Deformable single-rod angle deformation device based on 4D printing and design method

Abstract

The invention discloses a deformable single-rod angle deformation device based on 4D printing and a design method. All transmission assemblies of the device are sequentially and movably connected end to end, a deformation body is placed in the transmission assemblies, each driving assembly is installed at the connecting position of every two adjacent transmission assemblies and used for controlling angle deformation of the deformation body, and an electric heating-temperature controller is electrically connected to a to-be-bent area of the deformation body. And in the angle deformation process of the deformation body, temperature control heating is conducted on the to-be-bent area. According to the design method, accurate printing parameter printing and bending area size selection are carried out on the deformation body, and then accurate deformation of the deformation body is completed. According to the invention, the integrated control process of the thermal field and the load of the deformable single rod in 4D printing can be met, the accurate deformation of the deformable single rod can be completed through the parameter design of the deformation body and the controllable rotation of the device according to the deformation of different angles of a target shape, the device is suitable for the control deformation of various 4D printing straight rod deformation bodies, and the operation is simple and convenient.

Description

Technical Field

[0001] The present invention relates to the field of 4D printing, and in particular to a deformable single-rod angle deformation device and a design method based on 4D printing. Background Art

[0002] 4D printing is an advanced manufacturing technology that combines 3D printing with deformable smart materials to enable printed solid deformable objects to self-deform under specific conditions (such as temperature, humidity, and light). In 4D printing, the manufacturing of the solid deformable body itself, the range of the heated bending area, and the application of temperature-load are key factors in the deformation of the target shape. By analyzing the printing process parameters, the influence of the bending area size on the target shape, and the specific temperature-load closed-loop control of the experiment, the deformation of the deformable body straight rod from the filament shape to the desired target shape can be achieved. However, under the existing conditions, the research on small straight rod deformable bodies cannot complete the deformation of the target shape from the above three aspects, which limits the application of 4D printing in complex deformation control. Summary of the invention

[0003] In order to solve the problems in the background technology, the present invention provides a deformable single rod angle deformation device and design method based on 4D printing. The present invention completes the precise deformation of the deformable single rod through precise printing process, deformation body bending size selection, and angle application device.

[0004] The technical solution adopted by the present invention is:

[0005] 1. A deformable single-rod angle deformation device based on 4D printing:

[0006] The device comprises a plurality of transmission components, each of which is movably connected end to end in sequence, and the deformable body is placed in each transmission component, and the area between every two transmission components in the deformable body is the area to be bent.

[0007] The device comprises a plurality of driving assemblies, each of which is installed at the connection position of two adjacent transmission assemblies and is used to drive the rotation of the transmission assemblies, thereby controlling the angular deformation of the deformation body.

[0008] The device includes an electric heat-temperature controller, which is electrically connected to one or several areas to be bent of the deformable body. During the process of angle deformation and angle recovery of the deformable body, the one or several areas to be bent are temperature-controlled and heated.

[0009] The transmission assembly comprises a first rotating rod, a second rotating rod and a placement platform, the first rotating rod and the second rotating rod are arranged parallel and spaced oppositely, the placement platform is installed between the first rotating rod and the second rotating rod through a plurality of connection points opened on the first rotating rod and the second rotating rod, both ends of the first rotating rod and the second rotating rod are circular plates, and the centers of the tail ends of the first rotating rod and the second rotating rod are provided with connection through holes arranged oppositely; for two adjacent transmission assemblies, the two placement platforms are arranged oppositely with each other at intervals, the first rotating rod and the second rotating rod of the second transmission assembly are located between the first rotating rod and the second rotating rod of the first transmission assembly, one side of the tail end of the second rotating rod of the first transmission assembly and one side of the head end of the second rotating rod of the second transmission assembly are concentrically movably connected through a rotating bearing, one side of the tail end of the first rotating rod of the first transmission assembly and one side of the head end of the first rotating rod of the second transmission assembly are concentrically movably connected through a rotating bearing, the driving assembly is concentrically installed on the other side of the tail end of the first rotating rod of the first transmission assembly and is synchronously connected to the center of one side of the head end of the first rotating rod of the second transmission assembly; the deformable body is installed on each placement platform, and each to-be-bent area of ​​the deformable body is located at the interval position between two adjacent placement platforms.

