A force sensing-driving integrated intelligent structure based on nickel-titanium alloy and a construction method thereof

Abstract

The application provides a force sensing-driving integrated intelligent structure based on a nickel-titanium alloy and a construction method thereof, and belongs to the field of intelligent materials and structures. The construction method of the force sensing-driving integrated intelligent structure based on the nickel-titanium alloy can realize the integration of sensing and driving by segmentally controlling the same nickel-titanium alloy material to form regions with driving capability and sensing capability respectively, can realize real-time sensing of the output force of the structure, and can feedback and adjust the output force. The force sensing-driving integrated intelligent structure based on the nickel-titanium alloy endows the traditional nickel-titanium alloy driver with force sensing capability, further expands the connotation of the nickel-titanium alloy as an intelligent material, and has important significance for developing a new generation of flexible and miniaturized drivers.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of smart materials and structures, and particularly relates to a force sensing-driving integrated smart structure based on nickel-titanium alloy and a construction method thereof. BACKGROUND

[0002] In the application of smart precision driver, it is often necessary to configure an external force sensor to monitor the interaction force between the driver and the external load, so as to realize the precise control of the driver on the basis of force feedback. However, the configuration of the external force sensor will cause the driver system to be large in size and complex in structure, which is difficult to meet the requirements of the new generation of driver for flexibility and miniaturization.

[0003] Nickel-titanium alloy has become a new type of driving material widely used in the field of smart materials and structures due to its large deformation, large recovery force and low cost. Nickel-titanium alloy with different initial phase states exhibits different properties: when the initial state is martensite, it has shape memory effect, and the size and shape will change with temperature, showing driving properties; when the initial state is austenite, it has superelasticity, and its resistance has a significant functional relationship with stress or strain, showing sensing properties. Therefore, in addition to the driving function, nickel-titanium alloy also has force sensing function. However, the problems and difficulties in realizing force sensing and driving integration are as follows: (1) the resistance of superelastic nickel-titanium alloy and stress show serious hysteresis nonlinearity, and the resistance and stress are not one-to-one corresponding relationship; (2) how to realize the driving and sensing functions on the same nickel-titanium alloy material still needs to be explored. SUMMARY

[0004] The present application is carried out to solve the above problems, and aims to realize the driving and force sensing functions on the same nickel-titanium alloy material, and provide a force sensing-driving integrated smart structure based on nickel-titanium alloy and a construction method thereof.

[0005] The application provides a construction method of a force sensing-driving integrated intelligent structure based on a nickel-titanium alloy, and has the following characteristics: S10, the nickel-titanium alloy wire is sequentially subjected to in-furnace solid solution treatment, multi-pass cold drawing and annealing treatment, and the base material has the characteristics of hysteresis-free super-elasticity and force sensing after the treatment; S20, the nickel-titanium alloy wire after the treatment in step S10 is marked as two segments, namely a sensing segment and a driving segment; S30, the driving segment is subjected to direct current aging treatment, and the driving segment has a shape memory effect after the treatment, and the length of the driving segment can be shrunk by direct heating or indirect heating by passing through a direct current; S40, one end of the nickel-titanium alloy wire after the treatment in step S30 is fixed, different loads are applied to one end with the sensing segment and recorded, and the resistance data of the sensing segment under the corresponding loads are recorded by a resistance meter connected to the two ends of the sensing segment, the different loads are fitted with the resistance data, and a sensing model of resistance-load is established; S50, the two ends of the driving segment are connected to a driving direct current power supply, and the driving direct current power supply and the resistance meter are connected to a controller; and S60, the controller receives the real-time resistance data of the sensing segment measured by the resistance meter, calculates the corresponding real-time load size according to the sensing model, adjusts the current size of the driving direct current power supply, and realizes the control of outputting a load with a specific size by making the length of the driving segment shrink.

