Toggle type bionic rotary actuator based on shape memory alloy driving

Abstract

The invention discloses a shifting type bionic rotary actuator based on shape memory alloy driving, and belongs to the technical field of mechanical automation. The shape memory alloy wires are adopted as driving materials, the driving mechanisms which are evenly distributed are matched with the rotor, and the three shape memory alloy springs jointly drive the rotating shaft to rotate through transmission of the rotor by means of pulling force cooperation of the three shape memory alloy springs. Due to the superelasticity, high tapping weight ratio and high driving force capacity of the shape memory alloy, compared with a traditional actuator, the actuator in the scheme is higher in driving force, higher in anti-interference capacity and simple in structure, and has wide prospects in the fields of precise instruments such as aerospace, biomedical treatment and automation.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical automation, and in particular relates to a toggle-type bionic rotary actuator driven by a shape memory alloy. Background Art

[0002] An actuator is a device that can convert an input signal into mechanical motion or force. The actuator plays a key role in the control system. It can complete the predetermined action according to the instructions issued by the controller, thereby realizing the control of the machine or system. With the continuous development of high-end technology, higher requirements are put forward for the control accuracy and response speed of mechanical equipment. High-performance actuators can meet the needs of automated control in modern industrial production, improve production efficiency and product quality. Therefore, designing a driver that integrates high driving force, lightweight miniaturization, and high intelligence is of great significance to the development of high-end technology.

[0003] As a new type of intelligent material, shape memory alloy has the property of being able to return to its original shape after deformation through heating or other external stimulation means. It has the characteristics of superelasticity, high attack-to-weight ratio, high driving force, etc., and has shown excellent performance in the field of mechanical automation.

[0004] Bionics is to draw inspiration from organisms in nature and imitate their structure and function to solve problems faced by humans. After billions of years of evolution, nature has nurtured countless efficient, energy-saving and sustainable biological systems. Through bionic operation, not only can more environmentally friendly and energy-saving technical products be created, but also innovative thinking can be stimulated to improve the quality of life. This patent is inspired by imitating the swing of bird wings and designs a toggle disc bionic rotary actuator, which has the characteristics of high power-to-weight ratio, high driving force, light weight and miniaturization.

[0005] In summary, the invention of a shape memory alloy rotary actuator with strong output capacity and capable of continuous rotation has very important scientific significance and engineering value. Summary of the invention

[0006] In view of the above problems existing in the prior art, the object of the present invention is to provide a toggle-type bionic rotary actuator driven by a shape memory alloy.

[0007] In order to solve the above problems, the technical solution adopted by the present invention is as follows: A toggle-type bionic rotary actuator driven by shape memory alloy, comprising a bearing end cover, a rotating shaft, a base, a rotor, a sleeve, a first bearing, a second bearing and a housing, wherein the housing is installed above the base, the rotor is installed between the housing and the base, the bearing end cover is arranged on the top of the housing, and the rotating shaft passes through the bearing end cover, the first bearing, the sleeve, the second bearing and is movably connected with the rotor in sequence from top to bottom; The structure of the rotor is two spheres connected by a rod-shaped structure, and the lower sphere is larger than the upper sphere. Three shape memory alloy drivers are equidistantly connected on the same plane outside the lower sphere of the rotor. The upper end of the shape memory alloy driver is connected to the housing, and the lower end is connected to the rotor. The memory alloy driver can be driven by an electrical signal, and the control timings of the drive signals are sequentially different by T / 3.