[0010] The placement platforms of each transmission component are provided with a slot extending along the length direction thereof on the same side surface between the first rotating rod and the second rotating rod. The deformable body is installed in the slot of each transmission component, and the placement platform corresponding to the shape of the slot can be replaced according to the shape of the deformable body. When the length of the area to be bent of the deformable body is longer, the spacing distance between two adjacent placement platforms is increased, and when the length of the area to be bent of the deformable body is shorter, the spacing distance between two adjacent placement platforms is reduced.

[0011] The first rotating rod and the second rotating rod of each transmission assembly have the same length, the first rotating rods of each transmission assembly have the same or different lengths, and the placement platforms of each transmission assembly have the same or different lengths. The deformation body can be automatically adjusted according to the sizes of different areas to be bent of the deformation body, so as to achieve controllable rotation of multiple sections and different bending sections, and realize the angular deformation of the deformation body with non-uniformly distributed areas to be bent.

[0012] The first rotating rod, the second rotating rod, the placement platform and the deformable body of the transmission assembly are formed by 3D printing and melting, and are specifically made of shape memory polymer SMP (shape memory polymer) material.

[0013] The driving assembly includes a sleeve and a motor. The sleeve is installed on the other side of the tail end of the first rotating rod of the first transmission assembly of two adjacent transmission assemblies. The body of the motor is installed in the sleeve. The output shaft of the motor is vertically and synchronously connected to the center of one side of the head end of the first rotating rod of the second transmission assembly through a coupling.

[0014] When the deformable body has only one area to be bent that is deformed, the deformable single-rod angle deformation device adopts a two-stage bending mechanism consisting of two transmission components and one drive component. When the deformable body has N-1 areas to be bent that are deformed, the deformable single-rod angle deformation device adopts an N-stage bending mechanism consisting of N transmission components and N-1 drive components.

[0015] The electrothermal-temperature controller is electrically connected to the to-be-bending area of ​​the deformable body through one or more heating wires. When the length of the to-be-bending area of ​​the deformable body is short, the to-be-bending area is provided with a through hole along its width direction as a controllable bending node, and the electrothermal-temperature controller passes through the controllable bending node through one heating wire and controls the temperature to heat the to-be-bending area through a temperature control knob; when the length of the to-be-bending area of ​​the deformable body is long, the to-be-bending area is provided with a plurality of through holes evenly spaced along its width direction as controllable bending nodes, and the electrothermal-temperature controller passes through a plurality of heating wires respectively through their respective controllable bending nodes and controls the temperature to heat the to-be-bending area through a temperature control knob; the heating wire is specifically a carbon fiber heating wire, and the outside of the heating wire is wrapped with an insulating material.

[0016] 2. An angle deformation and recovery method of a deformable single-rod angle deformation device based on 4D printing:

[0017] When the deformable body is deformed at an angle, the deformable body is first installed in the card slot of the placement platform of each transmission component. For each area to be bent of the deformable body, the temperature control knob of the electric heating-temperature controller is rotated to adjust the current of one or each heating wire, so that the area to be bent is heated and maintained above the glass transition temperature. Then, the motor of one or each driving component is driven forward or reversely to drive the transmission components on both sides of the area to be bent to rotate, so that the area to be bent is bent to a target bending angle. The electric heating-temperature controller is controlled to stop heating, so that the bent area returns to normal temperature and maintains the current angle, thereby completing the angular deformation of the deformable body. The bending angles of multiple areas to be bent can be the same or different depending on the target shape.

[0018] When the deformed body is restoring its angle, the bent area is taken as the area to be restored. First, the linear relationship between the target restoration angle of the area to be restored and the heating time for the area to be restored to be maintained above the glass transition temperature is obtained, thereby obtaining the target heating time for the target restoration angle. For each area to be restored of the deformed body, the area to be restored is heated and maintained above the glass transition temperature by one or more heating wires to achieve the target heating time. During the process, the area to be restored gradually restores the target restoration angle, and the electric heat-temperature controller is controlled to stop heating, so that the restored area returns to normal temperature and maintains the current angle, thereby completing the angle restoration of the deformed body.

