Modularized shape memory alloy driver

Abstract

The invention discloses a modularized shape memory alloy driver. The modularized shape memory alloy driver comprises a main body structure and at least three driving springs, the main body structure comprises two cover plates and a plurality of folding assemblies, each folding assembly is formed by connecting at least two side panels, the multiple folding assemblies are arranged in the circumferential direction of the cover plates, and the two ends of each folding assembly are connected with the two cover plates correspondingly; the driving springs are made of memory alloy materials, the at least three driving springs are arranged in the circumferential direction of the cover plates, and the two ends of the driving springs are connected with the two cover plates correspondingly. When the alloy driver is used, the single driving spring is excited by current, and the single-side bending action of the alloy driver can be realized; when the plurality of driving springs are excited by current, the driver can realize bending action or stretching at any central angle in the circumferential direction. The driver does not need an external device to provide driving force, and is beneficial to reducing the size, reducing the weight and reducing the production difficulty.

Description

Technical Field

[0001] The invention relates to the technical field of modular reconfigurable robots, and in particular to a modular shape memory alloy driver. Background Art

[0002] Modular drive technology has received extensive attention in recent years, especially in the field of robotics. Its modular design and flexible combination capabilities have great potential for application in complex unstructured scenarios. Existing drive modules have adopted a variety of drive technologies. Rigid modules often use motors as drive technology, while flexible modules often use pneumatics, smart materials, etc. as drive technologies.

[0003] The rigid modules of the prior art are generally large in size due to their fixed structure, making it difficult to adapt to irregular spaces or complex deformations, limiting their applicability in complex environments. Although flexible modules have excellent deformation capabilities and can adapt to dynamic changes and complex deformation applications, their soft structure makes it difficult to achieve high motion accuracy. In addition, flexible modules usually use pneumatic drive technology, which requires air pumps and airways, significantly increasing the complexity and manufacturing cost of the equipment. At the same time, the reliable operation of the pneumatic system depends on the high sealing of the module, which not only increases the difficulty of design and manufacturing, but also increases the complexity and cost of subsequent maintenance work.

[0004] Rigid-flexible hybrid modules have been used in existing technologies, and partially solve the above problems by combining the advantages of the rigid part and the flexible part. The rigid part provides the necessary mechanical strength and achieves a certain degree of precision control through sensors; the flexible part improves the flexibility and environmental adaptability of the module. However, this technology still has certain limitations in terms of module integration, lightweight and miniaturization, and cannot fully meet the actual application requirements of high precision and low complexity.

[0005] Shape memory alloy spring drive technology provides a simplified and efficient solution. This technology is driven by electric heating, has a simple structural design, and is easy to integrate into the module. Its miniaturization and lightweight characteristics make it particularly suitable for use in space-constrained and weight-sensitive scenarios. In addition, the special configuration and alloy properties of the shape memory alloy spring enable it to provide a certain driving stroke and a large driving force while maintaining a small volume, significantly improving the availability and efficiency of the module and overcoming many defects of the existing technology. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a modular shape memory alloy actuator with low weight, small volume and high flexibility.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: a modular shape memory alloy driver, comprising a main structure and at least three driving springs; the main structure comprises two cover plates and multiple folding components, the folding components are formed by connecting at least two side panels, multiple folding components are arranged around the circumference of the cover plate, and the two ends of the folding components are respectively connected to the two cover plates; the driving spring is made of memory alloy, at least three driving springs are arranged around the circumference of the cover plate, and the two ends of the driving spring are respectively connected to the two cover plates.

[0008] The beneficial effect of the present invention is that the two end caps of the modular shape memory alloy driver are connected by a folding assembly, so that the entire main structure can be retracted or bent in any direction. When in use, when a single driving spring is excited by current, the modular shape memory alloy driver can achieve a unilateral bending action; when multiple driving springs are excited by current, the modular shape memory alloy driver can achieve a circumferential bending action or retraction at any central angle. The modular shape memory alloy driver does not require an external device to provide driving force, which is conducive to reducing the size, weight, and production difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic diagram of the overall structure of a modular shape memory alloy actuator according to the first embodiment of the present invention; Figure 2 This is a schematic structural diagram of multiple modular shape memory alloy actuators connected in series according to the first embodiment of the present invention (the central spring and the driving spring are hidden).

