Linear motion actuator, multi-modal micro brake, and robot

Abstract

The application discloses a linear motion actuator, a multi-mode micro brake and a robot. The linear motion actuator comprises a plurality of motion actuators and a plurality of actuating bodies. The plurality of motion actuators are sequentially and layerwisely arranged along a first direction. Each motion actuator has a first end portion and a second end portion oppositely arranged along a second direction. The first end portion of one of the two adjacent motion actuators and the second end portion of the other motion actuator are connected by the actuating body. The actuating body can produce recoverable deformation under external stimulation. The motion actuator connected with the actuating body can move along the second direction under the driving of the deformation of the actuating body. The multi-mode micro brake provided by the application can replace a plurality of groups of series connecting link mechanisms and executing mechanisms combined by electroactive smart materials, and solves the problems of small output stroke, poor maintenance and expansibility, single function, difficult control and the like of the smart material brake.

Description

Technical Field

[0001] This invention specifically relates to a linear motion actuator, a multimodal micro brake, and a robot, belonging to the technical fields of micro brakes, rotators, and aircraft actuators. Background Technology

[0002] Miniature brakes are widely used in the field of micro-robots and serve as the end-effectors of robots. Their performance directly determines the capabilities of the micro-robot system. Traditional motor brakes and pneumatic brakes, due to their actuation principles and complex structures, require corresponding control circuits or modules, making it difficult to achieve miniaturization and weight reduction.

[0003] In recent years, to address the challenge of lightweight, high-load micro-drive capabilities for intelligent micro-robots, a range of novel intelligent materials capable of electro-deformation, including electro-expansion deformation, electro-thermal deformation, electro-piezoelectric deformation, and electro-magnetic deformation, have been gradually applied. These include electro-expansion deformation materials such as electro-expanding ceramics (PZT) and electro-shrinking composite materials (SMA); electro-thermal deformation materials such as thermally controllable potentiometers (TEC), thermally controllable resistors (TR), and thermally controllable insulators (TIR); electro-piezoelectric deformation materials such as electro-piezoelectric deformable materials (EDM) and electro-piezoelectric composite materials (ECM); and electro-magnetic deformation materials such as electromagnetically controllable insulators (EMIR), electromagnetically controllable ferrites (EMM), and electromagnetically controllable composite materials (EMC). Ultimately, these materials generate driving force through electro-deformation, thereby enabling mechanisms to achieve braking, rotation, and other capabilities.

[0004] However, in practical applications, it has been found that although existing actuators have made significant progress in size and weight compared to traditional motors and pneumatic brakes, they still fall short of meeting the requirements of miniaturization, lightweighting, large-scale actuation, and fast response in micro-robots in terms of stroke, driving capability, and response time, and their driving functions are limited. Therefore, existing smart material micro-actuators still face many challenges in the application of micro-bionic robots (especially bionic flapping-wing aircraft).

[0005] For example, the pulley-driven method uses shape memory alloy wires to drive a gearbox, which in turn drives a multi-stage gear system, aiming to achieve a larger rotation angle with a smaller space compared to a motor / servo motor. Problems include: complex layered structure, difficult maintenance, and weak output load capacity; the actual rotation angle is also difficult to guarantee due to the limited length of the shape memory alloy wires. The multi-strand smart material series-parallel traction method uses a combination of smart materials such as shape memory alloy wires, achieving greater driving force and stroke through multi-strand deformation transmission. Problems include: long brake response time; this type of solution trades the quantity of smart materials for driving force and stroke, resulting in high power consumption.

[0006] In summary, most existing lightweight micro actuators adopt a motor braking design with gear transmission, which is complex in structure, has high energy loss, and is difficult to miniaturize. The rotation angle can be increased by a speed change mechanism, but the rotation torque is small, the output torque is low, the load capacity is weak, and an additional mechanism is required to realize the rotation function. On the other hand, the solution using shape memory alloy wire as a power source has a slow actuator response speed and a single change range due to the thermal braking mechanism, and the load capacity is weak, making it difficult to meet the needs of high-frequency multi-point or multi-angle use. Summary of the Invention

[0007] The main objective of this invention is to provide a linear motion actuator, a multimodal micro actuator, and a robot, thereby overcoming the shortcomings of the prior art.

[0008] To achieve the aforementioned objectives, the technical solution adopted by this invention includes:

[0009] This invention provides a linear motion actuator, comprising multiple motion actuators and multiple actuators.

[0010] Multiple motion actuators are stacked sequentially along a first direction. Each motion actuator has a first end and a second end that are arranged opposite to each other along a second direction. The first end of one of two adjacent motion actuators and the second end of the other are connected via the actuator.

