Actuating device

Abstract

The invention belongs to the technical field of actuating devices, and discloses an actuating device which comprises a supporting base, a swing arm, a brake elastic piece, a brake piece, a first shape memory alloy wire and a second shape memory alloy wire, the swing arm is installed on the supporting base and can swing relative to the supporting base, and the brake elastic piece is connected to the supporting base and can rotate relative to the supporting base. The brake part is connected to the supporting base through the brake elastic part, the brake elastic part is configured to drive the brake part to abut against and lock the swing arm, the first shape memory alloy wire is arranged on the supporting base and can drive the swing arm to swing when powered on, and the second shape memory alloy wire is arranged on the supporting base and can drive the swing arm to swing when powered on. The brake part can be driven to be away from the release swing arm during power-on work. According to the brake device, the brake piece is supported by the brake elastic piece, related parts and structures, such as a rotating shaft and a bearing, which are rotationally connected are omitted, the tolerance requirement is reduced, and on the basis that the locking effect of the brake piece is guaranteed, the occupied space can be effectively reduced, and the preparation cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of actuating devices, and in particular to an actuating device. Background Art

[0002] Shape memory alloy (SMA) is an alloy that returns to its shape before deformation when heated. Shape memory alloy wire is a wire made of shape memory alloy. When used, an electric current is passed through the shape memory alloy wire to generate Joule heat to achieve deformation of the shape memory alloy wire. Compared with traditional electromechanical, hydraulic, pneumatic and other devices, the actuating device using shape memory alloy wire has the advantages of simple structure, high energy density, low noise, stability and reliability, and can be widely used in bionic robots, micro-electromechanical systems, aerospace and other fields. In the existing actuating device, the swing arm movement is driven by the shape memory alloy wire to generate the actuating stroke, but in order to maintain the actuating stroke, the shape memory alloy wire needs to be continuously energized, which consumes a lot of energy.

[0003] In order to solve the above problem, in the prior art, a swingable brake arm is provided to lock the swing arm against the swing arm, so as to maintain the actuating stroke. However, in order to ensure the locking effect when it is rotated into place, the existing brake arm occupies a large space during assembly and has high tolerance requirements, which increases the manufacturing cost. Summary of the invention

[0004] The object of the present invention is to provide an actuating device which can effectively reduce the occupied space of the brake structure, lower the tolerance requirements, and reduce the manufacturing cost.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] An actuating device comprising:

[0007] Support seat;

[0008] A swing arm, mounted on the support base, capable of swinging relative to the support base;

[0009] A brake elastic member connected to the support seat;

[0010] a brake member, the brake member being connected to the support seat through the brake elastic member, the brake elastic member being configured to drive the brake member to abut against and lock the swing arm;

[0011] A first shape memory alloy wire is disposed on the support seat, and when the first shape memory alloy wire is powered on, it can drive the swing arm to swing;

[0012] The second shape memory alloy wire is arranged on the support seat. When the second shape memory alloy wire is powered on, it can drive the brake component to move away from and release the swing arm.

[0013] Preferably, the brake elastic member comprises a first fixed arm, a first middle portion and a first movable arm which are connected in sequence, the first fixed arm is connected to the support seat, and the first movable arm is connected to the brake member.

[0014] Preferably, it further comprises a swing arm elastic member, and the swing arm is connected to the support seat via the swing arm elastic member.

[0015] Preferably, the swing arm elastic member includes a second fixed arm, a second middle part and a second movable arm connected in sequence, the second fixed arm is connected to the support seat, and the second movable arm is connected to the swing arm.

[0016] Preferably, the swing arm is rotatably connected to the support seat.

[0017] Preferably, two first shape memory alloy wires are provided, and the two first shape memory alloy wires can drive the swing arm to swing in opposite directions.

[0018] Preferably, the swing arm is provided with a traction portion, an execution portion and a stop portion, the first shape memory alloy wire is configured to drive the traction portion to move, and the brake member is configured to abut against the stop portion.