[0008] Further, the shape memory alloy driver comprises a pre-tightening nut, a slider, a shape memory alloy spring, a hook and a driving block; The three shape memory alloy actuators are shape memory alloy actuator A, shape memory alloy actuator B and shape memory alloy actuator C, and the shape memory alloy actuators have the same structural features; The housing is provided with sliders A, B and C. The sliders have the same structural features. The sliders are two cylinders of different sizes connected by end faces, with their axes on the same line. A thread is provided in the middle of the upper cylinder, and a hexagonal groove is provided on the top surface of the upper cylinder. A hook is provided on the bottom surface of the lower cylinder, and its side surface intersects with a cylinder vertically, and two cuboids are provided on both end surfaces of the cylinder. The slider A in the shape memory alloy driver A is installed in the installation groove of the housing, and the threaded portion on the upper shaft of the slider A passes through the housing to be connected with the pre-tightening nut A; The slider B in the shape memory alloy driver B is installed in the installation groove of the housing, and the threaded portion on the upper shaft of the slider B passes through the housing to be connected with the pre-tightening nut B; The slider C in the shape memory alloy driver C () is installed in the installation groove of the housing and the threaded portion on the upper end shaft of the slider C passes through the housing to be connected with the pre-tightening nut C; The driving block A, the driving block B and the driving block C are arranged on the outer side of the rotor, and the connection methods thereof are all threaded connection; The connection mode of hook A and driving block A is threaded connection, the connection mode of hook B and driving block B is threaded connection, and the connection mode of hook C and driving block C is threaded connection; The upper end of the shape memory alloy spring A in the shape memory alloy actuator A hooks the hook of the slider A, and the lower end hooks the hook A; The upper end of the shape memory alloy spring B in the shape memory alloy actuator B hooks the hook of the slider B, and the lower end hooks the hook B; The upper end of the shape memory alloy spring C in the shape memory alloy driver C hooks the hook of the slider C, and the lower end hooks the hook C.

[0009] Furthermore, the shell is a hollow cylindrical structure with three protrusions equidistantly arranged on the outside. The shape memory alloy driver is arranged in the protrusion and extends downward from the shell to be connected to the rotor. The bottom plate of the outer shell is a triangular bottom plate. The triangular structure of the protrusion and the bottom plate are staggered, which will not affect the connection between the shape memory alloy driver and the rotor.

[0010] Furthermore, the rotor is a sphere with a rotating shaft with a ball head and three threaded holes, the axis of the rotating shaft passes through the center of the sphere, the three threaded holes are evenly distributed on the circumference of the sphere and the center lines of the three threaded holes are all located on a plane perpendicular to the axis of the rotating shaft and passing through the center of the sphere.

[0011] Furthermore, the shell is mounted on the base via a stud with a step.

[0012] Furthermore, a slot matching the first bearing and the second bearing is provided inside the shell, the first bearing and the second bearing are arranged inside the shell through the slot, and the central axis of the slot is the same as the central axis of the rotating shaft.

[0013] Furthermore, the first bearing and the second bearing are deep groove ball bearings.

[0014] Furthermore, the driving signal is a sinusoidal wave voltage signal.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a toggle-type bionic rotary actuator based on shape memory alloy drive, which uses shape memory alloy wire as the driving material, cooperates with the rotor through a uniformly arranged driving mechanism, utilizes the tension of three shape memory alloy springs to cooperate, and realizes the three shape memory alloy springs jointly driving the rotating shaft to rotate through rotor transmission. Due to the superelasticity, high attack-to-weight ratio, and high driving force of shape memory alloy, compared with traditional actuators, the actuator in this scheme has stronger driving force, stronger anti-interference ability, and simple structure, and has broad prospects in the fields of precision instruments such as aerospace, biomedicine, and automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A half-section overall structural schematic diagram of an embodiment; Figure 2 A top view of an embodiment; Figure 3 A diagram of a driving mechanism in an embodiment; Figure 4 is a schematic structural diagram of a rotor in an embodiment; Figure 5 It is a top view of the housing in the embodiment; Figure 6 It is a structural schematic diagram of a slider in an embodiment; Figure 7 A driving signal waveform diagram used in the embodiment structure; Figure 8 It is a front view of the embodiment structure when driven by a driving signal; Fig. 9 It is a top view of the embodiment structure when driven by a driving signal.

