An electrically driven memory alloy wire parallel rod type one-dimensional controllable variable stiffness topology structure

Abstract

An electric drive memory alloy wire parallel rod type one-dimensional controllable variable stiffness topology structure is mainly composed of an inner plate part and an outer plate part. Through the electric drive memory alloy wire mode, the stiffness of the overall structure can be more accurately regulated and controlled. The whole is a one-dimensional parallel rod type, the outer plate and the inner plate are parallel to each other, the memory alloy wire and the connecting rod are parallel to each other, the installation is convenient, and the stiffness of the structure can be controlled in a directional manner. The pin and the metal wire are connected in a wedge tightening mode. This connection mode is simple and firm. The upper and lower inner plates are the same, and the upper and lower outer plates are also the same. The inner plate and the outer plate can be arbitrarily topological around the same plane, so that the variable stiffness structure can be arranged in different areas. The whole variable stiffness structure has the advantages of simple structure, clear principle and low cost.

Description

Technical Field

[0001] This invention relates to a variable stiffness structure, and more particularly to a one-dimensional controllable variable stiffness topology structure of an electrically driven shape memory alloy wire parallel rod. Background Technology

[0002] Compared to traditional materials, shape memory alloy wires possess unique shape memory properties. Their length and stiffness can be controlled by simply applying an electric current, leading to their widespread application in practical engineering fields such as aerospace, microrobotics, precision measurement, and biomedicine. Currently, research on the properties of shape memory alloy wires both domestically and internationally has a relatively complete theoretical foundation.

[0003] In industrial applications, stiffness is a primary indicator of motion accuracy, load capacity, and trajectory tracking control. Reducing stiffness protects machines from operator interference or other factors when operating in unstructured environments. Variable stiffness structures can adjust their stiffness according to the task or motion type. Currently, most variable stiffness structures use highly nonlinear materials, resulting in high control difficulty and poor deformation capacity. Existing variable stiffness structures are complex, difficult to install, and have high manufacturing costs due to dimensional constraints.

[0004] In summary, an electrically driven shape memory alloy wire parallel rod type one-dimensional controllable variable stiffness topology structure adjusts the overall structure stiffness by controlling the length and stiffness of individual wires through energization, and can be arranged in regions of different areas using a topologically adaptable structure. This invention addresses the problems of high control difficulty, poor deformation capacity, and susceptibility to size in variable stiffness structures, reduces processing costs, simplifies installation, and has significant theoretical research value and market application value. Summary of the Invention

[0005] The purpose of this invention is to provide an electrically driven memory alloy wire parallel rod type one-dimensional controllable variable stiffness topology structure. The whole structure is a parallel rod type one-dimensional structure, with the outer plate and inner plate parallel to each other, and the memory alloy wire and connecting rod parallel to each other. By passing different currents to the memory alloy wire, the length and stiffness of a single wire can be controlled to achieve the purpose of directional regulation of the overall structural stiffness. The outer plate and inner plate in the structure can be arbitrarily topologically arranged in all directions in the same plane to achieve the purpose of topological structure.

[0006] This invention is achieved through the following technical solution:

[0007] A one-dimensional controllable variable stiffness topology structure with parallel rods and electrically driven shape memory alloy wires mainly consists of an inner plate and an outer plate. The outer plate and the inner plate are parallel to each other, and the shape memory alloy wires and connecting rods are parallel to each other, forming a parallel rod one-dimensional structure. By energizing the shape memory alloy wires in both parts, the length and stiffness of a single wire change, thereby controlling the stiffness change of the variable stiffness structure in a directional manner. The two parts are connected by an interference fit between the rods and holes. The inner plate has the same structure, and the outer plate also has the same structure. Both are topologically reconfigurable structures that can be arbitrarily topologically arranged in all directions on the same plane.

[0008] The outer plate consists of two identical outer plates and shape memory alloy wires, which are fastened to the holes in the outer plates by pins.

[0009] The inner plate consists of two identical inner plates and shape memory alloy wires, which are fastened to the holes in the inner plates by pins.