[0019] Preferably, the stop portion is a curved surface, and when the actuator moves to different positions, the brake member abuts against different positions of the curved surface.

[0020] Preferably, the brake component is provided with a force-bearing portion, and the second shape memory alloy wire is configured to drive the force-bearing portion to move.

[0021] Preferably, a sensor is further included, wherein the sensor is disposed on the support seat and is configured to detect the position of the actuator of the swing arm.

[0022] Beneficial effects of the present invention:

[0023] The brake component is connected to the support seat through a brake elastic component. On the support seat, the brake component is completely supported by the brake elastic component. The brake elastic component itself can drive the brake component to lock the swing arm, so that the swing arm can achieve zero holding energy and efficiently maintain the actuation stroke, thereby ensuring the locking effect. The second shape memory alloy wire can drive the brake component to pull the brake elastic component for elastic deformation, so that the brake component moves away from the swing arm. When the brake component moves away from the swing arm, the swing arm can be unlocked, and related components and structures of rotating connections such as rotating shafts and bearings are omitted, thereby reducing tolerance requirements. This ensures that the brake component can effectively reduce the occupied space and reduce the preparation cost compared to the existing brake arm while ensuring the locking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the actuating device according to the first embodiment of the present invention;

[0025] Figure 2 is a rear view of the actuating device according to the first embodiment of the present invention;

[0026] Figure 3 is a schematic structural diagram of the actuating device according to the first embodiment of the present invention with the swing arm and the brake member omitted;

[0027] Figure 4 is a schematic structural diagram of the swing arm according to the first embodiment of the present invention;

[0028] Figure 5 is a schematic structural diagram of a brake component according to Embodiment 1 of the present invention;

[0029] Figure 6 is a structural schematic diagram of an actuating device according to Embodiment 2 of the present invention;

[0030] Figure 7 is a rear view of an actuating device according to a second embodiment of the present invention;

[0031] Figure 8 is a schematic structural diagram of another actuating device according to the second embodiment of the present invention;

[0032] Fig. 9 It is a rear view of another actuating device described in the second embodiment of the present invention.

[0033] In the figure:

[0034] 1. Support seat; 11. Bottom support plate; 12. Partition plate;

[0035] 2. Swing arm; 21. Pulling part; 22. Executing part; 23. Stopping part;

[0036] 3. Braking elastic member; 31. First fixed arm; 32. First middle part; 33. First movable arm;

[0037] 4. Brake parts; 41. Force bearing parts;

[0038] 5. The first shape memory alloy wire;

[0039] 6. A second shape memory alloy wire;

[0040] 7. Swing arm elastic member; 71. Second fixed support arm; 72. Second middle portion; 73. Second movable support arm. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar parts or parts having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0042] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, it can be a mechanical connection or an electrical connection, it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0044] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0045] Embodiment 1

[0046] like Figure 1-Figure 5 As shown, this embodiment provides an actuating device, including a support seat 1, a swing arm 2, a brake elastic member 3, a brake member 4, a first shape memory alloy wire 5, and a second shape memory alloy wire 6. The swing arm 2 is mounted on the support seat 1 and can swing relative to the support seat 1, the brake elastic member 3 is connected to the support seat 1, the brake member 4 is connected to the support seat 1 through the brake elastic member 3, the brake elastic member 3 is configured to drive the brake member 4 to abut against and lock the swing arm 2, the first shape memory alloy wire 5 is arranged on the support seat 1, and when the first shape memory alloy wire 5 is powered on, it can drive the swing arm 2 to swing, and the second shape memory alloy wire 6 is arranged on the support seat 1, and when the second shape memory alloy wire 6 is powered on, it can drive the brake member 4 away from the release swing arm 2.