[0011] The actuator can generate recoverable deformation under external stimulation, and the motion actuator connected to it can move along a second direction under the drive of the deformation generated by the actuator, the second direction intersecting the first direction.

[0012] In another aspect, the present invention provides a multimodal micro brake, comprising: a linear output mechanism, a rotary output mechanism, a transmission mechanism, and the aforementioned linear motion actuator. The linear motion actuator is connected to both the linear output mechanism and the rotary output mechanism via the transmission mechanism. When the linear motion actuator moves in a second direction, the linear output mechanism is driven to perform linear motion, and simultaneously, the rotary output mechanism is driven to perform rotary motion.

[0013] In another aspect, the present invention provides a robot, wherein the end effector of the robot includes the linear motion actuator or the multimodal micro actuator.

[0014] Compared with the prior art, the advantages of the present invention include:

[0015] The present invention provides a multimodal micro actuator that overcomes the contradiction between the low energy efficiency ratio and the output force and repetitive response frequency of electrochromic smart materials through ingenious structural design. Under low voltage (5V-12V) power supply at the back end, it drives several actuators formed by electrochromic smart materials to contract together, increasing the rotation angle and linear displacement distance, and has excellent output torque.

[0016] The present invention provides a multimodal micro brake that replaces the braking device such as the motor in the traditional rotary machine with an actuator formed of several adjustable and controllable electrochromic smart materials. The force output by the linear motion actuator is directly transmitted to the output shaft, avoiding the energy loss caused by gear and other transmission systems, and greatly saving physical space and weight.

[0017] The present invention provides a multimodal micro brake that is simple and convenient to control. When energized, the actuator contracts and the rotary motion output mechanism rotates in the forward direction. When de-energized, the coil spring does work and the rotary motion output mechanism rotates in the reverse direction. In actual use, a pulse width modulation signal is input, and the electronic circuit is switched on and off through the drive circuit board, thereby driving the brake to perform rotational and linear movements. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a multimodal micro actuator provided in a typical embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the internal structure of a multimodal micro actuator provided in a typical embodiment of the present invention;

[0020] Figure 3 This is an exploded structural diagram of a multimodal micro actuator provided in a typical embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the rotating body in a multimodal micro brake provided in a typical embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the transmission mechanism in a multimodal micro brake provided in a typical embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of a rotating output shaft in a multimodal micro brake provided in a typical embodiment of the present invention;

[0024] Figure 7 This is a side view of the core structure of a linear motion actuator provided in a typical embodiment of the present invention;

[0025] Figure 8 yes Figure 7 Schematic diagram of the cross-sectional structure of AA;

[0026] Figure 9a , Figure 9b These are, respectively, a bottom view and a top view of the core structure of a linear motion actuator provided in a typical embodiment of the present invention. Detailed Implementation

[0027] In view of the shortcomings of the prior art, the inventors of this invention, through long-term research and extensive practice, have proposed the technical solution of this invention. The following will further explain and illustrate this technical solution, its implementation process, and its principles.

[0028] This invention provides a linear motion actuator, comprising multiple motion actuators and multiple actuators.

[0029] Multiple motion actuators are stacked sequentially along a first direction. Each motion actuator has a first end and a second end that are arranged opposite to each other along a second direction. The first end of one of two adjacent motion actuators and the second end of the other are connected via the actuator.

[0030] The actuator can generate recoverable deformation under external stimulation, and the motion actuator connected to it can move along a second direction driven by the deformation generated by the actuator, the second direction intersecting the first direction.

[0031] Furthermore, the direction of deformation produced by the actuator between any two of the aforementioned motion actuators is the same.

[0032] Furthermore, the plurality of actuators are arranged in parallel.

[0033] Furthermore, two adjacent motion actuators are connected via one actuator.

[0034] Furthermore, each of the first or second ends of the motion actuator is connected to only one of the actuators.

[0035] Furthermore, the plurality of motion actuators and the plurality of actuators are arranged alternately along the first direction, and the plurality of motion actuators are connected end to end in sequence through the plurality of actuators to form a folded structure.

[0036] Furthermore, the actuator is formed of a smart material that is electrochromic, thermochromic, photochromic, or mechanochromic.

[0037] Furthermore, the linear motion actuator also includes an excitation source for applying a stimulus to the actuator to cause the deformation of the actuator. For example, when the actuator is formed of an electrochromic smart material, the excitation source is a power source.

