1 and the swing arm 2 more reliable. In other embodiments, the braking elastic element 3 can also be a common elastic element such as a coil spring.

[0047] In this embodiment, along the length of the base plate 11, the traction part 21 and the execution part 22 are located on one side of the swing arm elastic member 7, and the stop part 23 is located on the other side of the swing arm elastic member 7. Along the length of the swing arm 2, the second movable support arm 73 of the swing arm elastic member 7 is connected between the stop part 23 and the traction part 21. When both first shape memory alloy wires 5 are de-energized, the execution part 22 stops in the intermediate state under the drive of the swing arm elastic member 7.

[0048] The actuation device of this embodiment can be applied to fields such as AR, VR, and cameras, and can drive the optical module to change focus or drive the display module to move.

[0049] Example 2

[0050] This embodiment provides an actuation device, whose components are the same as or corresponding to those in Embodiment 1, and are referred to by the same or corresponding reference numerals as those in Embodiment 1. For simplicity, only the differences between this embodiment and Embodiment 1 are described below.

[0051] The difference between this embodiment and Embodiment 1 is that the swing arm 2 is rotatably connected to the support base 1. This configuration makes the swing of the swing arm 2 more stable and reliable, and the displacement more precise.

[0052] Compared to the existing structure in which both the swing arm and the brake arm are rotatably connected, in this embodiment, since the brake arm is replaced by the brake element 4, and the brake element 4 is completely supported by the brake elastic element 3, the related components and structures of rotatable connection such as the rotating shaft and bearing are omitted, making the structure of the brake element 4 more compact and occupying less space.

[0053] In this embodiment, the support base 1 is provided with a rotating shaft, and the swing arm 2 is sleeved on the rotating shaft, which is located between the traction part 21 and the execution part 22.

[0054] As shown in Figures 6 and 7, if the space occupied by the swing arm in the prior art is maintained, the overall space occupied by the actuation device can be effectively reduced.

[0055] As shown in Figures 8 and 9, if the overall space occupied by the actuation device in the prior art is maintained, the length of the swing arm 2 can be effectively extended, thereby increasing the actuation stroke.

[0056] Example 3

[0057] This embodiment provides an actuation device, whose components are the same as or corresponding to those in Embodiment 1, and are referred to by the same or corresponding reference numerals as those in Embodiment 1. For simplicity, only the differences between this embodiment and Embodiment 1 are described below.

[0058] The difference between this embodiment and Embodiment 1 is that: a single first shape memory alloy wire 5 is provided, which can drive the swing arm 2 to swing to a first extreme position, and the swing arm elastic element 7 can drive the swing arm 2 to swing to a second extreme position. This configuration further reduces costs.

[0059] In this embodiment, when the first shape memory alloy wire 5 is de-energized, the actuator 22 swings a set distance in the positive direction under the drive of the swing arm elastic member 7. When the first shape memory alloy wire 5 is energized, the actuator 22 can be driven to swing a set distance in the negative direction by the traction part 21 around it.

[0060] Example 4

[0061] This embodiment provides an actuation device, whose components are the same as or corresponding to those in Embodiment 1, and are referred to by the same or corresponding reference numerals as those in Embodiment 1. For simplicity, only the differences between this embodiment and Embodiment 1 are described below.

[0062] The difference between this embodiment and Embodiment 1 is that: multiple first shape memory alloy wires 5 are provided, and these multiple first shape memory alloy wires 5 are divided into multiple grades. The deformation amount of any two grades of first shape memory alloy wires 5 is different when energized. This arrangement allows the actuator 22 to have multiple preset actuation strokes.

[0063] The first shape memory alloy wires 5 of different grades can be the same in size but different in material, or different in size but the same in material, or different in both size and material, so that they have different deformation when they are energized. The size specifications mentioned above refer to wire diameter and wire length.

[0064] As shown in the table below, taking the first shape memory alloy wire 5 made of Ni-Ti and the first shape memory alloy wire 5 made of Ni-Ti-Cu as examples, the maximum tensile force and maximum deformation under different size specifications are illustrated: Alloy wire material Wire diameter (μm) Line length (mm) Maximum tensile force (gf) Maximum length deformation (mm) Ni-Ti 50 15 60 0.75 50 20 60 1 100 15 200 0.75 100 20 200 1 Ni-Ti-Cu 50 15 80 0.75 50 20 80 1 100 15 280 0.75 100 20 280 1

[0065] In this embodiment, in the multiple levels of first shape memory alloy wires 5, each level is provided with two first shape memory alloy wires 5, and the two first shape memory alloy wires 5 in each level can drive the swing arm 2 to rotate in opposite directions. In the above arrangement, the two first shape memory alloy wires 5 in each level cooperate to drive the actuator 22 of the swing arm 2 to generate strokes in both positive and negative directions, thereby increasing the actuation stroke corresponding to each level.