[0047] In the present invention, the brake component 4 is connected to the support base 1 through the brake elastic component 3. On the support base 1, the brake component 4 is completely supported by the brake elastic component 3. The brake elastic component 3 itself can drive the brake component 4 to lock the swing arm 2, so that the swing arm 2 can achieve zero holding energy and efficiently maintain the actuation stroke, thereby ensuring the locking effect. The second shape memory alloy wire 6 can drive the brake component 4 to pull the brake elastic component 3 for elastic deformation, so that the brake component 4 is away from the swing arm 2. When the brake component 4 is away from the swing arm 2, the swing arm 2 can be unlocked, and related components and structures of rotating connections such as rotating shafts and bearings are omitted, thereby reducing tolerance requirements, so that the brake component 4 can effectively reduce the occupied space and reduce the preparation cost compared to the existing brake arm while ensuring the locking effect.

[0048] Specifically, the support base 1 includes a bottom support plate 11 and a partition plate 12, the brake elastic member 3 is mounted on the bottom support plate 11, the partition plate 12 is vertically connected to the bottom support plate 11, and the wire clamp of the first shape memory alloy wire 5 and the wire clamp of the second shape memory alloy wire 6 are located on both sides of the partition plate 12. The above arrangement makes the first shape memory alloy wire 5 and the second shape memory alloy wire 6 safer when powered on.

[0049] In this embodiment, the bottom support plate 11 is in an elongated strip shape, the layout direction of the partition plate 12 is parallel to the length direction of the bottom support plate 11 , the wire clamp of the first shape memory alloy wire 5 is fixed to the bottom support plate 11 , and the wire clamp of the second shape memory alloy wire 6 is fixed to the partition plate 12 .

[0050] Specifically, the swing arm 2 is provided with a traction portion 21, an execution portion 22 and a stop portion 23, the first shape memory alloy wire 5 is configured to drive the traction portion 21 to move, and the brake member 4 is configured to abut against the stop portion 23. The above arrangement makes the cooperation between the swing arm 2, the first shape memory alloy wire 5 and the brake member 4 smoother, and safer and more reliable during operation.

[0051] More specifically, the stop portion 23 is a curved surface, and when the execution portion 22 moves to different positions, the brake member 4 abuts against different positions of the curved surface. The above arrangement avoids poor abutment of the brake member 4 due to the deflection of the swing arm 2, and ensures the locking effect of the brake member 4.

[0052] In this embodiment, the actuator 22 and the stop portion 23 are located at both ends of the swing arm 2, the traction portion 21 is located between the actuator 22 and the stop portion 23, the swing axis of the swing arm 2 relative to the support seat 1 is the support axis, and the distance from the traction portion 21 to the support axis is smaller than the distance from the actuator 22 to the support axis, so that when the first shape memory alloy wire 5 drives the swing arm 2 to move, the actuation stroke is effectively improved on the basis of ensuring the driving force value and response speed.

[0053] Specifically, the traction portion 21 is a convex head structure, and the first shape memory alloy wire 5 is wound around the traction portion 21. The above arrangement facilitates the first shape memory alloy wire 5 to apply a force to the traction portion 21.

[0054] More specifically, a winding groove is provided on the convex head structure of the traction portion 21 , and the first shape memory alloy wire 5 extends into the winding groove, thereby preventing the first shape memory alloy wire 5 from escaping from the traction portion 21 .

[0055] In this embodiment, a straight rod is provided at one end of the swing arm 2, and a block is provided at the other end. The cross-sectional area of ​​the straight rod is smaller than that of the block. The execution part 22 is a through hole provided on the straight rod, which is convenient for connecting and assembling other components and is more flexible in movement. The stop part 23 is provided on the end face of the block, which has a larger area and is more reliable when subjected to force braking. The traction part 21 is a circular or square convex column, and the axis is parallel to the extension direction of the first shape memory alloy wire 5. Two wire clamps matching the first shape memory alloy wire 5 are provided on the support seat 1, and the two ends of the first shape memory alloy wire 5 are respectively connected to the two wire clamps. After being wound on the traction part 21, the two sections of the first shape memory alloy wire 5 are parallel to each other.