[0038] In a more specific implementation, the actuator is formed of an electrochromic smart material, the motion actuator is a conductive structure, the motion actuator is electrically connected to the actuator, and at least one surface of the motion actuator is provided with an insulator, and two adjacent motion actuators are electrically isolated through the insulator.

[0039] Furthermore, in the first direction, the first and last motion actuators are electrically connected to a drive circuit board, which is electrically connected to an external power supply. More specifically, in the first direction, the first and last motion actuators are respectively connected to the drive circuit board via flexible wires, and then connected to an external power supply. The drive circuit board can be configured with different drive circuits according to the number of motion actuators and their electrical properties to achieve the power required by the external power supply and signal conversion to the actuator.

[0040] Furthermore, the linear motion actuator further includes: a base plate, on which a positioning pin is provided; a guide hole extending along the second direction is provided on the motion actuator; the positioning pin is disposed in the guide hole of the motion actuator; the diameter of the positioning pin is smaller than the width of the guide hole; and the positioning pin is also electrically connected to the drive circuit board. When the positioning pin and the motion actuator move relative to each other along the second direction, the positioning pin can make electrical contact with the first sidewall and the second sidewall of the guide hole, the first sidewall and the second sidewall being disposed opposite each other along the second direction.

[0041] Furthermore, the second direction is the length direction of the motion actuator.

[0042] In another aspect, the present invention provides a multimodal micro brake, comprising: a linear output mechanism, a rotary output mechanism, a transmission mechanism, and the aforementioned linear motion actuator. The linear motion actuator is connected to both the linear output mechanism and the rotary output mechanism via the transmission mechanism. When the linear motion actuator moves in a second direction, the linear output mechanism is driven to perform linear motion, and simultaneously, the rotary output mechanism is driven to perform rotary motion.

[0043] Furthermore, the transmission mechanism includes a linear connecting component and a rotary connecting component. One end of the linear connecting component is connected to the linear motion actuator, and the other end is connected to the linear output mechanism. One end of the rotary connecting component is connected to the linear motion actuator, and the other end is connected to the rotary output mechanism. The rotary output mechanism is capable of rotating around its own axis.

[0044] Furthermore, the rotary connecting component is fixedly connected to the linear connecting component, and the linear connecting component is fixedly connected to at least one of the motion actuators.

[0045] Furthermore, the linear connecting component is fixedly connected to the first motion actuator or the last motion actuator.

[0046] Furthermore, the rotary output mechanism includes a rotary output shaft and a reset mechanism. The rotary connecting component and the reset mechanism are respectively connected to the rotary output shaft. The rotary output shaft is capable of rotating around its own axis. The rotary connecting component and the linear motion actuator are used to provide a first force to cause the rotary output shaft to rotate in a first rotation direction. The reset mechanism is used to provide a second force to cause the rotary output shaft to rotate in a second rotation direction. The first rotation direction and the second rotation direction are opposite.

[0047] Furthermore, the reset mechanism is an elastic mechanism, and the second force is the elastic force provided by the reset mechanism itself.

[0048] Furthermore, the reset mechanism includes a coil spring.

[0049] Furthermore, the rotating connecting component is a flexible connecting component.

[0050] Furthermore, the linear connecting component is a rigid connecting component.

[0051] Furthermore, the linear output mechanism includes a linear output shaft.

[0052] Furthermore, the multimodal micro actuator also includes a housing, in which the transmission mechanism and the linear motion actuator are encapsulated, and at least a portion of the linear output mechanism and the rotary output mechanism extends to the outside of the housing.

[0053] Furthermore, a baffle is provided inside the housing, which isolates the linear output mechanism and the rotary output mechanism in two different spaces.

[0054] Furthermore, one end of the reset mechanism is fixedly connected to the housing, and the other end is fixedly connected to the rotary output shaft.

[0055] In another aspect, the present invention provides a robot, wherein the end effector of the robot includes the linear motion actuator or the multimodal micro actuator.

[0056] Furthermore, the terminal actuator includes a plurality of the aforementioned multimodal micro actuators, which are connected in series and / or in parallel and / or in cascade.

[0057] Furthermore, the terminal actuator has a single degree of freedom or multiple degrees of freedom.

[0058] Furthermore, the robot includes a bionic robot, and the end effector is any one of the hand, foot, wing, or wings of the bionic robot.

[0059] Furthermore, the linear motion actuator or the multimodal micro brake serves as the joint structure of the terminal actuator.

[0060] Furthermore, the robot is a biomimetic flapping-wing aircraft.

[0061] Furthermore, the robot is a micro-robot.

[0062] The following will further explain the technical solution, its implementation process and principle in conjunction with the accompanying drawings. Unless otherwise specified, the electrochromic, thermochromic, photochromic or mechanochromic smart materials used in this invention are known to those skilled in the art and can be obtained commercially. No specific product model is limited here.