[0006] In the construction method of the force sensing-driving integrated intelligent structure based on the nickel-titanium alloy provided by the application, the nickel-titanium alloy wire has the following characteristics: in step S10, the material of the nickel-titanium alloy wire is near-equiatomic, the mass percentage of nickel is 54.5%, the solid solution treatment temperature is 800 DEG C, and the treatment time is 1h.

[0007] In the construction method of the force sensing-driving integrated intelligent structure based on the nickel-titanium alloy provided by the application, the nickel-titanium alloy wire has the following characteristics: in step S10, the initial phase of the nickel-titanium alloy wire is austenite, and the nickel-titanium alloy wire is amorphous after the multi-pass cold drawing.

[0008] In the construction method of the force sensing-driving integrated intelligent structure based on the nickel-titanium alloy provided by the application, the nickel-titanium alloy wire has the following characteristics: in step S10, the total drawing reduction of the nickel-titanium alloy wire after the multi-pass cold drawing is greater than 60%.

[0009] In the construction method of the force sensing-driving integrated intelligent structure based on the nickel-titanium alloy provided by the application, the nickel-titanium alloy wire has the following characteristics: in step S10, the annealing treatment includes in-furnace annealing or direct current annealing, the nickel-titanium alloy wire after the annealing treatment is an austenite / amorphous / nanocrystalline composite structure, and the base material has the characteristics of hysteresis-free super-elasticity and force sensing after the annealing treatment.

[0010] In the construction method of the force sensing and driving integrated smart structure based on the nickel-titanium alloy provided by the application, the driving section can be in the martensite phase after the direct current aging treatment in step S30.

[0011] In the construction method of the force sensing and driving integrated smart structure based on the nickel-titanium alloy provided by the application, the size of the load can be recorded by the force sensor connected to one end of the sensing section in step S40.

[0012] The application further provides a force sensing and driving integrated smart structure based on the nickel-titanium alloy, which is constructed by the construction method of the force sensing and driving integrated smart structure based on the nickel-titanium alloy according to any one of the preceding embodiments.

[0013] In the force sensing and driving integrated smart structure based on the nickel-titanium alloy provided by the application, the force sensing and driving integrated smart structure based on the nickel-titanium alloy can further comprise: a nickel-titanium alloy wire, comprising a sensing section and a driving section connected to each other, the driving section having a shape memory effect and being capable of shrinking when heated, and the sensing section having a super-elasticity without hysteresis and force sensing characteristics; a resistance meter connected to both ends of the sensing section and used for measuring the resistance of the sensing section in real time; a driving direct current power source connected to both ends of the driving section; and a controller connected to the resistance meter and the driving direct current power source, receiving the real-time resistance data of the sensing section measured by the resistance meter, calculating the corresponding real-time load size according to a sensing model, and adjusting the current size of the driving direct current power source to make the driving section shrink in length so as to realize the control of outputting a load of a specific size.

[0014] In the force sensing and driving integrated smart structure based on the nickel-titanium alloy provided by the application, the sensing section and the driving section can be integrally formed.

[0015] Effects of the application

[0016] According to the nickel-titanium alloy-based force sensing and driving integrated intelligent structure and the construction method thereof, the nickel-titanium alloy-based force sensing and driving integrated intelligent structure is constructed through the following steps: S10, the nickel-titanium alloy wire is sequentially subjected to in-furnace solid solution treatment, multi-pass cold drawing and annealing treatment, and the treated base body has the characteristics of super-elasticity and force sensing; S20, the nickel-titanium alloy wire after the treatment in step S10 is marked as two segments, which are respectively marked as a sensing segment and a driving segment; S30, the driving segment is subjected to direct current aging treatment, and the driving segment after the treatment has a shape memory effect, and the length of the driving segment can be shrunk by direct heating or indirect heating by passing through direct current; S40, one end of the nickel-titanium alloy wire after the treatment in step S30 is fixed, different loads are applied to one end having the sensing segment and recorded, and the resistance data of the sensing segment under the corresponding loads are recorded by a resistance meter connected to the two ends of the sensing segment, the different loads are fitted with the resistance data, and a sensing model of resistance-load is established; S50, the driving segment is connected with a driving direct current power supply, and the driving direct current power supply and the resistance meter are connected with a controller; and S60, the controller receives the real-time resistance data of the sensing segment measured by the resistance meter, calculates the corresponding real-time load size according to the sensing model, adjusts the current size of the driving direct current power supply, and realizes the control of outputting a load with a specific size by shrinking the length of the driving segment.