[0010] Description of labels: 1. Main structure; 11. Cover plate; 111. Positioning groove; 12. Folding assembly; 121. Side panel; 1211. Avoidance window; 1212. Positioning hole; 2. Driving spring; 3. Center spring; 4. Magnetic sensitive elements; 5. Magnetic parts. DETAILED DESCRIPTION

[0011] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0012] Please refer to Figure 1 and Figure 2A modular shape memory alloy driver comprises a main structure 1 and at least three drive springs 2; the main structure 1 comprises two cover plates 11 and a plurality of folding components 12, the folding components 12 are formed by connecting at least two side panels 121, a plurality of the folding components 12 are arranged around the circumference of the cover plate 11, and the two ends of the folding components 12 are respectively connected to the two cover plates 11; the drive spring 2 is made of a shape memory alloy, at least three of the drive springs 2 are arranged around the circumference of the cover plate 11, and the two ends of the drive spring 2 are respectively connected to the two cover plates 11.

[0013] From the above description, it can be seen that the beneficial effect of the present invention is that the two end caps of the modular shape memory alloy driver are connected by a folding assembly 12, so that the entire main structure 1 can be retracted or bent in any direction. When in use, when a single drive spring 2 is excited by current, the modular shape memory alloy driver can achieve a unilateral bending action; when multiple drive springs 2 are excited by current, the modular shape memory alloy driver can achieve a circumferential bending action or retraction at any central angle. The modular shape memory alloy driver does not require an external device to provide driving force, which is conducive to reducing the size, weight, and production difficulty.

[0014] Furthermore, a evacuation window 1211 for evading the driving spring 2 is provided on the side panel 121 .

[0015] It can be seen from the above description that the avoidance window 1211 can prevent the side panel 121 and the driving spring 2 from interfering with each other, which may cause the driver to be unable to complete the preset action.

[0016] Furthermore, each of the folding components 12 is formed by connecting two side panels 121 .

[0017] It can be seen from the above description that the folding assembly 12 has a simple structure, which is helpful to reduce the occurrence of mechanism failure caused by the rotation direction of the side panel 121 being inconsistent with the preset direction.

[0018] Furthermore, the width of the side panel 121 gradually decreases from one end close to the cover plate 11 to the other end.

[0019] It can be seen from the above description that when the folding assembly 12 is folded, the two side panels 121 can rotate toward the inside of the driver, which can effectively reduce the width of the driver and facilitate the movement of the driver in a narrow space.

[0020] Furthermore, it also includes a central spring 3 , and two ends of the central spring 3 are respectively connected to the middle parts of the two cover plates 11 .

[0021] From the above description, it can be seen that the center spring 3 is used to provide restoring stiffness to ensure the basic shape and certain anti-deformation ability of the driver under static conditions; when the driving spring 2 is excited by current to drive the main structure 1, the center spring 3 is compressed, and when the driving spring 2 is disconnected from the current excitation, the elastic force of the center spring 3 and the main structure 1 can enable the driver to reset faster.

[0022] Furthermore, it also includes a magnetic sensitive element 4 and a magnetic member 5 . The magnetic sensitive element 4 is arranged on the cover plate 11 , and the magnetic member 5 is arranged on the side panel 121 .

[0023] It can be seen from the above description that the magnetic sensitive element 4 can sense the position of the magnetic component 5 in real time, thereby monitoring the posture information of the driver in real time.

[0024] Furthermore, the magnetic sensitive element 4 is a Hall sensor.

[0025] Furthermore, the magnetic sensitive element 4 is connected to the cover plate 11 by adhesive bonding.

[0026] It can be seen from the above description that the connection method between the magnetic sensitive element 4 and the cover plate 11 is simple and easy to assemble.

[0027] Furthermore, a positioning groove 111 is formed on the cover plate 11 , and the magnetic sensitive element 4 is disposed in the positioning groove 111 .

[0028] It can be seen from the above description that the positioning groove 111 is used to define the relative position of the magnetic sensitive element 4 and the cover plate 11, which is beneficial to improving the assembly efficiency and assembly accuracy.

[0029] Furthermore, a positioning hole 1212 is opened on the side panel 121 , and the magnetic member 5 is arranged in the positioning hole 1212 .

[0030] It can be seen from the above description that the positioning hole 1212 is used to define the relative position of the magnetic member 5 and the side panel 121, which is beneficial to improving the assembly efficiency and assembly accuracy.

[0031] Please refer to Figure 1 and Figure 2 Embodiment 1 of the present invention is: a modular shape memory alloy actuator, which can be widely used in industrial manufacturing, medical rehabilitation, disaster relief, agricultural operations, educational research and other fields as a motion module for flexible arms, creeping robots, flexible spines and other mechanisms.