[0017] In the figure: 1. bearing end cover; 2. rotating shaft; 3. sleeve; 4. first bearing; 5. second bearing; 6. housing; 7. shape memory alloy driver A; 701. pre-tightening nut A; 702. slider A; 703. shape memory alloy spring A; 704. hook A; 705. drive block A; 8. base; 9. rotor; 10. shape memory alloy driver B; 1001. pre-tightening nut B; 1002. slider B; 1003. shape memory alloy spring B; 1004. hook B; 1005. drive block B; 11. shape memory alloy driver C; 1101. pre-tightening nut C; 1102. slider C; 1103. shape memory alloy spring C; 1104. hook C; 1105. drive block C. DETAILED DESCRIPTION

[0018] The present invention is further described below in conjunction with specific embodiments.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The present invention provides an actuator based on shape memory alloy drive with high anti-interference performance and capable of outputting continuous rotation, which can make up for the defects of current actuators. The actuator has a simple structure and strong operability, and has broad prospects in the fields of precision instruments such as aerospace, biomedicine, and automation.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] like Figure 1 , Figure 2 and Figure 3 As shown, this embodiment provides a toggle-type bionic rotary actuator driven by shape memory alloy, including a bearing end cover 1, a rotating shaft 2, a base 8, a rotor 9, a sleeve 3, a first bearing 4, a second bearing 5 and a shell 6, wherein the shell 6 is installed above the base 8, the rotor 9 is installed between the shell 6 and the base 8, the bearing end cover 1 is arranged on the top of the shell 6, and the rotating shaft 2 passes through the bearing end cover 1, the first bearing 4, the sleeve 3, the second bearing 5 and the rotor 9 from top to bottom and is movably connected.

[0025] The structure of the rotor 9 is two spheres connected by a rod-like structure, and the lower sphere is larger than the upper sphere. Three shape memory alloy drivers are equidistantly connected on the same plane on the outside of the sphere below the rotor 9. The upper end of the shape memory alloy driver is connected to the housing 6, and the lower end is connected to the rotor 9.

[0026] The memory alloy driver can be driven by an electrical signal, and the control timings of the drive signals are sequentially different by T / 3.

[0027] The shape memory alloy driver comprises a pre-tightening nut, a slider, a shape memory alloy spring, a hook and a driving block, and the parts are connected to each other to form an integral structure.

[0028] The three shape memory alloy actuators are shape memory alloy actuator A7, shape memory alloy actuator B10 and shape memory alloy actuator C11, and the shape memory alloy actuators have the same structural features; The housing 6 is provided with Figure 6The sliders A702, B1002 and C1102 shown in the figure have the same structural features. The sliders are two cylinders of different sizes connected by end faces, with their axes on the same line. A thread is provided in the middle of the upper cylinder, and a hexagonal groove is provided on the top surface of the upper cylinder. A hook is provided on the bottom surface of the lower cylinder, and its side surface intersects with a cylinder perpendicularly, and two cuboids are provided on both end surfaces of the cylinder. The slider A702 in the shape memory alloy driver A7 is installed in the installation groove of the housing 6, and the threaded portion on the upper shaft of the slider A702 passes through the housing 6 to be connected with the pre-tightening nut A701; The slider B1002 in the shape memory alloy driver B10 is installed in the installation groove of the housing 6, and the threaded portion on the upper shaft of the slider B1002 passes through the housing 6 to be connected with the pre-tightening nut B1001; The slider C1102 in the shape memory alloy driver C11 is installed in the installation groove of the housing 6, and the threaded portion on the upper shaft of the slider C1102 passes through the housing 6 to be connected with the pre-tightening nut C1101; The driving block A705, the driving block B1005 and the driving block C1105 are arranged on the outer side of the rotor 9, and the connection methods thereof are all threaded connection; The connection mode between the hook A704 and the driving block A705 is threaded connection, the connection mode between the hook B1004 and the driving block B1005 is threaded connection, and the connection mode between the hook C1104 and the driving block C1105 is threaded connection; The upper end of the shape memory alloy spring A703 in the shape memory alloy driver A7 hooks the hook of the slider A702, and the lower end hooks the hook A704; The upper end of the shape memory alloy spring B1003 in the shape memory alloy driver B10 hooks the hook of the slider B1002, and the lower end hooks the hook B1004; The upper end of the shape memory alloy spring C1103 in the shape memory alloy driver C11 hooks the hook of the slider C1102, and the lower end hooks the hook C1104.