[0056] In other embodiments, the traction portion 21 may also be a threading channel provided on the swing arm 2 , which makes assembly safer and prevents the first shape memory alloy wire 5 threaded therein from being easily detached from the swing arm 2 .

[0057] Specifically, the brake elastic member 3 includes a first fixed arm 31, a first middle portion 32 and a first movable arm 33 which are connected in sequence, the first fixed arm 31 is connected to the support seat 1, and the first movable arm 33 is connected to the brake member 4. The above arrangement enables the first movable arm 33 to approach the first fixed arm 31 when the second shape memory alloy wire 6 drives the brake elastic member 3 to deform elastically, so as to drive the brake member 4 to be efficiently away from the swing arm 2, thereby realizing rapid unlocking of the swing arm 2.

[0058] In this embodiment, the brake elastic member 3 is a bent spring sheet in a V-shape or a U-shape, and the first fixed arm 31 and the first movable arm 33 are in a plate shape, which makes the connection and assembly with the support base 1 and the brake member 4 more reliable. In other embodiments, the brake elastic member 3 can also be a common elastic member such as a coil spring.

[0059] Specifically, the brake member 4 is provided with a force-bearing portion 41, and the second shape memory alloy wire 6 is configured to drive the force-bearing portion 41 to move. The above arrangement facilitates the second shape memory alloy wire 6 to safely and reliably apply force to the brake member 4.

[0060] More specifically, the force bearing portion 41 is a convex head structure, and the second shape memory alloy wire 6 is wound around the force bearing portion 41. The above arrangement makes the transmission of the force between the second shape memory alloy wire 6 and the brake member 4 more stable and reliable.

[0061] More specifically, a winding groove is provided on the convex head structure of the force-bearing portion 41 , and the second shape memory alloy wire 6 extends into the winding groove, thereby preventing the second shape memory alloy wire 6 from falling off from the force-bearing portion 41 .

[0062] In this embodiment, the force-bearing portion 41 is a circular or square convex column, the axis of which is perpendicular to the extension direction of the second shape memory alloy wire 6, and two wire clamps matching the second shape memory alloy wire 6 are arranged on the support seat 1, and the two ends of the second shape memory alloy wire 6 are respectively connected to the two wire clamps. After being wound around the force-bearing portion 41, the two sections of the second shape memory alloy wire 6 are parallel to each other.

[0063] In other embodiments, the force-bearing portion 41 may also be a threading channel disposed on the brake component 4 , which makes assembly safer and prevents the second shape memory alloy wire 6 threaded therein from being easily detached from the brake component 4 .

[0064] Specifically, two first shape memory alloy wires 5 are provided, and the two first shape memory alloy wires 5 can drive the swing arm 2 to swing in opposite directions. In the above configuration, the two first shape memory alloy wires 5 cooperate with each other to drive the actuator 22 of the swing arm 2 to generate a stroke in both positive and negative directions, thereby further improving the actuation stroke.

[0065] More specifically, each first shape memory alloy wire 5 is provided with a traction portion 21 , and the two traction portions 21 are parallel to each other and spaced apart.

[0066] More specifically, the first shape memory alloy wire 5 and the second shape memory alloy wire 6 are located on both sides of the thickness direction of the brake member 4. The above arrangement avoids mutual influence and interference between the first shape memory alloy wire 5 and the second shape memory alloy wire 6.

[0067] In this embodiment, when both first shape memory alloy wires 5 are powered off, the actuator 22 is in an intermediate state. When one first shape memory alloy wire 5 is powered on, the actuator 22 can be driven to swing in a positive direction by a set distance through the traction portion 21 wound around it. When the other first shape memory alloy wire 5 is powered on, the actuator 22 can be driven to swing in a negative direction by a set distance through the traction portion 21 wound around it.