[0032] The modular shape memory alloy driver includes a main structure 1 and at least three driving springs 2; the main structure 1 includes two cover plates 11 and a plurality of folding components 12, the folding components 12 are formed by connecting at least two side panels 121, the plurality of folding components 12 are arranged around the circumference of the cover plate 11, and the two ends of the folding components 12 are respectively connected to the two cover plates 11; the driving spring 2 is made of a memory alloy, at least three driving springs 2 are arranged around the circumference of the cover plate 11, and the two ends of the driving spring 2 are respectively connected to the two cover plates 11. This modular shape memory alloy driver can be used individually, or multiple drivers can be connected in series and move together to increase the degree of freedom of the bending shape. When multiple modular shape memory alloy drivers are connected in series, the cover plates 11 of two adjacent modular shape memory alloy main structures 1 are connected (such as Figure 2 as shown).

[0033] In this embodiment, the cover plate 11 and the side panel 121 can be manufactured by 3D printing, laser cutting and the like. The two cover plates 11 have the same shape and size. The cover plate 11 is rectangular, and includes a first side edge, a second side edge, a third side edge and a fourth side edge connected in sequence end to end. The number of folding components 12 is set in a one-to-one correspondence with the number of side edges of the cover plate 11, and the number of folding components 12 is four. Each folding component 12 is formed by connecting two side panels 121, and the ends of the two side panels 121 in each folding component 12 that are away from each other are respectively connected to the side edges of the two cover plates 11. The modular shape memory alloy actuator also includes an outer film, the inner side of the outer film has a certain viscosity, the outer film surrounds the circumference of the cover plate 11 and is adhesively connected end to end, the two sides of the outer film are respectively adhesively connected to the periphery of the two cover plates 11, and the two side panels 121 of the folding component 12 are both adhesively connected to the outer film. Terminals are provided at both ends of the driving spring 2, and the terminals are adhesively connected to the cover plate 11. The number of driving springs 2 is arranged in one-to-one correspondence with the side of the cover plate 11, and the number of driving springs 2 is four. The connection between the driving spring 2 and the cover plate 11 is located in the middle of the side of the cover plate 11. When the driving spring 2 is not excited by current, the two cover plates 11 are arranged at intervals in the first direction, and the two cover plates 11 are perpendicular to the first direction. The two first sides, two second sides, two third sides and two fourth sides respectively arranged on the two cover plates 11 are aligned along the first direction. Among the four driving springs 2, one end of one driving spring 2 is connected to the first side of the cover plate 11, and the other end is connected to the first side of the other cover plate 11; one end of one driving spring 2 is connected to the second side of the cover plate 11, and the other end is connected to the second side of the other cover plate 11; one end of one driving spring 2 is connected to the third side of the cover plate 11, and the other end is connected to the third side of the other cover plate 11; one end of one driving spring 2 is connected to the fourth side of the cover plate 11, and the other end is connected to the fourth side of the other cover plate 11.

[0034] In other embodiments, it is feasible that the two cover plates 11 have the same shape but different sizes; the cover plate 11 can be set to be a triangle or other polygon; it is feasible that the two side panels 121 of each folding component 12 are connected by a hinge or integrally formed; it is feasible that the side panel 121 and the cover plate 11 are connected by a hinge.

[0035] The width of the side panels 121 gradually decreases from one end close to the cover plate 11 to the other end, so that when the folding assembly 12 is folded, the two side panels 121 can rotate toward the inside of the driver, thereby effectively reducing the width of the driver and facilitating the movement of the driver in a narrow space.

[0036] The side panel 121 is provided with an escape window 1211 for escaping the driving spring 2. Specifically, the driving spring 2 is arranged through the escape window 1211.

[0037] The modular shape memory alloy driver also includes a center spring 3, and the two ends of the center spring 3 are respectively connected to the middle of the two cover plates 11. The center spring 3 is used to provide restoring stiffness to ensure the basic shape and certain anti-deformation ability of the driver under static conditions. It is easy to understand that when the driving spring 2 is excited by current to drive the main structure 1, the driving spring 2 contracts, and the center spring 3 is compressed at this time. When the driving spring 2 is disconnected from the current excitation, the elastic force of the center spring 3 acts on the main structure 1 to enable the driver to stretch and reset faster.

[0038] The modular shape memory alloy driver also includes a magnetic sensitive element 4 and a magnetic part 5. The magnetic sensitive element 4 is arranged on the cover plate 11, and the magnetic part 5 is arranged on the side panel 121. The magnetic sensitive element 4 can sense the position of the magnetic part 5 in real time, so as to monitor the posture information of the driver in real time. In this embodiment, the magnetic sensitive element 4 is a Hall sensor, and the magnetic sensitive element 4 is adhesively connected to the cover plate 11; the magnetic part 5 is a magnet. The number of magnetic sensitive elements 4 and magnetic parts 5 is set in a one-to-one correspondence, and the number of magnetic parts 5 is set in a one-to-one correspondence with the number of folding components 12. In other embodiments, it is also feasible that the magnetic sensitive element 4 is arranged on the side panel 121 and the magnetic part 5 is arranged on the cover plate 11.

