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

Abstract

The present invention discloses a deformable single-rod angle deformation device and design method based on 4D printing. The various transmission components of the device are movably connected end to end in sequence, the deformable body is placed in the transmission component, and each drive component is installed at the connection position of two adjacent transmission components to control the angular deformation of the deformable body. The electric heating temperature controller is electrically connected to the area to be bent of the deformable body. During the process of angular deformation of the deformable body, the area to be bent is temperature-controlled and heated. In the design method, the deformation body is accurately deformed after the printing parameters are accurately printed and the size of the bending area is selected. The present invention can meet the integrated control process of the thermal field and load of the deformable single rod in 4D printing, and can complete the precise deformation of the deformable single rod through the parameter design of the deformable body and the controllable rotation of the device according to the different angular deformations of the target shape. It is suitable for the controlled deformation of various 4D printed straight rod deformable bodies and is simple and convenient to operate.

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, allowing 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 effects of printing process parameters and the size of the bending area on the target shape, as well as experimentally specific temperature-load closed-loop control, the deformation of the deformable body straight rod from a filament shape to the desired target shape can be achieved. However, under existing conditions, the research on small straight rod deformable bodies cannot achieve the target shape deformation from the above three aspects, which limits the application of 4D printing in complex deformation control. Summary of the Invention

[0003] To address the problems in the background art, the present invention provides a 4D-printed deformable single-rod angle deformation device and design method. The present invention achieves precise deformation of the deformable single rod through precise printing technology, selection of the bending size of the deformable body, and an angle application device.

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

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

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

[0007] The device includes several 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 assembly, thereby controlling the angular deformation of the deformable body.

[0008] The device includes an electric heating-temperature controller, which is electrically connected to one or several areas to be bent of the deformable body. During the process of angular 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 includes a first rotating rod, a second rotating rod, and a placement platform. The first rotating rod and the second rotating rod are arranged parallel to each other with a spacing therebetween. The placement platform is mounted between the first and second rotating rods via a plurality of connection points formed on the first and second rotating rods. Both ends of the first and second rotating rods are circular plates, and the centers of the tail ends of the first and second rotating rods are provided with connection holes arranged in opposite directions. For two adjacent transmission assemblies, the two placement platforms are arranged in opposite directions with a spacing therebetween. The first and second rotating rods of the second transmission assembly are located between the first and second rotating rods of the first transmission assembly. A side surface of the tail end of the second rotating rod of the first transmission assembly and a side surface of the head end of the second rotating rod of the second transmission assembly are concentrically movably connected via a rotation bearing. A side surface of the tail end of the first rotating rod of the first transmission assembly and a side surface of the head end of the first rotating rod of the second transmission assembly are concentrically movably connected via a rotation bearing. A drive assembly is concentrically mounted on the other side surface of the tail end of the first rotating rod of the first transmission assembly and is synchronously connected to the center of a side surface of the head end of the first rotating rod of the second transmission assembly. A deformable body is mounted on each placement platform, and each to-be-bent region of the deformable body is located at a spacing position between two adjacent placement platforms.

[0010] The placement platforms of each transmission assembly are provided with a slot extending along their length direction on the same side surface located between the first rotating rod and the second rotating rod. The deformable body is installed in the slot of each transmission assembly, and the placement platform with a shape corresponding to 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 and second rotating rods of each transmission assembly are of equal length, and the lengths of the first rotating rods of each transmission assembly are the same or different. The lengths of the placement platforms of each transmission assembly are the same or different. Automatic adjustment can be made based on the size of the different areas to be bent on the deformable body, achieving controllable rotation in multiple, varying bending sections. This also allows for angular deformation of deformable bodies with unevenly 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 drive 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 the 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 electric heating-temperature controller is electrically connected to the area to be bent of the deformable body through one or several heating wires. When the length of the area to be bent of the deformable body is short, the area to be bent is provided with a through hole along its width direction as a controllable bending node. The electric heating-temperature controller passes one heating wire through the controllable bending node and controls the temperature of the area to be bent by a temperature control knob; when the length of the area to be bent of the deformable body is long, the area to be bent is provided with several through holes evenly spaced along its width direction as controllable bending nodes. The electric heating-temperature controller passes several heating wires through their respective controllable bending nodes and controls the temperature of the area to be bent by 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. 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 the target bending angle. The electric heating-temperature controller 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. 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 performing angle recovery, the bent area is used 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, thereby obtaining the target heating time for the target recovery angle. For each area to be recovered of the deformed body, one or more heating wires 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 is controlled to stop heating, so that the recovered area returns to normal temperature and maintains the current angle, completing the angle recovery 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 while considering different layer thicknesses, printing speeds, and filling shapes, ensuring that the deformable straight rod undergoes precise 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, 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 precise: 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 and load applied simultaneously.