[0066] Example 5

[0067] This embodiment provides an actuation device, whose components are the same as or corresponding to those in the above embodiments, and are referred to by the same or corresponding reference numerals as those in the above embodiments. For simplicity, only the differences between this embodiment and the above embodiments are described below.

[0068] Based on any of the above embodiments, the actuation device of this embodiment further includes a sensor, which is disposed on the support base 1 and configured to detect the position of the actuator 22 of the swing arm 2.

[0069] In the actuation device of this embodiment, by setting a sensor, the position of the actuator 22 of the swing arm 2 can be accurately detected and controlled, thereby enabling precise control of the actuation stroke.

[0070] Specifically, the actuation device also includes a controller, which controls the movement of the first shape memory alloy wire 5 and the second shape memory alloy wire 6 based on the detection information from the sensors, so that the actuator 22 of the swing arm 2 moves to a set position. The current position of the actuator 22 is determined by the sensors and fed back to the controller in real time, thereby enabling the controller to quickly drive the actuator 22 of the swing arm 2 to move to the set position.

[0071] More specifically, when the controller performs feedback control through the sensor, in order to avoid excessive vibration of the overall structure, a gel or damping structure is set on the actuator. The gel or damping structure interferes with the swing arm 2, thereby enabling the actuator 22 to move more stably and reliably.

[0072] In this embodiment, a gel or damping structure is disposed on the support 1, which can interfere with the swing arm 2 swing.

[0073] In the first embodiment, the sensor is a current sensor that uses the magnetoelectric effect to detect distance, such as a Hall sensor or a TMR sensor, and is set on the support base 1. A magnet that cooperates with the current sensor is set on the swing arm 2. When the swing arm 2 swings, it drives the magnet to move. The current sensor can detect the position of the magnet, thereby obtaining the instantaneous position of the actuator 22 of the swing arm 2.

[0074] In the second embodiment, the sensor is a current sensor that uses the magnetoelectric effect to detect distance, such as a Hall sensor or a TMR sensor. It is mounted on a support base 1, and a slider is mounted on the support base 1. The slider's sliding direction is perpendicular to the swing axis of the swing arm 2. The actuator 22 of the swing arm 2 is connected to the slider via a spring. When the swing arm 2 swings to a certain position, the slider adaptively slides to adjust to the corresponding position. A magnet, in conjunction with the current sensor, is mounted on the slider. When the swing arm 2 swings, the slider drives the magnet to move, and the current sensor can detect the position of the magnet, thereby obtaining the instantaneous position of the actuator 22 of the swing arm 2. In the above embodiment, the sensor's detection path is transformed from rotation to a straight line. Considering the flat cable design of the sensor, the location of the detection system can be flexibly configured to be closer to the power supply or signal input, or placed in a location with ample space.

[0075] In the third embodiment, the sensor is a photoelectric sensor, which is set on the support base 1. A slider is set on the support base 1. The sliding direction of the slider is perpendicular to the swing axis of the swing arm 2. The actuator 22 of the swing arm 2 is connected to the slider through a spring. When the swing arm 2 swings to a position, the slider adaptively slides to adjust to the corresponding position. When the swing arm 2 swings, it drives the slider to move. The photoelectric sensor can detect the position of the slider, thereby obtaining the instantaneous position of the actuator 22 of the swing arm 2.

[0076] In the fourth embodiment, the sensor is a pressure sensor. A positioning block is provided on the support base 1, and the pressure sensor is located on the positioning block. The actuator 22 of the swing arm 2 is connected to the positioning block by a spring hook and presses against the pressure sensor. When the swing arm 2 swings to different positions, the hook pressure of the spring on the pressure sensor is different. The pressure sensor obtains the instantaneous position of the actuator 22 of the swing arm 2 by detecting the pressure value.

[0077] In this embodiment, the controller outputs by controlling the movement of the first shape memory alloy wire 5 and the second shape memory alloy wire 6. The sensor detects the output result and feeds it back to the controller. The controller adjusts the control of the first shape memory alloy wire 5 and the second shape memory alloy wire 6 according to the sensor feedback, and finally moves the actuator 22 to the set position. The relevant structure and circuit control operation method of the controller and sensor are conventional settings in the field and will not be described in detail here.

[0078] Example 6

[0079] This embodiment provides an actuation method using the actuation device of any of the above embodiments, including: the second shape memory alloy wire 6 is energized to drive the brake member 4 away from the swing arm 2; the first shape memory alloy wire 5 is energized to drive the traction part 21 to move to a set position; the second shape memory alloy wire 6 is de-energized, and the brake elastic member 3 drives the brake member 4 to abut against the swing arm 2.