[0019] The beneficial effects of the present invention are:

[0020] 1. Accurate printing parameters of the deformable rod: The present invention accurately prints the initial shape of the deformable body under the conditions of different layer thicknesses, printing speeds, and filling shapes, ensuring that the deformable straight rod undergoes accurate target shape deformation under predetermined conditions.

[0021] 2. Accurate selection of the bending area size of the deformable rod: The present invention takes into account the influence of the bending area size on the angle of the target shape after unloading when the deformable body is bent and deformed, thereby ensuring the accuracy of the selection of the bending size of the deformable single rod.

[0022] 3. The deformation device of the deformable rod is accurate: the present invention adopts a closed-loop control system, which can monitor the changes in the temperature field in real time and drive the deformation angle adjustment of the deformable body through the driving component to ensure the stability and deformation consistency of the temperature field-load applied simultaneously.

[0023] 4. Accurate control of the recovery angle: The present invention utilizes the inherent characteristics of 4D printed shape memory polymer rods and the controllability of their recovery process to provide the possibility of accurate angle control. In short, the present invention can meet the accuracy of the processes of initial printing parameter setting, deformation single rod bending area selection, multi-stage deformation angle experiment, etc. of the deformable straight rod in 4D printing. According to the different angle deformation of the target shape, the initial shape printing, the selectivity of the bending size, and the controllability of the deformation experiment are accurate. It is suitable for the controlled deformation of a variety of deformable straight rods in 4D printing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the initial state of the device of the present invention;

[0025] Figure 2 is a schematic structural diagram of the rotation state of the device of the present invention, wherein: Figure 2 (a) is a schematic diagram of a two-stage rotating mechanism. Figure 2 (b) is a schematic diagram of a three-stage or multi-stage rotating mechanism;

[0026] Figure 3 It is a schematic diagram of the target shape deformation body and the heating area nodes of the present invention, wherein: Figure 3 (a) is a schematic diagram of the target shape deformation body and the short heating area node of the present invention, Figure 3 (b) is a schematic diagram of the target shape deformation body and the long heating area node of the present invention;

[0027] Figure 4 This is a schematic diagram of the electric heating-temperature controller of the present invention;

[0028] Figure 5 Schematic diagram of the 90° straight rod deformation fixation rate corresponding to 12 sets of printing parameter combinations of the present invention;

[0029] Figure 6 A schematic diagram of unloading angles corresponding to 40 groups of different bending area sizes of the deformable body of the present invention;

[0030] In the figure: 1. first rotating rod, 2. sleeve, 3. motor, 4. connection point, 5. second rotating rod, 6. slot, 7. placement platform, 8. connecting through hole, 9. deformable body, 10. controllable bending node, 11. electric heating-temperature controller, 12. temperature control knob, 13. heating wire. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 , Figure 2 (a) and Figure 2 As shown in (b), the angle deformation and restoration precise control device based on 4D printing of the present invention includes a plurality of transmission components, a plurality of drive components and an electrothermal-temperature controller 11, each transmission component is movably connected end to end in sequence, the deformable body 9 is placed in each transmission component, and the area between each two transmission components in the deformable body 9 is the area to be bent; each drive component is installed at the connection position of two adjacent transmission components, and is used to drive the rotation of the transmission component, thereby controlling the angle deformation of the deformable body 9; the electrothermal-temperature controller 11 is electrically connected to one or several areas to be bent of the deformable body 9, and during the process of angle deformation and angle restoration of the deformable body 9, one or several areas to be bent are temperature-controlled and heated.