[0063] Please see Figures 1-3 A multimodal micro brake includes a housing and a linear output mechanism 8, a rotary output mechanism, a transmission mechanism 5, and a linear motion actuator 6 encapsulated within the housing. Parts of the linear output mechanism 8 and the rotary output mechanism are exposed outside the housing or extend from inside the housing. The linear motion actuator 6 is simultaneously connected to the linear output mechanism 8 and the rotary output mechanism via the transmission mechanism 5. When the linear motion actuator 6 outputs linear motion drive, the linear output mechanism 8 and the rotary output mechanism can be driven by the linear motion actuator 6 at the same time. Specifically, the linear output mechanism 8 is driven to perform linear motion, and the rotary output mechanism is driven to perform rotary motion.

[0064] Specifically, the linear output mechanism 8, the rotary output mechanism, and the housing are all in a movable fit. Specifically, the linear output mechanism 8 can move linearly relative to the housing along its own axis (i.e., axial direction), and the rotary output mechanism can rotate relative to the housing around its own axis. More specifically, the linear motion direction of the linear output mechanism 8 is parallel to the direction of the linear motion drive output by the linear motion actuator 6, and the rotation axis direction of the rotary motion of the rotary output mechanism intersects the direction of the linear motion drive output by the linear motion actuator 6. In particular, the rotation axis direction of the rotary motion of the rotary output mechanism is perpendicular to the direction of the linear motion drive output by the linear motion actuator 6.

[0065] Specifically, the linear output mechanism 8 includes a linear output shaft, a part of which extends out of the housing, and the other part is connected to the linear motion actuator 6 via the transmission mechanism 5.

[0066] Specifically, the rotary output mechanism includes a rotary body 3, a rotary output shaft 4, and a reset mechanism 7. The rotary body 3 is fixedly connected to the rotary output shaft 4, and the rotary output shaft 4 is rotatably connected to the housing. The rotary body 3 is not directly connected to the housing, and the rotary body 3 can rotate about the rotary output shaft 4. The reset mechanism 7 is fixedly connected to the housing and the rotary body 3 respectively. The rotary body 3 is also connected to the linear motion actuator 6 via the transmission mechanism 5. The rotary body 3 can rotate under the combined action of the reset mechanism 7 and the linear motion actuator 6. More specifically, the linear motion actuator 6 is used to provide a first force to cause the rotary body 3 to rotate in a first rotation direction via the rotary connection component 501, and the reset mechanism 7 is used to provide a second force to cause the rotary body 3 to rotate in a second rotation direction. The first rotation direction and the second rotation direction are opposite. It should be noted that the rotary body 3 and the rotary output shaft 4 are fixedly connected and can move synchronously. Therefore, the force applied to the rotary body 3 is equivalent to the force applied to the rotary output shaft 4.

[0067] Specifically, the reset mechanism is an elastic mechanism, and the second force is the elastic force provided by the reset mechanism itself. For example, the reset mechanism includes a coil spring, which can be sleeved on the rotating output shaft 4. The rotating body 3 is provided with a positioning hole 302 for the coil spring to connect with it.

[0068] Specifically, the rotary output shaft 7 and the rotating body 3 can be integrally formed, or they can be combined by a fixed connection. More specifically, taking the fixed connection of the rotary output shaft 7 and the rotating body 3 as an example, the rotating body 3 is provided with a mounting hole that matches the rotary output shaft 7. A portion of the rotary output shaft 7 is set in the mounting hole of the rotating body 3. Multiple spaced bosses are provided on the circumferential side of the rotary output shaft 7, and multiple spaced slots 303 are provided on the wall of the mounting hole. The bosses on the rotary output shaft 7 can be correspondingly inserted into the slots 303 on the wall of the mounting hole, thereby enabling the rotary output shaft 7 and the rotating body 3 to rotate synchronously. Of course, the bosses can also be provided on the wall of the mounting hole, and the slots can also be provided on the circumferential side of the rotary output shaft 7.

[0069] Specifically, the housing is also provided with shaft holes, and the two ends of the rotary output shaft 7 are respectively set in the shaft holes of the housing and maintain a rotational fit with the shaft holes. The shaft holes can position / limit the rotary output shaft 7 to prevent the rotary output shaft 7 from shifting or tilting during rotation. In order to better achieve a rotational fit between the rotary output shaft 7 and the housing, bearings and other structures can also be provided between the rotary output shaft 7 and the shaft holes to reduce the friction between the rotary output shaft 7 and the housing.