[0023] 4. Precise Control of Recovery Angle: This invention leverages the inherent properties of 4D-printed shape memory polymer rods and the controllability of their recovery process to achieve precise angle control. In summary, this invention ensures precise control of the initial printing parameter setting, bending area selection, and multi-stage deformation angle testing of deformable straight rods in 4D printing. By adapting the target shape to different angles, it improves the accuracy of initial shape printing, bend dimension selection, and controllability of deformation experiments. This makes it suitable for controlling the deformation of deformable straight rods in various 4D printing applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the structure of the initial state of the device of the present invention;

[0025] Figure 2 FIG. 1 is a schematic structural diagram of the rotating 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 This 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 the 12 sets of printing parameter combinations of the present invention;

[0029] Figure 6 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. connection 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 will be 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 precision control device based on 4D printing of the present invention includes several transmission components, several drive components and an electrothermal-temperature controller 11. The transmission components are movably connected end to end in sequence, and the deformable body 9 is placed in each transmission component. 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 connection 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 assembly and one side of the head end of the second rotating rod 5 of the second transmission assembly are concentrically connected through a rotating bearing, one side of the tail end of the first rotating rod 1 of the first transmission assembly and one side of the head end of the first rotating rod 1 of the second transmission assembly are concentrically connected through a rotating bearing, the driving assembly is concentrically installed on the other side of the tail end of the first rotating rod 1 of the first transmission assembly and is synchronously connected to the center of one side of the head end of the first rotating rod 1 of the second transmission assembly; 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 position between its two adjacent placement platforms 7.

[0034] The placement platform 7 can be adjusted using the connection points 4 to adjust the size of the controllable bending nodes 10 in the different bending areas required by the deformable body 9. The forward and reverse rotation of the motor 3 can be used to precisely control the deformation of the deformable body 9 according to the desired deformation angle of the deformable body 9, resulting in a simple structure and easy operation. The deformable body 9 is printed using a 3D printer using fused deposition modeling. To ensure precise controllable heating by the heating wire 13, a small amount of conductive alloy is introduced into the grooved deformation area within the deformable body to facilitate rapid temperature transfer. To prevent the shape memory material (SMP) deformable body 9 from fracturing after subsequent heating, the added conductive alloy also provides increased hardness after the softened shape memory material (SMP).

[0035] The placement platform 7 of each transmission component is provided with a slot 6 running through its own length direction on the same side surface located 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 first rotating rod 1 and the second rotating rod 5 of each transmission assembly are of the same length. The lengths of the first rotating rods 1 of each transmission assembly may be the same or different, and the lengths of the placement platforms 7 of each transmission assembly may be the same or different. This allows for automatic adjustment based on the size of the different areas to be bent on the deformable body 9, achieving controllable rotation in multiple, varying bending sections. This also allows for angular deformation of the deformable body 9 with unevenly distributed areas to be bent.

[0037] The transmission assembly's first and second rotating rods 1 and 5, as well as its placement platform 7 and deformable body 9, are all printed from a shape-memory polymer (SMP) material. The shape-memory recovery properties of the deformable body 9 allow for controllable recovery angles. The shape-memory material softens when heated above its glass transition temperature, enabling programming of the target shape. Once the target shape is achieved, the structure is cooled, and the polymer maintains its original hardness, meeting generally required strength requirements. Because it is a shape-memory material, it can be heated back to its initial state after programmed deformation. The transmission assembly is made of SMP material, polylactic acid (PLA), a raw material used in traditional fused deposition modeling (FDM) printing. 3D printing technology allows for the layer-by-layer fabrication of complex components, making it easier than traditional component manufacturing methods. Furthermore, 3D printing technology reduces material waste by adding material on demand, improving resource efficiency, helping to reduce production costs, and offering environmental benefits.

[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 the 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 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.

[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 several 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 heating wire 13 and controls the temperature of 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 several through holes evenly spaced along its width direction as controllable bending nodes 10. The electric heating-temperature controller 11 passes through respective controllable bending nodes 10 through several heating wires 13 and controls the temperature of the to-be-bent area through a temperature control knob 12; the heating wire 13 is specifically a carbon fiber heating wire, and the outside of the heating wire 13 is wrapped with an insulating material.

[0041] The electric heating-temperature controller 11 is an independent module that 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 that is heated by current. 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. 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 driven forward and reversed to drive the precise control of the deformation angle of the deformable body 9 through the two transmission components. 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, thereby cooling the structure to obtain the target shape.

[0042] The electric heating temperature controller 11 is specifically an Autonics dual-digital display intelligent PID thermostat. It includes a control module and a temperature sensing module for setting and adjusting the target temperature, and performs closed-loop control based on actual temperature feedback. The control module applies a certain voltage to heat the heating wire 13, while the temperature sensing module monitors the temperature in real time. After precise electric heating and softening, the motor 3 rotates to precisely deform the single rod into various target shapes.