[0033] The transmission assembly includes a first rotating rod 1, a second rotating rod 5 and a placement platform 7. The first rotating rod 1 and the second rotating rod 5 are arranged parallel to each other at intervals. The placement platform 7 is installed between the first rotating rod 1 and the second rotating rod 5 through a plurality of connection points 4 opened on the first rotating rod 1 and the second rotating rod 5. Both ends of the first rotating rod 1 and the second rotating rod 5 are circular plates. The centers of the tail ends of the first rotating rod 1 and the second rotating rod 5 are provided with connecting through holes 8 arranged opposite to each other. For two adjacent transmission assemblies, the two placement platforms 7 are arranged opposite to each other at intervals. The first rotating rod 1 and the second rotating rod 5 of the second transmission assembly are located between the first rotating rod 1 and the second rotating rod 5 of the first transmission assembly. , one side of the tail end of the second rotating rod 5 of the first transmission component and one side of the head end of the second rotating rod 5 of the second transmission component are concentrically connected through a rotating bearing, one side of the tail end of the first rotating rod 1 of the first transmission component and one side of the head end of the first rotating rod 1 of the second transmission component are concentrically connected through a rotating bearing, the driving component is concentrically installed on the other side of the tail end of the first rotating rod 1 of the first transmission component and is synchronously connected to the center of one side of the head end of the first rotating rod 1 of the second transmission component; the deformable body 9 is installed on each placement platform 7, and each area to be bent of the deformable body 9 is located at the interval between two adjacent placement platforms 7.

[0034] The placement platform 7 can be adjusted by the connection point 4 according to the size of the controllable bending node 10 of the different bending areas required by the deformable body 9. The deformable body 9 can be precisely deformed at different angles by the forward and reverse rotation of the motor 3 according to the required deformation angle of the deformable body 9. The structure is simple and easy to operate. The deformable body 9 is printed by a 3D printer through molten deposition. In order to achieve the precise controllability of the subsequent heating of the heating wire 13, a small proportion of conductive alloy is introduced into the internal groove deformation area for rapid temperature transfer. In order to prevent the shape memory material SMP deformable body 9 from breaking after subsequent heating, the added conductive alloy can also provide the hardness of the shape memory material SMP after softening.

[0035] The placement platform 7 of each transmission component is provided with a slot 6 that runs through the placement platform 7 along its length direction on the same side surface between the first rotating rod 1 and the second rotating rod 5. The deformable body 9 is installed in the slot 6 of each transmission component, and the placement platform 7 with a shape suitable for the slot 6 can be replaced according to the shape of the deformable body 9; when the length of the area to be bent of the deformable body 9 is longer, the spacing distance between two adjacent placement platforms 7 is increased, and when the length of the area to be bent of the deformable body 9 is shorter, the spacing distance between two adjacent placement platforms 7 is reduced.

[0036] The lengths of the first rotating rod 1 and the second rotating rod 5 of each transmission assembly are the same, the lengths of the first rotating rods 1 of each transmission assembly are the same or different, and the lengths of the placement platforms 7 of each transmission assembly are the same or different. Automatic adjustment can be made according to the sizes of different areas to be bent of the deformable body 9, so as to achieve controllable rotation of multiple sections and different bending sections, and realize the angular deformation of the deformable body 9 with non-uniformly distributed areas to be bent.

[0037] The first rotating rod 1, the second rotating rod 5, the placement platform 7 and the deformable body 9 of the transmission component are all printed from shape memory polymer SMP materials. The shape memory recovery characteristics of the deformable body 9 provide the possibility for the controllability of its recovery angle. The shape memory material will soften when heated above the glass transition temperature, and the target shape programming can be performed. After the target shape is obtained, the structure is cooled down, and the polymer will maintain the original initial shape hardness, which can meet the general strength requirements. Because it is a shape memory material, the structure can be heated up and restored to the initial state after the programming deformation; the transmission component uses SMP material, namely polylactic acid PLA (polylactic acid), and polylactic acid PLA is one of the raw materials for traditional fused deposition modeling FDM (Fused Deposition Modeling) printing. Compared with the traditional component manufacturing method, it can easily realize the manufacture of complex components by stacking layer by layer using 3D printing technology. Secondly, 3D printing technology can reduce material waste by adding materials on demand, improve resource utilization efficiency, help reduce production costs, and has certain environmental protection.