[0070] More specifically, the housing may include a first housing 1 and a second housing 2, which are connected by a detachable structure. The linear output mechanism 8, the rotary output mechanism, the transmission mechanism 5, and the linear motion actuator 6 are encapsulated between the first housing 1 and the second housing 2. To avoid motion interference between the linear output mechanism 8 and the rotary output mechanism, a baffle is also provided on the first housing 1 and / or the second housing 2. The baffle isolates the linear output mechanism 8 and the rotary output mechanism in two independent spaces. More specifically, the baffle, the first housing 1, and the second housing 2 enclose a first driving space and a second driving space that are isolated from each other. The linear output mechanism 8 and the rotary output mechanism are respectively encapsulated in the first driving space and the second driving space, thereby preventing external debris from entering the device and interfering with the motion.

[0071] Please refer to the following for details. Figures 4-6 The transmission mechanism 5 is mainly used to transmit the drive provided by the linear motion actuator 6 to the linear output mechanism 8 and the rotary output mechanism. Accordingly, the transmission mechanism 5 includes a rotary connecting component 501 and a linear connecting component 502. One end of the linear connecting component 502 is connected to the linear motion actuator 6, and the other end is fixedly connected to the linear output shaft of the linear output mechanism 8. One end of the rotary connecting component 501 is connected to the linear motion actuator 6, and the other end is fixedly connected to the rotating body 3 of the rotary output mechanism.

[0072] It is understandable that the rotary connecting part 501 and the linear connecting part 502 can be connected to the linear motion actuator 6 independently. Of course, the rotary connecting part 501 and the linear connecting part 502 can also be fixedly connected. The rotary connecting part 501 and the linear connecting part 502 respectively correspond to the rotary connecting part and the linear connecting part of the transmission mechanism. That is, it can be understood that the rotary connecting part 501 and the linear connecting part 502 are fixedly connected, and the fixedly connected part is directly fixedly connected to the linear motion actuator 6.

[0073] Specifically, the rotary connecting component 501 is provided with a connecting through hole. Correspondingly, a column 301 is provided on the circumferential rotation surface of the rotating body 3. The column 301 is disposed within the connecting through hole, and at least the radial dimension of the end of the column 301 away from the rotating body 3 is larger than the diameter of the first connecting through hole to ensure that the column 301 will not detach from the connecting through hole, thus preventing the rotary connecting component 501 from separating from the rotating body 3. Of course, the rotary connecting component 501 can also be fixedly connected to the rotating body 3 through other connecting structures. Specifically, the connection structure / method between the linear connecting component 502 and the linear motion output shaft can be the same as the connection structure / method between the rotary connecting component 501 and the rotating body 3.

[0074] Specifically, the rotary connecting component 501 is a flexible connecting component made of soft material to drive the rotating body 3 to rotate, and the linear connecting component 502 is a rigid connecting component made of hard material to directly drive the linear output shaft to move.

[0075] Please refer to the following for details. Figure 7 , Figure 8 , Figure 9a , Figure 9b The linear motion actuator 6 includes a drive circuit board (i.e., the aforementioned substrate) 604, a fixing plate 605, a plurality of motion actuators 606, and a plurality of actuators 601. The substrate 605 is fixedly mounted on the drive circuit board 604. The plurality of motion actuators 606 and the plurality of actuators 601 are alternately stacked on the drive circuit board 604 along a first direction. Each motion actuator 606 has a first end and a second end that are arranged opposite to each other along a second direction. The first end of one of two adjacent motion actuators 606 and the second end of the other are connected by an actuator 601. 606. Multiple actuators 601 are stacked alternately along a first direction and connected end to end to form a folded structure. The actuators 601 can generate recoverable deformation under external stimulation. The motion actuators 606 connected to them can move along a second direction under the drive of the deformation generated by the actuators 601. The last / topmost motion actuator of the principle drive circuit board is fixedly connected to the transmission mechanism 5. The first direction is the stacking direction of the multiple motion actuators 606 and the multiple actuators 601, and the second direction is the length direction of the motion actuators 606. The first direction and the second direction intersect perpendicularly.

[0076] It should be noted that, since the drive circuit board 604 has electronic components, and these electronic components have a certain height, the fixing plate 605 is mainly used to electrically isolate the drive circuit board 604 and the motion actuator, and to make flat contact with the motion actuator and the insulator, so that the stacked motion actuators can achieve parallel movement when retracted. In addition, the fixing plate 605 is also fitted on the positioning pin 602, which can increase the structural strength of the positioning pin 602 to a certain extent and buffer the inertial force during actuation overshoot.