[0068] Specifically, the actuating device further includes a swing arm elastic member 7, and the swing arm 2 is connected to the support seat 1 through the swing arm elastic member 7. The swing arm 2 is connected to the support seat 1 through the swing arm elastic member 7. On the support seat 1, the swing arm 2 is completely supported by the swing arm elastic member 7. The first shape memory alloy wire 5 can drive the swing arm 2 to pull the swing arm elastic member 7 for elastic deformation, so that the swing arm 2 swings, and the related components and structures of the rotation connection such as the rotating shaft and the bearing are omitted, and the tolerance requirements are reduced. Compared with the existing rotation connection matching structure, it can effectively reduce the occupied space and reduce the preparation cost.

[0069] More specifically, the swing arm elastic member 7 includes a second fixed arm 71, a second middle portion 72, and a second movable arm 73 connected in sequence, the second fixed arm 71 is connected to the support seat 1, and the second movable arm 73 is connected to the swing arm 2. The above arrangement enables the second movable arm 73 to approach the second fixed arm 71 when the first shape memory alloy wire 5 drives the swing arm elastic member 7 to elastically deform, so as to drive the swing arm 2 efficiently.

[0070] In this embodiment, the brake elastic member 3 is a bent spring sheet in a V-shape or a U-shape, and the second fixed arm 71 and the second movable arm 73 are in a plate shape, which makes the connection and assembly with the support base 1 and the swing arm 2 more reliable. In other embodiments, the brake elastic member 3 can also be a common elastic member such as a coil spring.

[0071] In this embodiment, in the length direction of the bottom support plate 11, the traction portion 21 and the execution portion 22 are located on one side of the swing arm elastic member 7, and the stop portion 23 is located on the other side of the swing arm elastic member 7. In the length direction of the swing arm 2, the second movable support arm 73 of the swing arm elastic member 7 is connected between the stop portion 23 and the traction portion 21. When the two first shape memory alloy wires 5 are both powered off, the execution portion 22 is stopped in an intermediate state under the drive of the swing arm elastic member 7.

[0072] The actuator of this embodiment can be used in the fields of AR, VR, cameras, etc., and can drive the optical module to change focus, or drive the display module to move.

[0073] Embodiment 2

[0074] This embodiment provides an actuating device, and its components identical or corresponding to those in the first embodiment are denoted by the same or corresponding reference numerals as those in the first embodiment. For simplicity, only the differences between this embodiment and the first embodiment are described below.

[0075] The difference between this embodiment and the first embodiment is that the swing arm 2 is rotatably connected to the support base 1. The above arrangement makes the swing of the swing arm 2 more stable and reliable, and the displacement more precise.

[0076] Compared with the structure in the prior art in which the swing arm and the brake arm are both rotatably connected, in this embodiment, since the brake arm is replaced by the brake component 4, the brake component 4 is completely supported by the brake elastic component 3, and related components and structures of rotatable connection such as the rotating shaft and bearing are omitted, so that the structure of the brake component 4 is more compact and occupies less space.

[0077] In this embodiment, the support base 1 is provided with a rotating shaft, the swing arm 2 is sleeved on the rotating shaft, and the rotating shaft is located between the traction part 21 and the execution part 22 .

[0078] like Figure 6 and Figure 7 As shown, if the space occupied by the swing arm in the prior art is maintained, the overall space occupied by the actuator can be effectively reduced.

[0079] like Figure 8 and Fig. 9 As shown, if the overall space occupied by the actuating device in the prior art is maintained, the length of the swing arm 2 can be effectively extended, thereby increasing the actuating stroke.

[0080] Embodiment 3

[0081] This embodiment provides an actuating device, and its components identical or corresponding to those in the first embodiment are denoted by the same or corresponding reference numerals as those in the first embodiment. For simplicity, only the differences between this embodiment and the first embodiment are described below.

[0082] The difference between this embodiment and the first embodiment is that: the first shape memory alloy wire 5 is provided with one, the first shape memory alloy wire 5 can drive the swing arm 2 to swing to the first limit position, and the swing arm elastic member 7 can drive the swing arm 2 to swing to the second limit position. The above arrangement further reduces the cost.

