A built-in memory alloy wire driven ball gear plate block shape and stiffness controllable structure

Abstract

A shape and stiffness controllable structure of built-in memory alloy wire driven ball gear plate mainly consists of a plurality of ball gear blocks, the ball gear blocks are spliced into a two-dimensional structure, the part of the ball gear blocks in contact is the meshing ball gear, so that when the two-dimensional plate shape changes, the ball gear blocks will not slide relative to each other, and the bending movement is smooth; by energizing the memory alloy wire, the length and stiffness of a single wire change, and then the plate structure can bend and deform in different directions and degrees, twist and deform, or change the stiffness of the plate structure in the two-dimensional plane and the direction perpendicular to the plane; the ball gear block is a topological structure and can be topologically expanded in all directions in the two-dimensional space; the shape and stiffness controllable structure has the advantages of clear principle, low cost and easy assembly, and in practical application, the stiffness can be adapted according to the work requirements.

Description

Technical Field

[0001] This invention relates to a variable shape and variable stiffness structure, particularly a plate-type structure with controllable shape and stiffness of a ball gear driven by a built-in shape memory alloy wire. Background Technology

[0002] Shape memory alloys are a new type of material that can undergo phase transformation under stress or temperature, possessing unique shape memory effect and superelasticity. By utilizing the changes in shape at different temperatures, a wide variety of self-control devices can be designed. Currently, its applications are constantly expanding and it is widely used in aerospace, mechanical and electronic fields and other major fields.

[0003] Variable stiffness design is a current research hotspot, enabling mechanisms to maintain compliance while enhancing performance when necessary. Numerous designs of variable stiffness structures have emerged in recent years. However, many variable stiffness structures still suffer from instability, difficulty in control, and high manufacturing costs. In summary, a shape- and stiffness-controllable plate-like structure with built-in shape memory alloy wires driving ball gears is proposed. This structure controls the length and stiffness of each row or column of shape memory alloy wires through electrical current, thereby adjusting the shape and stiffness of the plate-like structure. It can be topologically adapted to two-dimensional structures of different areas and shapes. This invention addresses the control problem of variable shape and stiffness structures, allowing the plate-like structure to undergo bending and torsional deformation in different directions and to varying degrees, changing its stiffness in a two-dimensional plane or in a direction perpendicular to the plane. It is simple to manufacture and install, has a low structural weight, and its stiffness can be adapted to meet operational requirements in practical applications, demonstrating significant application and research value. Summary of the Invention

[0004] The purpose of this invention is to provide a shape and stiffness controllable structure of a ball gear block driven by a built-in shape memory alloy wire. The structure is two-dimensional, and the ball gear blocks are in contact with each other by the meshing of the ball gears. Shape memory alloy wires are strung between the ball gear blocks. By changing the current applied to the shape memory alloy wires, the length of the individual wires can be controlled to change, thereby achieving the purpose of controlling the shape and stiffness of the overall structure.

[0005] This invention is achieved through the following technical solution:

[0006] A shape- and stiffness-controllable ball gear block structure driven by built-in shape memory alloy wires mainly consists of multiple ball gear blocks, which are spliced ​​together to form a two-dimensional structure. The accompanying drawings in the specification use a 5×5 two-dimensional structure as an example. The contact parts between the ball gear blocks are meshing ball gear structures, preventing relative sliding between the ball gear blocks when the shape of the two-dimensional block changes, and ensuring smooth bending motion of the two-dimensional structure. Two sets of non-planar shape memory alloy wires pass through the ball gear blocks. By energizing the shape memory alloy wires, the length and stiffness of each wire change. When different currents are applied to different wires in the same direction, the length changes of different wires also differ. When the alloy wires are tightened to different degrees, the two-dimensional structure warps and changes shape. When the same current is applied to different wires in the same direction, the length changes of different wires are also the same. When the alloy wires are tightened to the same degree, the two-dimensional structure as a whole contracts, and the stiffness changes. The ball gear block is a topologically reconfigurable structure, capable of being topologically reconfigured into any shape in two-dimensional space.

[0007] The ball gear block consists of a ball gear block body, shape memory alloy wire, and ceramic tube. The shape memory alloy wire and ceramic insulating heat insulation tube are built into the ball gear block body. The shape memory alloy wire passes through the ball gear block hole in which the ceramic tube is embedded. The ceramic tube provides heat insulation when energized, preventing the ball gear block body from melting and affecting control.

[0008] The advantages of this invention are as follows: by controlling the current applied to the shape memory alloy wire, the shape and stiffness of the overall plate-like structure can be controlled; the use of a ball gear structure allows for smooth bending motion of the two-dimensional structure and prevents slippage, improving the overall fit accuracy; the ball gear block body adopts a hollow design, reducing the weight of the structure, saving materials, and facilitating heat dissipation of the alloy wire. This shape and stiffness controllable structure has the advantages of clear principle, low cost, and convenient assembly. Attached Figure Description

[0009] Figure 1 A schematic diagram of the overall structure of the ball gear block.

[0010] Figure 2 3D assembly drawing of unit structure

[0011] Figure 3 Schematic diagram of the overall assembly of the 5×5 structure

[0012] Figure 4 A 3D schematic diagram of a 5×5 deformable structure. Detailed Implementation

[0013] The invention will be further described below with reference to the accompanying drawings.

[0014] Reference Figure 1The present invention provides a plate-type structure with controllable shape and stiffness of a ball gear driven by a built-in memory alloy wire. The overall structure is a plate-type two-dimensional structure. By changing the current applied to the memory alloy wire, the length of the single wire is controlled to change, thereby achieving the purpose of controlling the shape and stiffness of the overall structure. Its main components include the ball gear block body (1), ceramic sleeve (2), and memory alloy wire (4)(5).

[0015] Reference Figure 2 The ball gear block has a ball gear structure on all four sides. Two opposing ball gears can mesh with each other, allowing the structure to expand outwards in a two-dimensional plane. There are four through holes on each side of the ball gear part for subsequent embedding of ceramic sleeves (2). The ball gear block is designed as a hollow structure to reduce weight and lower cost.

[0016] Reference Figure 1 and Figure 3 Each row or column of the entire structure is equipped with a set of ball gear blocks. A power supply and controller are connected to one end of the row or column to control the row or column individually, thereby achieving the purpose of controlling the shape and rigidity of the entire structure.

[0017] Reference Figure 3 and Figure 4 When the entire device is powered on, the shape of the planar two-dimensional plate structure changes, warps, and becomes a curved structure.

[0018] 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 plate-shaped structure with controllable shape and stiffness for a ball gear driven by an internal shape memory alloy wire, characterized in that: This modular structure with controllable shape and stiffness, driven by a built-in shape memory alloy wire, consists of a ball gear block, a ceramic sleeve, a fixed ball, and a shape memory alloy wire. The ball gear block has a ball gear structure, and the ball gear blocks mesh with each other to prevent slippage and achieve smooth bending motion. The gears on the four sides of the ball gear block have the same module, allowing the modular structure to be arbitrarily topological in all directions. By energizing the shape memory alloy wire in two directions, the length and stiffness of the shape memory alloy wire can be changed, thereby controlling the shape and stiffness of the overall modular structure.

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