[0077] Specifically, the direction of deformation of the actuator 601 between any two motion actuators 606 is the same, and the multiple actuators 601 are preferably arranged in parallel; more specifically, two adjacent motion actuators 606 are connected by one actuator 601, that is, the first end or the second end of each motion actuator 606 is connected to only one actuator 601. It can be understood that any two adjacent motion actuators 606 and the actuator 601 located between the two motion actuators 606 form a Z-shaped structure. When the actuator 601 is stimulated and deforms, it can pull the motion actuator 606 to translate along its own length direction. When multiple actuators 601 are stimulated and deform at the same time, they can pull multiple motion actuators 606 to translate along their own length direction at the same time. The displacement of each motion actuator 606 along the second direction is very small, but the displacements of multiple motion actuators 606 will be superimposed, so that the linear motion actuator 6 outputs the required displacement output.

[0078] Specifically, the linear motion actuator 6 is disposed inside the housing along the first direction. The drive circuit board 604 has positioning holes at its four corners, and studs are disposed in the positioning holes. The drive circuit board 604 is fixedly connected to the housing via the studs to restrict the movement of the drive circuit board in the parallel direction. In the first direction, the folded structure formed by multiple motion actuators 606 and multiple actuators 601 is restricted between the housings.

[0079] Specifically, the actuator 601 is formed of an electrochromic smart material, and the motion actuator 606 is a conductive structure. The motion actuator 606 is electrically connected to the actuator 601. Among the multiple motion actuators 606, the first motion actuator, one motion actuator in the middle region, and the last / topmost motion actuator are electrically connected to the drive circuit board 604 via flexible electrical connection lines (e.g., copper wires) 603. The drive circuit board 604 is electrically connected to a power source. Specifically, the first motion actuator is electrically connected to the positive terminal on the drive circuit board 604, the last motion actuator is electrically connected to the negative terminal on the drive circuit board 604, and one motion actuator in the middle region is electrically connected to the detection terminal on the drive circuit board 604. The power source can apply electrical excitation to the multiple actuators 601 through the drive circuit board 604, and the detection terminal on the drive circuit board 604 can detect whether the actuator 601 has retracted into place.

[0080] It should be noted that both the motion actuator 606 and the actuator 601 are sheet-like components. The first motion actuator is the one closest to the drive circuit board, and the last motion actuator is the one farthest from the drive circuit board. In addition, the actuator can also be formed of thermochromic, photochromic, or mechanochromic smart materials.

[0081] Specifically, at least one side surface of the motion actuator 606 is provided with an insulator 607, and two adjacent motion actuators 606 are electrically isolated by the insulator 607. It should be noted that the insulator 607 can be regarded as an insulating layer fixedly bonded to the surface of the motion actuator 606.

[0082] Specifically, a positioning pin 602 is provided on the substrate 605 or the drive circuit board 604, and a guide hole extending along the second direction is provided on the motion actuator 606 and the actuator 601. The positioning pin 602 is disposed in the guide hole, and the diameter of the positioning pin 602 is smaller than the width of the guide hole. Furthermore, the positioning pin is electrically connected to the drive circuit board 604. When the positioning pin and the motion actuator 606 move relative to each other along the second direction, the positioning pin 602 can make electrical contact with the first sidewall and the second sidewall of the guide hole. The first sidewall and the second sidewall are arranged opposite to each other along the second direction. When the multiple motion actuators 606 retract into place, the positioning pin 602 makes electrical contact with the first sidewall or the second sidewall of the guide hole of the actuator 601 and the motion actuator 606, thereby connecting the motion actuator 606, the actuator 601 and the detection resistor / circuit on the drive circuit board 604, and triggering the receipt of the positioning prompt (the circuit outputs a voltage signal to the external detection point, or a surface-mount LED diode can be provided).

[0083] The working process of the multimodal micro actuator provided by this invention includes at least the following:

[0084] Initially (without power), the actuator 601 is in an extended state. After power is applied, multiple actuators 601 contract simultaneously, and the contraction displacement of each actuator 601 is very short, so the response speed is very fast. The actuators 601 formed by the electrochromic smart material are energized and contract, which drives each layer of motion actuator 606 and insulator 607 to move. Since several actuators 601 can be set, the displacement of multiple actuators 601 is superimposed, so the rotation angle is further increased. The transmission mechanism 5 drives the rotating body 3 to rotate and the linear output shaft to move, and the coil spring 7 is tightened.

[0085] When rotating in the reverse direction, the actuator 601 is de-energized, the coil spring 7 is released, causing the rotating body 3 and the rotary output shaft 4 to rotate in the reverse direction, and the transmission mechanism 5 pushes the linear output shaft to move until the coil spring 7 is completely released.