[0083] In this embodiment, when the first shape memory alloy wire 5 is powered off, the actuator 22 is driven by the swing arm elastic member 7 to swing in the positive direction by a set distance. When the first shape memory alloy wire 5 is powered on, the actuator 22 can be driven to swing in the negative direction by a set distance through the traction portion 21 wound around it.

[0084] Embodiment 4

[0085] This embodiment provides an actuating device, and its components identical or corresponding to those in the first embodiment are denoted by the same or corresponding reference numerals as those in the first embodiment. For simplicity, only the differences between this embodiment and the first embodiment are described below.

[0086] The difference between this embodiment and the first embodiment is that: a plurality of first shape memory alloy wires 5 are provided, and the plurality of first shape memory alloy wires 5 are divided into a plurality of grades, and the deformation amounts of the first shape memory alloy wires 5 of any two grades when powered on are different. The above arrangement enables the actuator 22 to have a plurality of set actuation strokes.

[0087] The first shape memory alloy wires 5 of different grades may have the same size but different materials, or different size but the same material, or both different size and material, so that they have different deformation amounts when powered on. The above size refers to wire diameter and wire length.

[0088] As shown in the following table, taking the first shape memory alloy wire 5 made of Ni-Ti and the first shape memory alloy wire 5 made of Ni-Ti-Cu as examples, the maximum tension and maximum deformation thereof under different size specifications are described:

[0089]

[0090] In this embodiment, in the multiple levels of first shape memory alloy wires 5, each level is provided with two first shape memory alloy wires 5, and the two first shape memory alloy wires 5 of each level can drive the swing arm 2 to rotate in opposite directions. In the above arrangement, the two first shape memory alloy wires 5 of each level cooperate with each other to drive the actuator 22 of the swing arm 2 to produce a stroke in both positive and negative directions, thereby increasing the actuation stroke corresponding to each level.

[0091] Embodiment 5

[0092] This embodiment provides an actuating device, and the same or corresponding parts as those in the above embodiment are marked with the same or corresponding reference numerals as those in the above embodiment. For the sake of simplicity, only the differences between this embodiment and the above embodiment are described below.

[0093] On the basis of any of the above embodiments, the actuating device of this embodiment further includes a sensor, which is disposed on the support seat 1 and is configured to detect the position of the actuator 22 of the swing arm 2 .

[0094] In the actuating device of this embodiment, by providing a sensor, the position of the actuator 22 of the swing arm 2 can be accurately detected and controlled, thereby accurately controlling the actuating stroke.

[0095] Specifically, the actuating device further includes a controller, which can control the first shape memory alloy wire 5 and the second shape memory alloy wire 6 to move to a set position according to the detection information of the sensor. The current position of the actuator 22 is determined by the sensor and fed back to the controller in real time, so that the controller can quickly drive the actuator 22 of the swing arm 2 to move to the set position.

[0096] More specifically, when the controller performs feedback control through the sensor, in order to avoid excessive vibration of the overall structure, a gel or damping structure is set on the actuator. The gel or damping structure interferes with the swing of the swing arm 2, so that the actuator 22 can move more stably and reliably.

[0097] In this embodiment, the gel or damping structure is disposed on the support base 1 , which can interfere with the swing of the swing arm 2 .

[0098] In the first embodiment, the sensor is a current sensor such as a Hall sensor, a TMR sensor, etc. that uses the magnetoelectric effect to detect distance, and is arranged on the support seat 1. A magnet that cooperates with the current sensor is arranged on the swing arm 2. When the swing arm 2 swings, it drives the magnet to move. The current sensor can detect the position of the magnet, thereby obtaining the real-time position of the actuator 22 of the swing arm 2.