[0017] Therefore, the construction method of the nickel-titanium alloy-based force sensing and driving integrated intelligent structure can realize the integration of sensing and driving by segmentally regulating the same nickel-titanium alloy material to obtain regions with driving capability and sensing capability, can realize real-time sensing of the output force size of the structure, and can feed back and adjust the output force. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic diagram of a nickel-titanium alloy-based force sensing and driving integrated intelligent structure according to an embodiment of the present application;

[0019] Figure 2 is a flow chart of a construction method of a nickel-titanium alloy-based force sensing and driving integrated intelligent structure according to an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of step S14 of a construction method of a nickel-titanium alloy-based force sensing and driving integrated intelligent structure according to an embodiment of the present application;

[0021] Figure 4Schematic diagram of steps S20 and S30 of a method for constructing a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to an embodiment of the present invention;

[0022] Figure 5 4 is a schematic diagram of step S40 of a method for constructing a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments, combined with the accompanying drawings, specifically illustrate a force sensing-driving integrated intelligent structure based on nickel-titanium alloy and its construction method of the present invention.

[0024] <Example>

[0025] Figure 1 This is a schematic diagram of a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to an embodiment of the present invention.

[0026] like Figure 1 As shown, this embodiment provides a force sensing-driving integrated intelligent structure 100 based on nickel-titanium alloy, including a nickel-titanium alloy wire 10, an ohmmeter 20, a driving DC power supply 30 and a controller 40.

[0027] The nickel-titanium alloy wire 10 includes a driving segment 11 and a sensing segment 12 .

[0028] The driving section 11 is in a martensite phase and has a shape memory effect. Direct heating or indirect heating by applying direct current can shrink the length of the driving section.

[0029] The sensing section 12 exhibits hysteresis-free superelasticity, and its resistance and the stress it receives have a quasi-linear relationship, and has a sensing function. This quasi-linear relationship is recorded as a resistance-load sensing model.

[0030] The driving section 11 and the sensing section 12 are designed as an integral unit.

[0031] The resistance meter 20 is connected to both ends of the sensing segment 12 through a wire, and is used to measure the resistance of the sensing segment 12 in real time.

[0032] The driving DC power supply 30 is connected to both ends of the driving segment 11 through wires, and is used to apply variable DC power to the driving segment 11 to cause it to contract.

[0033] The controller 40 is connected to the resistance meter 20 and the driving DC power supply 30 through wires. The controller 40 receives the signal of the resistance of the sensing segment 12 measured in real time by the resistance meter 20, and controls the driving DC power supply 30 to apply a corresponding real-time load to the driving segment 11 according to the resistance-load sensing model.

[0034] Figure 2 is a flow chart of a construction method of a force sensing-driving integrated intelligent structure based on nickel-titanium alloy.

[0035] As shown in Figure 2 , the embodiment provides a construction method of a force sensing-driving integrated intelligent structure based on nickel-titanium alloy, which is used for constructing the force sensing-driving integrated intelligent structure 100 based on nickel-titanium alloy in the embodiment and includes the following steps.

[0036] S10, the nickel-titanium alloy wire 10 is sequentially subjected to in-furnace solid solution treatment, multi-pass cold drawing and annealing treatment, including the following sub-steps.