[0029] like Figure 4 As shown, the specific structure of the rotor 9 is a shaft with a ball head and a sphere with three threaded holes. The axis of the shaft passes through the center of the sphere. The three threaded holes are evenly distributed on the circumference of the sphere and the center lines of the three threaded holes are all located on a plane perpendicular to the axis of the shaft and passing through the center of the sphere.

[0030] The housing 6 is mounted on the base 8 by means of a stud with a step, and the housing 6 used in this embodiment is a hollow cylindrical structure with three protrusions equidistantly arranged on the outside, the shape memory alloy driver is arranged in the protrusion and extends downward out of the housing 6 to be connected with the rotor 9, the bottom plate of the housing 6 is a triangular bottom plate, the protrusions are staggered from the triangular structure of the bottom plate, and will not affect the connection between the shape memory alloy driver and the rotor 9, the top view thereof is as shown in FIG. Figure 5 shown.

[0031] A slot matching the first bearing 4 and the second bearing 5 is provided inside the housing 6. The first bearing 4 and the second bearing 5 are arranged inside the housing 6 through the slot. The center axis of the slot is the same as the center axis of the rotating shaft 2. At the same time, the first bearing 4 and the second bearing 5 in this embodiment are deep groove ball bearings.

[0032] The driving signal for driving the shape memory alloy actuator is a sinusoidal signal. The driving signal waveform used in this embodiment is as shown in FIG. Figure 7 As shown, the driving signal of shape memory alloy spring A703 can be expressed as U / 2sin(t T / 4)+U / 2, the driving signal of shape memory alloy spring B1003 can be expressed as U / 2sin(t+T / 12)+U / 2, and the driving signal of shape memory alloy spring C1103 can be expressed as U / 2sin(t+5T / 12)+U / 2, where U represents voltage, T represents a complete cycle of the sinusoidal signal, and t represents time. Under the drive of the sinusoidal voltage signal, the three shape memory alloy drivers drive the rotor to swing by controlling the regular deformation of the amplification mechanism, thereby driving the rotating shaft to complete the output continuous rotation motion.

[0033] By using Figure 7 The waveform diagram shown drives the rotary actuator shown in this embodiment, and its specific working state is as follows Figure 8 and Fig. 9 As shown, the corresponding working process is as follows: When the motion cycle is 0, the voltage of shape memory alloy spring A703 is 0, the voltage of shape memory alloy spring B1003 is 3U / 4, and the voltage of shape memory alloy spring C1103 is 3U / 4. This state is called the initial state, at which the length of shape memory alloy spring A703 is La, the length of shape memory alloy spring B1003 is Lb, and the length of shape memory alloy spring C1103 is Lc, that is, state a in the figure.

[0034] When the motion cycle is T / 6, the voltage of shape memory alloy spring A703 is U / 4, the voltage of shape memory alloy spring B1003 is U, and the voltage of shape memory alloy spring C1103 is U / 4. Shape memory alloy spring A703 is shortened to La1 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring B1003 and shape memory alloy spring C1103, shape memory alloy spring B1003 is shortened to Lb1 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring C1103, and shape memory alloy spring C1103 is extended to Lc1 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring B1003. Each shape memory alloy spring realizes timing coordination with the corresponding driving block, so that the rotating shaft 2 rotates clockwise by α, that is, state b in the figure.

[0035] When the motion cycle is 2T / 6, the voltage of shape memory alloy spring A703 is 3U / 4, the voltage of shape memory alloy spring B1003 is 3U / 4, and the voltage of shape memory alloy spring C1103 is 0. Shape memory alloy spring A703 continues to shorten to La2 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring B1003 and shape memory alloy spring C1103, shape memory alloy spring B1003 extends to Lb2 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring C1103, and shape memory alloy spring C1103 continues to extend to Lc2 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring B1003. Each shape memory alloy spring realizes timing coordination with the corresponding driving block, so that the rotating shaft 2 rotates clockwise by β, that is, state c in the figure.

[0036] When the motion cycle is 3T / 6, the voltage of shape memory alloy spring A703 is U, the voltage of shape memory alloy spring B1003 is U / 4, and the voltage of shape memory alloy spring C1103 is U / 4. Shape memory alloy spring A703 continues to shorten to La3 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring B1003 and shape memory alloy spring C1103, shape memory alloy spring B1003 continues to extend to Lb3 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring C1103, shape memory alloy spring C1103 continues to shorten to Lc3 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring B1003, and each shape memory alloy spring realizes timing coordination with the corresponding driving block, so that the rotating shaft 2 rotates clockwise by α, that is, state d in the figure.