[0086] The reciprocating motion can be detected by the detection end, which can detect the tension state of the actuator 601. When the detection end detects that the actuator 601 has contracted to its limit, it will disconnect the circuit and relax the actuator 601. When the actuator 601 relaxes to its limit, it will reconnect the circuit, thereby realizing the reciprocating motion. Disconnecting the detection end will turn off the reciprocating motion.

[0087] This invention provides a multimodal micro-actuator that can be used independently as a micro-rotary servo (brake) or a micro-linear servo (brake). It is also suitable for applications such as actuators, brakes, and rotators using novel smart materials like thermochromic, photochromic, and mechanochromic actuators in various electric drives. The electrochromic smart material component can be replaced by any functional material with controllable and measurable contraction and deformation. Furthermore, this multimodal micro-actuator can be connected in series, parallel, or cascade to form multi-degree-of-freedom actuators for points, lines, and surfaces (including curved surfaces). By replacing the actuator housing, it can be used as a single or multi-degree-of-freedom joint mechanism for biomimetic robots, such as hands, feet, wings, etc.

[0088] The multimodal micro brake provided by this invention can replace the motor part in traditional servo motors and rotators. It can achieve miniaturization and lightweight, and has both rotational and linear drive functions. It can be used as a micro rotary servo motor or a micro linear servo motor. Furthermore, it is applicable to the application of various electric drive thermochromic, photochromic, and force-chromic new smart materials such as actuators, brakes, and rotators. The electrochromic smart material part forming the actuator can be replaced by any functional material with controllable and measurable contraction and deformation.

[0089] This invention provides a multimodal micro brake based on smart materials, which can replace several sets of series linkage mechanisms and actuators in combination with electrochromic smart materials. It solves the problems of small output stroke, poor maintenance and expandability, single function (linear / rotation), and difficult control of smart material brakes, and has shape memory effect, hyperelasticity and high damping.

[0090] The present invention provides a multimodal micro actuator that overcomes the contradiction between the low energy efficiency ratio and the output force and repetitive response frequency of electrochromic smart materials through ingenious structural design. Under low voltage (5V-12V) power supply at the back end, it drives several actuators formed by electrochromic smart materials to contract together, increasing the rotation angle and linear displacement distance, and has excellent output torque.

[0091] This invention provides a multimodal micro brake that replaces the motor and other braking devices in traditional rotary actuators with actuators formed from several adjustable and controllable electrochromic smart materials. The force output by the linear motion actuator is directly transmitted to the output shaft, avoiding energy loss caused by gear transmission systems and greatly saving physical space and weight. Furthermore, the multimodal micro brake provided by this invention is simple and convenient to control. When energized, the actuator contracts, and the rotary motion output mechanism rotates forward; when de-energized, the coil spring performs work, and the rotary motion output mechanism reverses. Therefore, both rotary and linear braking output modes can be achieved simply by controlling the circuit's on / off state.

[0092] It should be understood that the above embodiments are merely illustrative of the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A multimodal micro actuator, characterized in that, include: Linear output mechanisms, rotary output mechanisms, transmission mechanisms, and linear motion actuators; The linear motion actuator includes multiple motion actuators and multiple actuators. The multiple motion actuators are stacked sequentially along a first direction. Each motion actuator has a first end and a second end that are arranged opposite each other along a second direction. The first end of one of two adjacent motion actuators and the second end of the other are connected via the actuator. The actuator can generate recoverable deformation under external stimulation, and the motion actuator connected to it can move along the second direction under the drive of the deformation generated by the actuator. The second direction intersects the first direction. The transmission mechanism includes a linear connecting component and a rotary connecting component. The rotary connecting component is fixedly connected to the linear connecting component. One end of the linear connecting component is fixedly connected to the first or last motion actuator, and the other end is connected to the linear output mechanism. One end of the rotary connecting component is connected to the linear motion actuator, and the other end is connected to the rotary output mechanism. The rotary output mechanism is capable of rotating around its own axis. The rotary output mechanism includes a rotary output shaft and a reset mechanism. The rotary connecting component and the reset mechanism are respectively connected to the rotary output shaft. The rotary output shaft is capable of rotating about its own axis. The rotary connecting component and the linear motion actuator are used to provide a first force to cause the rotary output shaft to rotate in a first rotation direction. The reset mechanism is used to provide a second force to cause the rotary output shaft to rotate in a second rotation direction. The first rotation direction and the second rotation direction are opposite. When the linear motion actuator moves along the second direction, the linear output mechanism can be driven to perform linear motion, and at the same time, the rotary output mechanism is driven to perform rotary motion.