[0099] In the second embodiment, the sensor is a current sensor such as a Hall sensor or a TMR sensor that uses the magnetoelectric effect to detect distance, and is arranged on the support seat 1. A slider is arranged on the support seat 1, and the sliding direction of the slider is perpendicular to the swing axis of the swing arm 2. The actuator 22 of the swing arm 2 is connected to the slider through a spring. When the swing arm 2 swings to a position, the slider slides adaptively to adjust to the corresponding position. A magnet that cooperates with the current sensor is arranged on the slider. When the swing arm 2 swings, the slider drives the magnet to move. The current sensor can detect the position of the magnet, thereby obtaining the real-time position of the actuator 22 of the swing arm 2. In the above embodiment, the detection path of the sensor is converted from rotation to a straight line. According to the flat cable design of the sensor, the position of the detection system can be more flexibly configured to make it closer to the power supply or signal input, or it can be arranged in a place with more abundant space.

[0100] In the third embodiment, the sensor is a photoelectric sensor, which is arranged on the support seat 1. A slider is arranged on the support seat 1. The sliding direction of the slider is perpendicular to the swing axis of the swing arm 2. The actuator 22 of the swing arm 2 is connected to the slider through a spring. When the swing arm 2 swings to a position, the slider adaptively slides and adjusts to the corresponding position. When the swing arm 2 swings, it drives the slider to move. The photoelectric sensor can detect the position of the slider, thereby obtaining the real-time position of the actuator 22 of the swing arm 2.

[0101] In the fourth embodiment, the sensor is a pressure sensor, a positioning block is provided on the support seat 1, the pressure sensor is provided on the positioning block, the actuator 22 of the swing arm 2 is connected to the positioning block through a spring hook, and presses against the pressure sensor. When the swing arm 2 swings to different positions, the hooking pressure of the spring on the pressure sensor is different. The pressure sensor obtains the real-time position of the actuator 22 of the swing arm 2 by detecting the pressure value.

[0102] In this embodiment, the controller outputs by controlling the actions of the first shape memory alloy wire 5 and the second shape memory alloy wire 6, the sensor detects the output result and feeds it back to the controller, and the controller adjusts the control of the first shape memory alloy wire 5 and the second shape memory alloy wire 6 according to the feedback of the sensor, and finally moves the actuator 22 to the set position. The relevant structures of the controller and the sensor and the circuit control working method are conventional settings in the field and will not be repeated here.

[0103] Embodiment 6

[0104] This embodiment provides an actuation method, using the actuation device of any of the above embodiments, comprising:

[0105] The second shape memory alloy wire 6 is powered on to drive the brake member 4 away from the swing arm 2;

[0106] The first shape memory alloy wire 5 is powered on to drive the traction part 21 to move to a set position;

[0107] The second shape memory alloy wire 6 is de-energized, and the brake elastic member 3 drives the brake member 4 to abut against the swing arm 2 .

[0108] In the present invention, the brake component 4 is connected to the support base 1 through the brake elastic component 3. On the support base 1, the brake component 4 is completely supported by the brake elastic component 3. The brake elastic component 3 itself can drive the brake component 4 to lock the swing arm 2, so that the swing arm 2 can achieve zero holding energy and efficiently maintain the actuation stroke, thereby ensuring the locking effect. The second shape memory alloy wire 6 can drive the brake component 4 to pull the brake elastic component 3 for elastic deformation, so that the brake component 4 is away from the swing arm 2. When the brake component 4 is away from the swing arm 2, the swing arm 2 can be unlocked, and related components and structures of rotating connections such as rotating shafts and bearings are omitted, thereby reducing tolerance requirements, so that the brake component 4 can effectively reduce the occupied space and reduce the preparation cost compared to the existing brake arm while ensuring the locking effect.

[0109] Based on the specific structure of the actuating device of the first embodiment, the actuating method of this embodiment specifically includes the following steps:

[0110] Step 1: The second shape memory alloy wire 6 is energized to drive the brake element 4 away from the stop portion 23 .