[0038] The driving assembly includes a sleeve 2 and a motor 3. The sleeve 2 is installed on the other side of the tail end of the first rotating rod 1 of the first transmission assembly of two adjacent transmission assemblies. The body of the motor 3 is installed in the sleeve 2. The output shaft of the motor 3 is vertically and synchronously connected to the center of one side of the head end of the first rotating rod 1 of the second transmission assembly through a coupling.

[0039] like Figure 2 As shown in (a), when the deformable body has only one area to be bent that is deformed, the deformable single-rod angle deformation device adopts a two-stage bending mechanism consisting of two transmission components and one driving component. When the deformable body has N-1 areas to be bent that are deformed, the deformable single-rod angle deformation device adopts an N-stage bending mechanism consisting of N transmission components and N-1 driving components.

[0040] like Figure 3 (a) Figure 3 (b) and Figure 4As shown, the electric heating-temperature controller 11 is electrically connected to the to-be-bent area of ​​the deformable body 9 through one or more electric heating wires 13. When the length of the to-be-bent area of ​​the deformable body 9 is short, the to-be-bent area is provided with a through hole along its width direction as a controllable bending node 10. The electric heating-temperature controller 11 passes through the controllable bending node 10 through one electric heating wire 13 and controls the temperature to heat the to-be-bent area through a temperature control knob 12; when the length of the to-be-bent area of ​​the deformable body 9 is long, the to-be-bent area is provided with a plurality of through holes evenly spaced along its width direction as controllable bending nodes 10. The electric heating-temperature controller 11 passes through a respective controllable bending node 10 through a plurality of electric heating wires 13 and controls the temperature to heat the to-be-bent area through a temperature control knob 12; the electric heating wire 13 is specifically a carbon fiber electric heating wire, and the outside of the electric heating wire 13 is wrapped with an insulating material.

[0041] The electric heating-temperature controller 11 is an independent module, which provides a heating function for the deformable body 9. The electric heating-temperature heater 11 contains a temperature control button 12 and a heating wire 13 provided by electric current for heating. When the heating wire 13 is passed into the controllable bending node 10 of the deformable body 9, it is wrapped with insulating rubber. At this time, the two transmission components remain in a planar state. When the electric heating-temperature controller 11 is heated, the heating wire 13 is precisely heated above the glass transition temperature of the deformable body 9 by controlling the temperature control knob 12, and the area to be bent near the controllable bending node 10 on the deformable body 9 will be softened. At this time, the driving motor 3 is reversed to drive the deformation angle of the deformable body 9 through the two transmission components to accurately control the deformation angle. When the deformable body 9 reaches the deformation angle of the desired target shape, the electric heating-temperature controller 11 stops heating, and the motor 3 stops rotating, and the structure is cooled to obtain the target shape.

[0042] The electric heating-temperature controller 11 is specifically an Autonics dual digital display intelligent PID temperature controller. The electric heating-temperature controller 11 is provided with a control module and a temperature sensing module for setting and adjusting the target temperature and performing closed-loop control according to the actual temperature feedback. The control module achieves the effect of heating the electric heating wire 13 by applying a certain voltage. The temperature sensing module can monitor the temperature in real time. After precise electric heating and softening, the precise deformation of the single rod to different target shapes can be achieved by rotating the motor 3.

[0043] The angle deformation and recovery method of the deformable single-rod angle deformation device based on 4D printing of the present invention is specifically as follows:

[0044] When the deformable body 9 is undergoing angular deformation, the deformable body 9 is first installed in the card slot 6 of the placement platform 7 of each transmission component. For each area to be bent of the deformable body 9, the temperature control knob 12 of the electric heating-temperature controller 11 is rotated to adjust the current of one or each heating wire 13, so that the area to be bent is heated and maintained above the glass transition temperature. Then, the motor 3 of one or each driving component is driven forward or reversely to drive the transmission components on both sides of the area to be bent to rotate, so that the area to be bent is bent to a target bending angle. The electric heating-temperature controller 11 is controlled to stop heating, so that the bent area returns to room temperature and maintains the current angle, thereby completing the angular deformation of the deformable body 9. The bending angles of multiple areas to be bent can be the same or different depending on the target shape.