[0037] S11, material selection: selecting a nickel-titanium alloy wire 10 with an initial state of austenite and a diameter of 0.3 mm, and the material of the nickel-titanium alloy wire 10 is near-equiatomic, and the mass percentage of nickel element is 54.5%;

[0038] S12, in-furnace solid solution treatment: placing the nickel-titanium alloy wire 10 into a furnace at 800℃, and taking it out after 1h of solid solution treatment and water quenching;

[0039] S13, multi-pass cold drawing: the nickel-titanium alloy wire 10 after the solid solution treatment in step S12 is subjected to multi-pass cold drawing, and no annealing treatment is performed between passes, the final material diameter is 0.15 mm, the total area reduction is 75%, and the structure realizes amorphization;

[0040] S14, annealing treatment: cutting the nickel-titanium alloy wire 10 after the treatment in step S13 to 150 mm, and connecting a direct current power supply 30 at both ends for direct current annealing treatment, the connection relationship is as shown in Figure 3 , wherein Figure 3 is a schematic diagram of step S14 of the construction method of the force sensing-driving integrated intelligent structure based on nickel-titanium alloy of the embodiment of the present application.

[0041] In this step, the treated material is an austenitic phase amorphous / nanocrystalline composite structure, which has the characteristics of no hysteresis super-elasticity and force sensing.

[0042] S20, marking: marking 13 is made at the middle 100 mm of the nickel-titanium alloy wire 10 after the treatment in step S14, the nickel-titanium alloy wire 10 with a length of 100 mm on the left side of the marking 13 is used as the driving segment 11, and the nickel-titanium alloy wire 10 with a length of 50 mm on the right side of the marking 13 is used as the sensing segment 12.

[0043] In this step, the schematic diagram of the marking is as shown in Figure 4 . Wherein Figure 4is a schematic diagram of steps S20 and S30 of a construction method of a force sensing-driving integrated smart structure based on nickel-titanium alloy according to an embodiment of the present application.

[0044] S30, direct current aging treatment: connect the driving section 11 at both ends to the direct current power supply 30 through wires and perform direct current aging treatment, and the connection relationship is as shown in Figure 4 .

[0045] In this step, the driving section 11 after treatment is in martensite phase and has shape memory effect, and direct heating or indirect heating by passing direct current can make the driving section 11 shrink in length; the sensing section 12 shows super-elasticity without hysteresis, and the resistance and stress have a quasi-linear relationship, and has sensing function.

[0046] S40, calibration of sensing characteristics: fix one end of the driving section 11 of the nickel-titanium alloy wire 10 after treatment in step S30, apply different loads at one end of the sensing section 12, and measure and record through the force sensor 1. At the same time, connect the resistance meter 20 at both ends of the sensing section 12 through wires, record the resistance data of the sensing section 12 under the corresponding load, and fit the different loads and resistance data to establish a quasi-linear resistance-load sensing model.

[0047] The connection relationship in this step is as shown in Figure 5 , wherein, Figure 5 is a schematic diagram of step S40 of a construction method of a force sensing-driving integrated smart structure based on nickel-titanium alloy according to an embodiment of the present application.

[0048] S50, connection of each element: connect the driving section 12 at both ends to the driving direct current power supply 30 through wires, and connect the driving direct current power supply 30 and the resistance meter 20 to the controller 40 through wires respectively.

[0049] S60, realize the function of driving-sensing integration: store the sensing model in the controller 40. Fix one end of the driving section 11 of the nickel-titanium alloy wire 10, and connect an external load at one end of the sensing section 12. The controller 40 receives the real-time resistance data of the sensing section 12 measured by the resistance meter 20, and calculates the corresponding real-time load size according to the sensing model, and adjusts the current size of the driving direct current power supply 30 to make the driving section 12 shrink in length, thereby realizing the control of outputting a load of a specific size. Thus, a force sensing-driving integrated smart structure 100 based on nickel-titanium alloy as shown in Figure 1 is constructed.