2. The multimodal micro actuator according to claim 1, characterized in that: The reset mechanism is an elastic mechanism, and the second force is the elastic force provided by the reset mechanism itself.

3. The multimodal micro actuator according to claim 2, characterized in that: The reset mechanism includes a coil spring.

4. The multimodal micro actuator according to claim 1, characterized in that: The rotary connecting component is a flexible connecting component.

5. The multimodal micro actuator according to claim 1, characterized in that: The linear connecting component is a rigid connecting component.

6. The multimodal micro actuator according to claim 1, characterized in that: The linear output mechanism includes a linear output shaft.

7. The multimodal micro actuator according to claim 1, characterized in that: The multimodal micro actuator also includes a housing, in which the transmission mechanism and the linear motion actuator are encapsulated, and at least a portion of the linear output mechanism and the rotary output mechanism extends to the outside of the housing.

8. The multimodal micro actuator according to claim 7, characterized in that: The housing is also equipped with a baffle, which isolates the linear output mechanism and the rotary output mechanism in two different spaces.

9. The multimodal micro actuator according to claim 7, characterized in that: One end of the reset mechanism is fixedly connected to the housing, and the other end is fixedly connected to the rotary output shaft.

10. The multimodal micro actuator according to claim 1, characterized in that: The direction of deformation produced by the actuator between any two of the aforementioned motion actuators is the same.

11. The multimodal micro actuator according to claim 1 or 10, characterized in that: The plurality of actuators are arranged in parallel.

12. The multimodal micro actuator according to claim 1 or 10, characterized in that: Two adjacent motion actuators are connected via one actuator.

13. The multimodal micro actuator according to claim 12, characterized in that: Each of the first or second ends of the motion actuator is connected to only one of the actuators.

14. The multimodal micro actuator according to claim 13, characterized in that: Multiple motion actuators and multiple actuators are arranged alternately along a first direction, and the multiple motion actuators are connected end to end in sequence through multiple actuators to form a folded structure.

15. The multimodal micro actuator according to claim 1, characterized in that: The actuator is formed from smart materials that are electrochromic, thermochromic, photochromic, or mechanochromic.

16. The multimodal micro actuator according to claim 1, characterized in that: The linear motion actuator further includes an excitation source for applying a stimulus to the actuator to cause the deformation of the actuator.

17. The multimodal micro actuator according to claim 1, characterized in that: The actuator is formed of an electrochromic smart material, the motion actuator is a conductive structure, the motion actuator is electrically connected to the actuator, and at least one side surface of the motion actuator is provided with an insulator, and two adjacent motion actuators are electrically isolated through the insulator.

18. The multimodal micro actuator according to claim 17, characterized in that: In the first direction, the first and last motion actuators are electrically connected to a drive circuit board, which is electrically connected to an external power supply.

19. The multimodal micro actuator according to claim 18, characterized in that, Also includes: A substrate is provided with a positioning pin, and a motion actuator is provided with a guide hole extending along the second direction. The positioning pin is disposed in the guide hole, and the diameter of the positioning pin is smaller than the width of the guide hole. Furthermore, the positioning pin is electrically connected to the drive circuit board. When the positioning pin and the motion actuator move relative to each other along the second direction, the positioning pin can make electrical contact with the first sidewall and the second sidewall of the guide hole. The first sidewall and the second sidewall are both disposed opposite to each other along the second direction.

20. The multimodal micro actuator according to claim 19, characterized in that: The current output structure and the current input structure are disposed on the substrate.

21. The multimodal micro actuator according to claim 19, characterized in that: The second direction is the length direction of the motion actuator.

22. A robot, characterized in that: The robot's terminal actuator includes the multimodal micro actuator as described in any one of claims 1-21.

23. The robot according to claim 22, characterized in that: The terminal actuator includes multiple multimodal micro actuators, which are connected in series and / or parallel and / or cascaded.

24. The robot according to claim 23, characterized in that: The terminal actuator has a single degree of freedom or multiple degrees of freedom.

25. The robot according to claim 22, characterized in that: The robot includes a bionic robot, and the terminal actuator is any one of the hands, feet, wings, or wings of the bionic robot.

26. The robot according to claim 25, characterized in that: The linear motion actuator or the multimodal micro brake serves as the joint structure of the terminal actuator.

27. The robot according to claim 22, characterized in that: The robot is a biomimetic flapping-wing aircraft.

28. The robot according to claim 22, characterized in that: The robot in question is a micro-robot.

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