[0037] When the motion cycle is 4T / 6, the voltage of shape memory alloy spring A703 is 3U / 4, the voltage of shape memory alloy spring B1003 is 0, and the voltage of shape memory alloy spring C1103 is 3U / 4. Shape memory alloy spring A703 stretches to La4 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring B1003 and shape memory alloy spring C1103, shape memory alloy spring B1003 stretches to Lb4 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring C1103, shape memory alloy spring C1103 continues to shorten to Lc4 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring B1003, and each shape memory alloy spring realizes timing coordination with the corresponding driving block, so that the rotating shaft 2 rotates clockwise by β, that is, state e in the figure.

[0038] When the motion cycle is 5T / 6, the voltage of shape memory alloy spring A703 is U / 4, the voltage of shape memory alloy spring B1003 is U / 4, and the voltage of shape memory alloy spring C1103 is U. Shape memory alloy spring A703 continues to extend to La5 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring B1003 and shape memory alloy spring C1103, shape memory alloy spring B1003 shortens to Lb5 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring C1103, and shape memory alloy spring C1103 continues to shorten to Lc5 under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring B1003. Each shape memory alloy spring realizes timing coordination with the corresponding driving block, so that the rotating shaft 2 rotates clockwise by α, that is, state f in the figure.

[0039] When the motion cycle is T, the voltage of shape memory alloy spring A703 is 0, the voltage of shape memory alloy spring B1003 is 3U / 4, and the voltage of shape memory alloy spring C1103 is 3U / 4. Shape memory alloy spring A703 continues to stretch to La under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring B1003 and shape memory alloy spring C1103, shape memory alloy spring B1003 shortens to Lb under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring C1103, and shape memory alloy spring C1103 stretches to Lc under the excitation of sinusoidal voltage and the joint constraints of shape memory alloy spring A703 and shape memory alloy spring B1003, so that the rotating shaft 2 rotates clockwise by β, that is, state g in the figure. At this point, the actuator has completed a complete cycle, so state g in the figure is the same as state a.

[0040] After one cycle of action, the actuator, under the driving action of the shape memory alloy driver, swings the rotor 9, thereby driving the rotating shaft 2 to rotate one circle. By repeating this process, the rotating shaft 2 can output continuous rotation motion.

[0041] During the entire operation of the actuator, α+β=120°, La=Lc2=Lb4, Lb=La2=Lc4, Lc=Lb2=La4, La1=Lc3=Lb5, Lb1=La3=Lc5, Lc1=Lb3=La5, and the rotation direction of the rotating shaft 2 can be changed by exchanging the voltages of the shape memory alloy spring B and the shape memory alloy spring C.

[0042] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0043] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A toggle-type bionic rotary actuator based on shape memory alloy drive, characterized in that: The invention comprises a bearing end cover (1), a rotating shaft (2), a base (8), a rotor (9), a sleeve (3), a first bearing (4), a second bearing (5) and a housing (6), wherein the housing (6) is mounted above the base (8), the rotor (9) is mounted between the housing (6) and the base (8), the bearing end cover (1) is arranged on the top of the housing (6), and the rotating shaft (2) passes through the bearing end cover (1), the first bearing (4), the sleeve (3), the second bearing (5) in sequence from top to bottom and is movably connected to the rotor (9); The structure of the rotor (9) is two upper and lower spheres connected by a rod-shaped structure, and the lower sphere is larger than the upper sphere. Three shape memory alloy drivers are connected to the outer side of the lower sphere of the rotor (9) at equal distances on the same plane, and the upper end of the shape memory alloy driver is connected to the housing (6), and the lower end is connected to the rotor (9); The memory alloy driver can be driven by an electrical signal, and the control timings of the drive signals are sequentially different by T / 3.