[0050] Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A method for constructing a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy, characterized in that: The following steps are involved: S10, sequentially performing a furnace solution treatment, a multi-pass cold drawing process, and an annealing process on the nickel-titanium alloy wire, wherein the nickel-titanium alloy wire after the treatment has hysteresis-free superelasticity and force sensing properties; S20, marking the nickel-titanium alloy wire after the processing in step S10 into two segments, respectively labeled as a sensing segment and a driving segment; S30, performing a direct current aging treatment on the driving segment, wherein the driving segment after the treatment has a shape memory effect, and the length of the driving segment can be shrunk by direct heating or indirect heating by applying direct current; S40, fixing the end of the nickel-titanium alloy wire having the driving segment after the processing in step S30, applying different loads to the end having the sensing segment and recording the loads, while simultaneously recording the resistance data of the sensing segment under the corresponding loads using a resistance meter connected to both ends of the sensing segment, fitting the loads of different sizes to the resistance data, and establishing a resistance-load sensing model; S50, connecting both ends of the driving segment to a driving DC power supply, and connecting the driving DC power supply and the resistance meter to a controller respectively; S60, the controller receives the real-time resistance data of the sensing segment measured by the resistance meter, and calculates the corresponding real-time load size according to the sensing model, and shrinks the length of the driving segment by adjusting the current size of the driving DC power supply to achieve control of outputting a specific load size.

2. The method for constructing a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to claim 1, characterized in that: in, In step S10, the material of the nickel-titanium alloy wire is of nearly equal atomic ratio, with nickel element accounting for 54.5% by mass. The solution treatment temperature is 800℃ and the treatment time is 1h.

3. The method for constructing a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to claim 1, characterized in that: in, In step S10, the initial phase of the nickel-titanium alloy wire is an austenite phase, and the nickel-titanium alloy wire is an amorphous phase after undergoing multiple cold drawing processes.

4. The method for constructing a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to claim 1 or 3, characterized in that: in, In step S10, the total drawing reduction ratio of the nickel-titanium alloy wire after multiple cold drawing processes is greater than 60%.

5. The method for constructing a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to claim 1, characterized in that: in, In step S10, the annealing treatment method includes furnace annealing or direct current annealing. The nickel-titanium alloy wire after annealing is an amorphous / nanocrystalline composite structure of an austenite phase, and has hysteresis-free superelasticity and force sensing properties.

6. The method for constructing a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to claim 1, characterized in that: in, In step S30, the driving segment is in a martensite phase after being subjected to direct current aging treatment.

7. The method for constructing a force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to claim 1, characterized in that: in, In step S40, the magnitude of the load is recorded by a force sensor connected to one end of the sensing segment.

8. A force sensing-actuating integrated intelligent structure based on nickel-titanium alloy, characterized in that: It is prepared by the construction method of the nickel-titanium alloy-based force sensing-driving integrated intelligent structure described in any one of claims 1 to 7.

9. The force sensing-actuating integrated intelligent structure based on nickel-titanium alloy according to claim 8, characterized in that: include: A nickel-titanium alloy wire comprising a sensing segment and a driving segment connected to each other, wherein the driving segment has a shape memory effect and contracts when heated, and the sensing segment has hysteresis-free superelasticity and force sensing properties; an ohmmeter connected to both ends of the sensing segment and used to measure the resistance of the sensing segment in real time; A driving DC power supply is connected to both ends of the driving section; as well as The controller is connected to the resistance meter and the driving DC power supply, receives the real-time resistance data of the sensing segment measured by the resistance meter, calculates the corresponding real-time load size according to the sensing model, and shrinks the length of the driving segment by adjusting the current size of the driving DC power supply, thereby achieving control of outputting a specific load size.

10. The nickel-titanium alloy-based integrated force sensing and driving intelligent structure according to claim 8, characterized in that: in, The sensing section and the driving section are designed to be integrally formed.

Images