[0045] When the deformed body 9 is recovering its angle, the bent area is taken as the area to be recovered. First, the linear relationship between the target recovery angle of the area to be recovered and the heating time for the area to be recovered to be maintained above the glass transition temperature is obtained, so as to obtain the target heating time for the target recovery angle. For each area to be recovered of the deformed body 9, one or more heating wires 13 are used to heat the area to be recovered and maintain it above the glass transition temperature for the target heating time. During the process, the area to be recovered gradually recovers the target recovery angle, and the electric heating-temperature controller 11 is controlled to stop heating, so that the recovered area returns to normal temperature and maintains the current angle, thereby completing the angle recovery of the deformed body 9.

[0046] When obtaining the linear relationship between the target recovery angle of the area to be recovered and the heating time for the area to be recovered to be maintained above the glass transition temperature, the predicted linear regression function is first established as follows:

[0047] θ=kt+b

[0048] Where θ is the target recovery angle, that is, the difference between the current angle of the area to be recovered and the angle after recovery, k and b are the prediction coefficient and offset constant, respectively.

[0049] The electric heating-temperature controller 11 is used to adjust the current of the heating wire 13 through the temperature control knob 12 to raise its temperature to above the glass transition temperature, and the current supply time after the glass transition temperature is above is recorded. After the temperature field is generated under the stimulation of the electric heating wire 13, with the inherent characteristics of the shape memory material, the target shape will gradually return to the initial straight rod state with the time of current supply after the angle bending occurs. The angle record after the current supply time is restored can obtain the exact recovery angle point corresponding to different current heating times. The deformed body 9 will stop the angle deformation after returning to the initial angle. A linear regression function is used to describe the linear relationship between two variables (i.e., heating time t and recovery angle θ). The precise relationship between the heating time of the electric heating wire 13 of any intermediate electric heating-temperature controller 11 and the target recovery angle θ is predicted by the fitted linear relationship. The prediction coefficient k and the offset constant b can be solved, and then the linear relationship between the target recovery angle of the area to be restored and the heating time of the area to be restored above the glass transition temperature is obtained.

[0050] The deformed body 9 will utilize its own shape memory effect to recover the initial deformed body 9. When the electric heating-temperature controller 11 stops heating, the recovery stops. By controlling the heating time, the angle of any intermediate recovery section can be accurately controlled in theory. When the desired angle is reached, the whole process ends.

[0051] like Figure 5 He Ru Figure 6 As shown, the deformed body 9 of the present invention is designed as follows during specific implementation:

[0052] Step S1: Select the following important influencing parameters for combination: layer thickness is 0.1mm and 0.2mm respectively, printing speed is 40mm / s, 50mm / s and 60mm / s respectively, and filling shapes include triangles and grids. Set the layer thickness to 0.1mm, the filling shape is triangle, and the printing speed is 40mm / s, 50mm / s and 60mm / s respectively to combine into 1-3 groups. Set the layer thickness to 0.1mm, the filling shape is grid, and the printing speed is 40mm / s, 50mm / s and 60mm / s respectively to combine into 4-6 groups. Similarly, the layer thickness of 0.2mm is set to 7-12 groups. Then, simulation printing is performed according to the 12 groups of combinations to obtain 12 kinds of deformed bodies 9.

[0053] Step S2: For each deformed body 9, first heat it to 80°C and bend it to a target shape of 90°, wait for it to cool naturally for 10 seconds, and then let it unload the external force naturally. After unloading, measure the angle of the target shape to obtain the angle measurement value.

[0054] Step S3: Based on this angle measurement value, the deformation fixation rate of the target shape is calculated, such as Figure 5As shown, a set of parameters with a higher deformation fixation rate among the 12 groups of combinations is selected as the configuration parameters of the printer, that is, the tenth group number. At this time, the fixation rate is 97.77%, and the corresponding printing parameters are layer thickness 0.2mm, filling shape is grid, and printing speed 40mm / s, so as to obtain the optimal deformable body 9.