2. The toggle-type bionic rotary actuator based on shape memory alloy drive according to claim 1 is characterized in that: The shape memory alloy driver comprises a pre-tightening nut, a slider, a shape memory alloy spring, a hook and a driving block; The three shape memory alloy actuators are shape memory alloy actuator A (7), shape memory alloy actuator B (10) and shape memory alloy actuator C (11), and the shape memory alloy actuators have the same structural features; The housing (6) is provided with a slider A (702), a slider B (1002) and a slider C (1102). The sliders have the same structural features. The sliders are two cylinders of different sizes connected by end faces, with their axes on the same line. A thread is provided in the middle of the upper cylinder, and a hexagonal groove is provided on the top surface of the upper cylinder. A hook is provided on the bottom surface of the lower cylinder, and its side surface intersects with a cylinder perpendicularly, and two rectangular blocks are provided on both end surfaces of the cylinder. The slider A (702) in the shape memory alloy driver A (7) is installed in the installation groove of the housing (6), and the threaded portion on the upper shaft of the slider A (702) passes through the housing (6) to be connected to the pre-tightening nut A (701); The slider B (1002) in the shape memory alloy driver B (10) is installed in the installation groove of the housing (6), and the threaded portion on the upper shaft of the slider B (1002) passes through the housing (6) to be connected to the pre-tightening nut B (1001); The slider C (1102) in the shape memory alloy driver C (11) is installed in the installation groove of the housing (6), and the threaded portion on the upper shaft of the slider C (1102) passes through the housing (6) to be connected to the pre-tightening nut C (1101); The driving block A (705), the driving block B (1005), and the driving block C (1105) are arranged on the outer side surface of the rotor (9), and are connected in a threaded manner; The connection method between the hook A (704) and the driving block A (705) is threaded connection, the connection method between the hook B (1004) and the driving block B (1005) is threaded connection, and the connection method between the hook C (1104) and the driving block C (1105) is threaded connection; The upper end of the shape memory alloy spring A (703) in the shape memory alloy driver A (7) hooks the hook of the slider A (702), and the lower end hooks the hook A (704); The upper end of the shape memory alloy spring B (1003) in the shape memory alloy driver B (10) hooks the hook of the slider B (1002), and the lower end hooks the hook B (1004); The upper end of the shape memory alloy spring C (1103) in the shape memory alloy driver C (11) hooks the hook of the slider C (1102), and the lower end hooks the hook C (1104).

3. The toggle-type bionic rotary actuator based on shape memory alloy drive according to claim 2 is characterized in that: The shell (6) is a hollow cylindrical structure with three protrusions equidistantly arranged on the outside; the shape memory alloy driver is arranged in the protrusion and extends downward out of the shell (6) to be connected to the rotor (9); the bottom plate of the shell (6) is a triangular bottom plate; the triangular structures of the protrusion and the bottom plate are staggered, which will not affect the connection between the shape memory alloy driver and the rotor (9).

4. The toggle-type bionic rotary actuator based on shape memory alloy drive according to claim 3 is characterized in that: The rotor (9) is a sphere with a rotating shaft having a ball head and three threaded holes, the axis of the rotating shaft passes through the center of the sphere, the three threaded holes are evenly distributed on the circumference of the sphere, and the center lines of the three threaded holes are all located on a plane perpendicular to the axis of the rotating shaft and passing through the center of the sphere.

5. The toggle-type bionic rotary actuator based on shape memory alloy drive according to claim 4 is characterized in that: The housing (6) is mounted on the base (8) via studs with steps.

6. The toggle-type bionic rotary actuator based on shape memory alloy drive according to claim 4 is characterized in that: A slot matching the first bearing (4) and the second bearing (5) is arranged inside the housing (6); the first bearing (4) and the second bearing (5) are arranged inside the housing (6) via the slot; and the central axis of the slot is the same as the central axis of the rotating shaft (2).

7. The toggle-type bionic rotary actuator based on shape memory alloy drive according to claim 6 is characterized in that: The first bearing (4) and the second bearing (5) are deep groove ball bearings.

8. The toggle-type bionic rotary actuator based on shape memory alloy drive according to claim 1, characterized in that: The driving signal is a sinusoidal wave voltage signal.

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