[0111] In this step, when the second shape memory alloy wire 6 is heated by passing an electric current, its length is shortened, pulling the force-bearing portion 41, causing the brake member 4 to compress the brake elastic member 3, releasing the brake on the swing arm 2, and finally making the swing arm 2 free.

[0112] Step 2: The first shape memory alloy wire 5 is powered on to drive the traction part 21 to move, and the execution part 22 to move to a set position.

[0113] In this step, as needed, when a first shape memory alloy wire 5 is heated by passing an electric current, its length is shortened, and its corresponding traction part 21 is pulled, so that the swing arm 2 swings until the actuator 22 on the swing arm 2 reaches the set position.

[0114] Step 3: The second shape memory alloy wire 6 is powered off, and the brake elastic member 3 drives the brake member 4 to abut against the stop portion 23 .

[0115] In this step, the second shape memory alloy wire 6 is powered off and its length is restored, and the brake elastic member 3 drives the brake member 4 to rotate until the brake member 4 abuts against the stop portion 23 of the swing arm 2, so that the swing arm 2 is in a brake locked state.

[0116] Step 4: The first shape memory alloy wire 5 is powered off, and the brake component 4 maintains the actuation stroke under the drive of the brake elastic component 3 .

[0117] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Actuating device, characterized in that, include: Support seat (1); A swing arm (2) is mounted on the support base (1) and is capable of swinging relative to the support base (1); A brake elastic member (3) connected to the support seat (1); A brake member (4), the brake member (4) being connected to the support seat (1) via the brake elastic member (3), the brake elastic member (3) being configured to drive the brake member (4) to abut against and lock the swing arm (2); A first shape memory alloy wire (5) is arranged on the support seat (1), and when the first shape memory alloy wire (5) is powered on and works, it can drive the swing arm (2) to swing; A second shape memory alloy wire (6) is arranged on the support seat (1); when the second shape memory alloy wire (6) is powered on, it can drive the brake component (4) away from the swing arm (2) to release the swing arm.

2. The actuating device according to claim 1, characterized in that: The brake elastic member (3) comprises a first fixed support arm (31), a first middle portion (32) and a first movable support arm (33) which are connected in sequence, wherein the first fixed support arm (31) is connected to the support seat (1), and the first movable support arm (33) is connected to the brake member (4).

3. The actuating device according to claim 1, characterized in that: It also comprises a swing arm elastic member (7), and the swing arm (2) is connected to the support seat (1) via the swing arm elastic member (7).

4. The actuating device according to claim 3, characterized in that: The swing arm elastic member (7) comprises a second fixed support arm (71), a second middle portion (72) and a second movable support arm (73) which are connected in sequence, wherein the second fixed support arm (71) is connected to the support seat (1), and the second movable support arm (73) is connected to the swing arm (2).

5. The actuating device according to claim 1, characterized in that: The swing arm (2) is rotatably connected to the support seat (1).

6. The actuating device according to claim 1, characterized in that: Two first shape memory alloy wires (5) are provided, and the two first shape memory alloy wires (5) can drive the swing arm (2) to swing in opposite directions.

7. The actuating device according to claim 1, characterized in that: The swing arm (2) is provided with a traction portion (21), an execution portion (22) and a stop portion (23); the first shape memory alloy wire (5) is configured to drive the traction portion (21) to move; and the brake member (4) is configured to abut against the stop portion (23).

8. The actuating device according to claim 7, characterized in that: The abutment portion (23) is a curved surface, and when the execution portion (22) moves to different positions, the brake component (4) abuts against different positions of the curved surface.

9. The actuating device according to claim 1, characterized in that: The brake component (4) is provided with a force-bearing portion (41), and the second shape memory alloy wire (6) is configured to drive the force-bearing portion (41) to move.

10. The actuating device according to any one of claims 1 to 9, characterized in that: It also comprises a sensor, which is arranged on the support seat (1) and is configured to detect the position of the actuator (22) of the swing arm (2).

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