[0055] Step S4: Set the nozzle melting temperature to 200° C., the printing platform temperature to 60° C., and keep the other parameters as the default settings of the printer, and print according to the parameter combination determined in step S3 to obtain the optimal simulation model of the deformed body 9.

[0056] Step S5: For the optimal bending section of the deformed body 9, the simulation model is divided into sections according to the size of the bending area from 1 mm to 40 mm.

[0057] Step S6: Using Abaqus simulation software, the bending areas of multiple groups of different size segments that have been divided are simulated in four analysis steps: 80°C heating, 20°C cooling, 20°C unloading, and 80°C heating again, in order to achieve a single 120° target shape of bending deformation.

[0058] Step S7: Select the above 40 groups of fixed segmented single deformation points to export the rotation angle data, and simulate and compare the experimental results of the unloading angles of the target shapes with different bending area size deformations for 40 groups, such as Figure 6 The simulation and experimental angle values ​​corresponding to the 120° target shape deformation after unloading corresponding to different bending sizes of 1mm-40mm are shown. As the bending area size gradually increases to 6mm, the simulation and experimental angles of the material are closest to the target shape. At this size, the fixation rate of CAE simulation is as high as 96.25%, and the fixation rate of the experimental rod is also 95.83%. At this time, the target shape 2 is closest to the expected target shape, thus completing the selection of the bending size of the deformed body straight rod, so 6mm is finally selected as the most appropriate bending size of the deformed body single rod.

[0059] The above general description of the invention involved in this application and the description of its specific implementation methods should not be understood as limiting the technical solutions of the invention. Based on the disclosure of this application, those skilled in the art or related fields can add, reduce or combine the disclosed technical features in the above general description or / and the specific implementation methods (including examples) without violating the constituent elements of the invention involved, to form other technical solutions within the scope of protection of this application.

Claims

1. A deformable single-rod angle deformation device and design method based on 4D printing, characterized in that: include: A plurality of transmission components, each transmission component is movably connected end to end in sequence, a deformable body (9) is placed in each transmission component, and the area between each two transmission components in the deformable body (9) is the area to be bent; A plurality of drive assemblies, each of which is installed at a connection position between two adjacent transmission assemblies and is used to drive the rotation of the transmission assemblies, thereby controlling the angular deformation of the deformation body (9); The electric heating-temperature controller (11) is electrically connected to one or several areas to be bent of the deformable body (9), and performs temperature-controlled heating on one or several areas to be bent during the process of the deformable body (9) undergoing angle deformation and angle recovery.

2. According to claim 1, a deformable single-rod angle deformation device and design method based on 4D printing, characterized in that: The transmission assembly comprises a first rotating rod (1), a second rotating rod (5) and a placement platform (7); the first rotating rod (1) and the second rotating rod (5) are arranged parallel to each other with a spacing therebetween; the placement platform (7) is installed between the first rotating rod (1) and the second rotating rod (5); both ends of the first rotating rod (1) and the second rotating rod (5) are circular plates; the centers of the tail ends of the first rotating rod (1) and the second rotating rod (5) are provided with connecting through holes (8) arranged opposite to each other; for two adjacent transmission assemblies, the two placement platforms (7) are arranged opposite to each other with a spacing therebetween; the first rotating rod (1) and the second rotating rod (5) of the second transmission assembly are located between the first rotating rod (1) and the second rotating rod (5) of the first transmission assembly; A side surface of the tail end of the second rotating rod (5) of the first transmission component and a side surface of the head end of the second rotating rod (5) of the second transmission component are coaxially connected through a rotating bearing, a side surface of the tail end of the first rotating rod (1) of the first transmission component and a side surface of the head end of the first rotating rod (1) of the second transmission component are coaxially connected through a rotating bearing, and the driving component is coaxially installed on the other side surface of the tail end of the first rotating rod (1) of the first transmission component and is synchronously connected to the center of a side surface of the head end of the first rotating rod (1) of the second transmission component; the deformation body (9) is installed on each placement platform (7), and each area to be bent of the deformation body (9) is located at the interval between two adjacent placement platforms (7).