[0010] The advantages of this invention are: the use of electrically driven shape memory alloy wires allows for more precise control of the overall structural stiffness; the overall structure is a one-dimensional parallel rod design, with the outer and inner plates parallel to each other, and the shape memory alloy wires and connecting rods parallel to each other, resulting in a simple structure, convenient installation, and directional control of structural stiffness; the connection method uses pins and shape memory alloy wires for wedging, which is simple and robust; the upper and lower inner plates are identical, as are the upper and lower outer plates, and the inner and outer plates can be arranged arbitrarily in all directions on the same plane, allowing the variable stiffness structure to be arranged in areas of different sizes. The entire variable stiffness structure has the advantages of a clear principle and low cost. Attached Figure Description

[0011] Figure 1 A schematic diagram of the overall unit structure

[0012] Figure 2 3D assembly drawing of unit structure

[0013] Figure 3 Cross-sectional view of the wedge clamping method

[0014] Figure 4 A schematic diagram of the overall 2×2 structure.

[0015] Figure 5 Schematic diagram of 2×2 outer panel

[0016] Figure 6 Schematic diagram of 2×2 inner panel Detailed Implementation

[0017] The invention will be further described below with reference to the accompanying drawings.

[0018] Reference Figure 1This invention provides an electrically driven shape memory alloy wire parallel rod type one-dimensional controllable variable stiffness topology structure. The overall structure is a parallel rod type one-dimensional structure. By energizing the shape memory alloy wire, the length and stiffness of a single wire change, so as to achieve the purpose of directional control of the stiffness of the overall structure. Its main components include inner plates B (9) and C (11), outer plates A (2) and D (5), connecting rods (8) and (10), and shape memory alloy wires (3) and (4).

[0019] Reference Figure 1 and Figure 2 The hole (VIII) of the outer plate A(2) is connected to the hole (V) of the inner plate B(9) by the connecting rod (10) with an interference fit. The hole (III) of the outer plate D(5) is connected to the hole (VI) of the inner plate C(11) by the connecting rod (8) with an interference fit. The outer plates A(2), D(5) and the inner plates B(9), C(11) are parallel to each other. The shape memory alloy wires (3), (4) and the connecting rods (8), (10) are parallel to each other. The overall structure is a parallel rod type, which is simple and easy to install.

[0020] Reference Figure 2 and Figure 3 The shape memory alloy wire (3) is wedged into the hole (I) of the outer plate A (2) by the pin (1) and into the hole (II) of the outer plate D (5) by the pin (6); the shape memory alloy wire (4) is wedged into the hole (VII) of the inner plate C (11) by the pin (12) and into the hole (IV) of the inner plate B (9) by the pin (8).

[0021] Reference Figure 4 , Figure 5 and Figure 6 The outer plates A(2), D(5) and the inner plates B(9), C(11) form a topological structure. The outer plates A(2) and D(5) are identical in structure, and the inner plates B(9) and C(11) are identical in structure, allowing the structure to be arbitrarily topological in all directions within the same plane.

[0022] The above examples illustrate the technical concept and structural features of this invention patent, with the aim of enabling researchers and engineers in the field to understand this invention patent and to realize the product accordingly.

Claims

1. A one-dimensional controllable variable stiffness topology structure of an electrically driven shape memory alloy wire parallel rod, characterized in that: The electric-driven memory alloy wire parallel rod type one-dimensional controllable variable stiffness topology consists of outer plates A(2), D(5), memory alloy wires (3), (4), inner plates B(9), C(11), and connecting rods (8), (10). The outer plates A(2), D(5) and inner plates B(9), C(11) are parallel to each other, and the memory alloy wires (3), (4) and connecting rods (8), (10) are parallel to each other. The overall structure is a parallel rod type, which is simple and easy to install. This structure is a one-dimensional structure. By energizing the memory alloy wires (3), (4), the length and stiffness of a single wire change, so as to achieve the purpose of directional control of the overall structural stiffness.

2. The one-dimensional controllable variable stiffness topology of the electric-driven shape memory alloy wire parallel rod type according to claim 1, characterized in that: The outer panels A(2), D(5) and the inner panels B(9), C(11) form a topological structure. The outer panels A(2) and D(5) are identical in structure, and the inner panels B(9) and C(11) are identical in structure, allowing the structure to be arbitrarily topological in all directions.

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