[0080] In this invention, the brake element 4 is connected to the support base 1 via the brake elastic element 3. On the support base 1, the brake element 4 is completely supported by the brake elastic element 3. The brake element 4 can be driven by the brake elastic element 3 alone to lock the swing arm 2 against it, so that the swing arm 2 can achieve zero holding energy, efficiently maintain the actuation stroke, and ensure the locking effect. The second shape memory alloy wire 6 can drive the brake element 4 to pull the brake elastic element 3 to elastically deform, so that the brake element 4 moves away from the swing arm 2. When the brake element 4 moves away from the swing arm 2, the locking of the swing arm 2 can be released. The related components and structures of rotating connections such as shafts and bearings are omitted, the tolerance requirements are reduced, and the brake element 4 can effectively reduce the space occupied and reduce the manufacturing cost compared with the existing brake arm while ensuring the locking effect.

[0081] Based on the specific structure of the actuation device in Embodiment 1, the actuation method of this embodiment specifically includes the following steps:

[0082] Step 1: The second shape memory alloy wire 6 is energized, causing the braking component 4 to move away from the stop part 23.

[0083] In this step, when the second shape memory alloy wire 6 is heated by current, its length shortens, pulling the force-bearing part 41, causing the brake member 4 to compress the brake elastic member 3, releasing the brake on the swing arm 2, and finally allowing the swing arm 2 to be in a free state.

[0084] Step 2: The first shape memory alloy wire 5 is energized, which drives the traction unit 21 to move and drives the execution unit 22 to move to the set position.

[0085] In this step, as needed, when a first shape memory alloy wire 5 is heated by an electric current, its length shortens, pulling its corresponding traction part 21, causing the swing arm 2 to swing until the actuator 22 on the swing arm 2 reaches the set position.

[0086] Step 3: The second shape memory alloy wire 6 is de-energized, and the braking elastic element 3 drives the braking element 4 to abut against the stop part 23.

[0087] In this step, the second shape memory alloy wire 6 is de-energized and its length is restored. The braking elastic element 3 drives the braking element 4 to rotate until the braking element 4 abuts against the stop part 23 of the swing arm 2, so that the swing arm 2 is in a braking locked state.

[0088] Step 4: The first shape memory alloy wire 5 is de-energized, and the braking element 4 maintains its actuation stroke under the drive of the braking elastic element 3.

[0089] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively describe all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of this invention.

[0090] 1: Support base 11: Bottom support plate 12: Divider 2: Swing arm 21: Traction Unit 22: Execution Department 23: Stop and Reach 3: Braking elastic element 31: First fixed support arm 32: First Middle Section 33: First movable support arm 4: Braking components 41: Force-bearing part 5: First shape memory alloy wire 6: Second shape memory alloy wire 7: Swing arm elastic element 71: Second fixed arm 72: Second Middle Section 73: Second movable arm

Claims

1. An actuating device, comprising: Support base; A swing arm, mounted on the support base, is capable of swinging relative to the support base; A braking elastic element is connected to the support base; A braking element, connected to the support base via a braking elastic element, the braking elastic element being configured to drive the braking element to abut and lock the swing arm, the braking element being fully supported by the braking elastic element; a first shape memory alloy wire disposed on the support base, which, when energized, can drive the swing arm to swing; and a second shape memory alloy wire disposed on the support base, which, when energized, can drive the braking element away from and release the swing arm.

2. The actuation device according to claim 1, wherein, The braking elastic element includes a first fixed support arm, a first intermediate part, and a first movable support arm connected in sequence. The first fixed support arm is connected to the support base, and the first movable support arm is connected to the braking element.

3. The actuation device according to claim 1 further includes a swing arm elastic member, wherein the swing arm is connected to the support base via the swing arm elastic member.

4. The actuation device according to claim 3, wherein, The swing arm elastic element includes a second fixed support arm, a second intermediate part, and a second movable support arm connected in sequence. The second fixed support arm is connected to the support base, and the second movable support arm is connected to the swing arm.

5. The actuation device according to claim 1, wherein, The swing arm is rotatably connected to the support base.

6. The actuation device according to claim 1, wherein, Two first shape memory alloy wires are provided, and the two first shape memory alloy wires can drive the swing arm to swing in opposite directions.

7. The actuation device according to claim 1, wherein, The swing arm is provided with a traction part, an execution part and a stop part, the first shape memory alloy wire is configured to drive the traction part to move, and the brake is configured to abut against the stop part.

8. The actuation device according to claim 7, wherein, The stop part is a curved surface, and when the actuator moves to different positions, the brake abuts against different positions of the curved surface.

9. The actuation device according to claim 1, wherein, The braking component is provided with a force-receiving part, and the second shape memory alloy wire is configured to drive the force-receiving part to move.

10. The actuation device according to any one of claims 1-9 further includes a sensor disposed on the support and configured to detect the position of the actuator of the swing arm.

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