3. According to claim 2, a deformable single-rod angle deformation device and design method based on 4D printing, characterized in that: The placement platforms (7) of each transmission component are provided with a slot (6) extending along the length direction thereof on the same side surface located between the first rotating rod (1) and the second rotating rod (5), and the deformable body (9) is installed in the slot (6) of each transmission component; when the length of the area to be bent of the deformable body (9) is longer, the spacing distance between two adjacent placement platforms (7) is increased, and when the length of the area to be bent of the deformable body (9) is shorter, the spacing distance between two adjacent placement platforms (7) is reduced.

4. According to claim 2, a deformable single-rod angle deformation device and design method based on 4D printing, characterized in that: The first rotating rod (1) and the second rotating rod (5) of each transmission assembly are of the same length, the first rotating rod (1) of each transmission assembly is of the same or different length, and the placement platform (7) of each transmission assembly is of the same or different length.

5. According to claim 2, a deformable single-rod angle deformation device and design method based on 4D printing, characterized in that: The driving assembly comprises a sleeve (2) and a motor (3); the sleeve (2) is mounted on the other side of the tail end of the first rotating rod (1) of the first transmission assembly of two adjacent transmission assemblies; the body of the motor (3) is mounted in the sleeve (2); the output shaft of the motor (3) is vertically and synchronously connected to the center of one side of the head end of the first rotating rod (1) of the second transmission assembly through a coupling.

6. The deformable single-rod angle deformation device and design method based on 4D printing according to claim 2, characterized in that: include: When the deformable body (9) has only one area to be bent that is deformed, the deformable single-rod angle deformation device adopts a two-stage bending mechanism consisting of two transmission components and one drive component. When the deformable body (9) has N-1 areas to be bent that are deformed, the deformable single-rod angle deformation device adopts an N-stage bending mechanism consisting of N transmission components and N-1 drive components.

7. According to claim 3, a deformable single-rod angle deformation device and design method based on 4D printing, characterized in that: The electric heating-temperature controller (11) is electrically connected to the bending area of ​​the deformable body (9) through one or more electric heating wires (13); when the length of the bending area of ​​the deformable body (9) is short, the bending area is provided with a through hole as a controllable bending node (10) along its width direction, and the electric heating-temperature controller (11) passes through the controllable bending node (10) through an electric heating wire (13) and controls the temperature of the bending area through a temperature control knob (12); when the length of the bending area of ​​the deformable body (9) is long, the bending area is provided with a plurality of through holes as controllable bending nodes (10) at even intervals along its width direction, and the electric heating-temperature controller (11) passes through a respective controllable bending node (10) through a plurality of electric heating wires (13) and controls the temperature of the bending area through a temperature control knob (12).

8. The angle deformation and recovery method of the deformable single-rod angle deformation device based on 4D printing according to any one of claims 1 to 7, characterized in that: include: When the deformable body (9) is deformed at an angle, the deformable body (9) is first installed in the card slot (6) of the placement platform (7) of each transmission component. For each area to be bent of the deformable body (9), the temperature control knob (12) of the electric heating-temperature controller (11) is rotated to adjust the current of one or each electric heating wire (13), so that the area to be bent is heated and maintained above the glass transition temperature. Then, the motor (3) of one or each driving component is driven forward or reversely to drive the transmission components on both sides of the area to be bent to rotate, so that the area to be bent is bent to a target bending angle. The electric heating-temperature controller (11) is controlled to stop heating, so that the bent area returns to normal temperature and maintains the current angle, thereby completing the angular deformation of the deformable body (9); When the deformable body (9) is restoring its angle, the bent area is taken as the area to be restored. First, the linear relationship between the target restoration angle of the area to be restored and the heating time for the area to be restored to be maintained above the glass transition temperature is obtained, thereby obtaining the target heating time for the target restoration angle. For each area to be restored of the deformable body (9), one or more electric heating wires (13) are used to heat the area to be restored and maintain it above the glass transition temperature to achieve the target heating time. During the process, the area to be restored gradually restores the target restoration angle, and the electric heating-temperature controller (11) is controlled to stop heating, so that the restored area returns to normal temperature and maintains the current angle, thereby completing the angle restoration of the deformable body (9).

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