[0039] In order to conveniently define the relative position of the magnetic sensitive element 4 and the cover plate 11 , a positioning groove 111 is provided on the cover plate 11 , and the magnetic sensitive element 4 is disposed in the positioning groove 111 .

[0040] In order to conveniently define the relative position of the magnetic member 5 and the side panel 121 , a positioning hole 1212 is opened on the side panel 121 , and the magnetic member 5 is disposed in the positioning hole 1212 .

[0041] Embodiment 2 of the present invention is a further improvement on the drive spring 2 based on embodiment 1, and is different from embodiment 1 in that: the cover plate 11 is rectangular, and includes a first side, a second side, a third side, and a fourth side connected end to end. The number of drive springs 2 is arranged in a one-to-one correspondence with the side of the cover plate 11, and the number of drive springs 2 is four. The connection between the drive spring 2 and the cover plate 11 is located in the middle of the side of the cover plate 11. When the drive spring 2 is not excited by current, the two cover plates 11 are spaced apart in the first direction, and the two cover plates 11 are perpendicular to the first direction, and the two first side edges, two second side edges, two third side edges, and two fourth side edges respectively arranged on the two cover plates 11 are aligned along the first direction. Among the four driving springs 2, one end of one driving spring 2 is connected to the first side of the cover plate 11, and the other end is connected to the second side of the other cover plate 11; one end of one driving spring 2 is connected to the second side of the cover plate 11, and the other end is connected to the third side of the other cover plate 11; one end of one driving spring 2 is connected to the third side of the cover plate 11, and the other end is connected to the fourth side of the other cover plate 11; one end of one driving spring 2 is connected to the fourth side of the cover plate 11, and the other end is connected to the first side of the other cover plate 11. By staggering the driving springs 2, the torsional deformation of the driver can be achieved by exciting the driving springs 2 with current to meet more complex motion requirements.

[0042] In summary, the two end caps of the modular shape memory alloy driver provided by the present invention are connected by a folding assembly, so that the entire main structure can be retracted or bent in any direction. When in use, when a single driving spring is excited by electric current, the modular shape memory alloy driver can realize unilateral bending action; when multiple driving springs are excited by electric current, the modular shape memory alloy driver can realize circumferential bending action or retraction at any central angle. The magnetic sensitive element can sense the position of the magnetic part in real time, thereby realizing real-time monitoring of the posture information of the driver. The modular shape memory alloy driver does not require an external device to provide driving force, which is conducive to reducing the size, reducing the weight, and reducing the difficulty of production.

[0043] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A modular shape memory alloy actuator, characterized in that: It comprises a main structure and at least three driving springs; the main structure comprises two cover plates and a plurality of folding components, the folding components are formed by connecting at least two side panels, the plurality of folding components are arranged around the circumference of the cover plate, and the two ends of the folding components are respectively connected to the two cover plates; the driving spring is made of memory alloy, at least three driving springs are arranged around the circumference of the cover plate, and the two ends of the driving spring are respectively connected to the two cover plates.

2. A modular shape memory alloy actuator according to claim 1, characterized in that: The side panel is provided with an escape window for escaping the driving spring.

3. The modular shape memory alloy actuator according to claim 1, characterized in that: Each of the folding components is formed by connecting two side panels.

4. The modular shape memory alloy actuator according to claim 3, characterized in that: The width of the side panel gradually decreases from one end close to the cover plate to the other end.

5. The modular shape memory alloy actuator according to claim 1, characterized in that: It also includes a central spring, the two ends of which are respectively connected to the middle parts of the two cover plates.

6. The modular shape memory alloy actuator according to claim 1, characterized in that: It also includes a magnetic sensitive element and a magnetic component. The magnetic sensitive element is arranged on the cover plate, and the magnetic component is arranged on the side plate.

7. The modular shape memory alloy actuator according to claim 6, characterized in that: The magnetic sensitive element is a Hall sensor.

8. The modular shape memory alloy actuator according to claim 6, characterized in that: The magnetic sensitive element is adhesively connected to the cover plate.

9. The modular shape memory alloy actuator according to claim 6, characterized in that: The cover plate is provided with a positioning groove, and the magnetic sensitive element is arranged in the positioning groove.

10. The modular shape memory alloy actuator according to claim 6, characterized in that: The side panel is provided with a positioning hole, and the magnetic member is arranged in the positioning hole.

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