[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 rotate between the transmission components on both sides of the area to be bent, so that the area to be bent is bent to the 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 used 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, thereby obtaining the target heating time for the target recovery angle. For each area to be recovered of the deformed body 9, one or each heating wire 13 is 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 room 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 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, 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 recovered angle, 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. The current is passed for a time after the glass transition temperature is exceeded and a temperature field is generated under the stimulation of the heating wire 13. Due to the inherent characteristics of the shape memory material, the target shape will gradually return to its initial straight state after the angle is bent as the current is passed. By recording the angle after the current is passed, the exact recovery angle point corresponding to different current heating times can be obtained. The deformed body 9 will stop deforming 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 linear relationship after fitting is used to predict the exact relationship between the heating time of the heating wire 13 of any intermediate electric heating-temperature controller 11 and the target recovery angle θ. The prediction coefficient k and the offset constant b can be solved to obtain the linear relationship between the target recovery 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.

[0050] The deformed body 9 will use its own shape memory effect to restore 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 theoretically be accurately controlled. When the required angle is reached, the whole process ends.

[0051] like Figure 5 He Ru Figure 6 As shown, the deformable 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 shape includes triangle and grid. Set the layer thickness to 0.1mm, filling shape is triangle, printing speed is 40mm / s, 50mm / s and 60mm / s respectively, and combine them into 1-3 groups. Set the layer thickness to 0.1mm, filling shape is grid, printing speed is 40mm / s, 50mm / s and 60mm / s respectively, and combine them 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 to obtain 12 kinds of deformed bodies 9.

[0053] Step S2: For each deformable body 9, first heat it to 80°C and bend it to a target shape by 90°. Allow it to cool naturally for 10 seconds, and then allow it to naturally unload the external force. 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 a layer thickness of 0.2 mm, a filling shape of a grid, and a printing speed of 40 mm / s, thereby obtaining 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. 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 from 1 mm to 40 mm according to the size of the bending area.

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

[0058] Step S7: Select the above 40 groups of fixed segmented single deformation points to export the angle data, and simulate and compare the unloading angles of the target shapes with different bending area size deformations with experimental results, such as Figure 6 The simulation and experimental angle values ​​for the 120° target shape after unloading are shown for various bending sizes ranging from 1mm to 40mm. As the bending area size increases to 6mm, the material's simulated and experimental angles are closest to the target shape. At this size, the CAE simulation achieved a fixation rate of 96.25%, while the experimental rod fixation rate reached 95.83%. At this point, Target Shape 2 is closest to the expected target shape, completing the selection of the straight rod bending size for the deformed body. Therefore, 6mm was ultimately selected as the most appropriate bending size for the deformed body's single rod.

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

Claims

1. A deformable single-rod angle deformation device 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 drive assembly being mounted at a connection position between two adjacent transmission assemblies and used to drive the rotation of the transmission assembly, 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 the one or several areas to be bent during the process of the deformable body (9) undergoing angular deformation and angle recovery.

2. The deformable single-rod angle deformation device based on 4D printing according to claim 1, characterized in that: The transmission assembly comprises a first rotating rod (1), a second rotating rod (5) and a placement platform (7), wherein the first rotating rod (1) and the second rotating rod (5) are arranged parallel to each other at intervals, and the placement platform (7) is installed between the first rotating rod (1) and the second rotating rod (5), and both ends of the first rotating rod (1) and the second rotating rod (5) are circular plates, and 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, and 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, and the first rotating rod (1) and the second rotating rod (5) of the first 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 assembly and a side surface of the head end of the second rotating rod (5) of the second transmission assembly are coaxially connected through a rotating bearing, a side surface of the tail end of the first rotating rod (1) of the first transmission assembly and a side surface of the head end of the first rotating rod (1) of the second transmission assembly are coaxially connected through a rotating bearing, and the driving assembly is coaxially installed on the other side surface of the tail end of the first rotating rod (1) of the first transmission assembly 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 assembly; 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 a spacing position between two adjacent placement platforms (7).

3. The deformable single-rod angle deformation device based on 4D printing according to claim 2, characterized in that: The placement platforms (7) of each transmission assembly are provided with a slot (6) extending along the length direction thereof on the same side surface 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 assembly; 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. The deformable single-rod angle deformation device based on 4D printing according to claim 2, 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. The deformable single-rod angle deformation device based on 4D printing according to claim 3, characterized in that: The driving assembly comprises a sleeve (2) and a motor (3), wherein 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 the two adjacent transmission assemblies, the body of the motor (3) is mounted in the sleeve (2), and 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 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. The deformable single-rod angle deformation device based on 4D printing according to claim 5, characterized in that: 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 of the to-be-bent area through the 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 each of the controllable bending nodes (10) through a plurality of electric heating wires (13) and controls the temperature of the to-be-bent area through the 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 claim 7, characterized in that: include: When the deformable body (9) is deformed at an angle, the deformable body (9) is first installed in the 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), thereby heating the area to be bent and maintaining it above the glass transition temperature. Then, the motor (3) of one or each driving component is driven forward or reverse to drive the transmission components on both sides of the area to be bent to rotate, thereby making the area to be bent bend 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 deformed body (9) is performing angle restoration, the bent area is used as the area to be restored. First, a 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 (9), one or more heating wires (13) are used to heat the area to be restored and maintain it above the glass transition temperature for 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 deformed body (9).

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