Mechanical clone manufacturing method based on shape memory alloy composite flexible metamaterial

Abstract

The invention discloses a mechanical clone manufacturing method based on a shape memory alloy composite flexible metamaterial, and relates to the technical field of space manufacturing. The shape memory alloy composite flexible metamaterial is formed by carrying out regionalization control, split control, composite control of superposition and lamination and actuation treatment on the structure or performance of the shape memory alloy curved bar lattice metamaterial and the curved edge stretchable net, and the shape memory alloy composite flexible metamaterial serves as a flexible intelligent actuator to act on a blank and a rigid complex-shape target body. The method comprises the following steps: performing mechanical cloning by taking a component as a rigid complex-shaped target body to obtain an intermediate template body, performing mechanical cloning by taking the intermediate template body as the rigid complex-shaped target body to obtain a component which is the same as an original component, and performing mechanical cloning by taking the intermediate template body as the rigid complex-shaped target body to obtain the component which is the same as the original component. The problems that an existing manufacturing technology needs special, complex and heavy equipment and is difficult to apply to environments such as space are solved.

Description

Technical Field

[0001] This invention belongs to the field of forming and manufacturing, and is applicable to extreme environment manufacturing fields such as on-orbit manufacturing in space, deep space manufacturing, extraterrestrial manufacturing in distant spaces such as the moon, and extraterrestrial construction. Specifically, it relates to a mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials. Background Technology

[0002] Manufacturing is a fundamental, strategic, and critical field for human survival and development, both on Earth and in outer space. Space is a vital area that humanity is currently exploring and developing; therefore, the ability to conveniently manufacture in space is widely recognized as one of the strategic key technologies for enhancing human capabilities for extraterrestrial activities and conducting deep space exploration missions.

[0003] Traditional manufacturing technologies developed before humanity explored and developed space. They rely on specialized, complex, and cumbersome machinery, tools, and molds, and even depend on Earth's gravitational and atmospheric conditions. However, in extreme environments like space, it is difficult to obtain such specialized, complex, and cumbersome machinery, tools, and molds, and the necessary gravity and atmospheric conditions are also lacking. Therefore, traditional manufacturing technologies are difficult to apply to manufacturing in extreme environments like space.

[0004] 3D printing (additive manufacturing), which has emerged in recent years, manufactures components by layer-by-layer deposition, eliminating the need for intermediate molds and complex, bulky machinery. However, it still requires specialized equipment such as laser heating, which is often quite complex and heavy, especially for 3D printing (additive manufacturing) equipment used for metal materials. Transporting 3D printing (additive manufacturing) equipment to space remains costly, due to the high power consumption and large size of the equipment. This places a significant burden on future space platforms, and the limited space available on spacecraft makes carrying specialized 3D printing (additive manufacturing) equipment difficult, and sometimes impossible.

[0005] Furthermore, due to the lack of gravity and air in the space environment, space 3D printing (additive manufacturing) also faces significant challenges: the extreme conditions of space, such as high vacuum, microgravity, drastic temperature changes, and strong radiation, pose challenges to raw materials, processes, and equipment in the 3D printing (additive manufacturing) process. For example, the absence of gravity in space causes raw material droplets to splash, making it difficult to control the molten pool and the manufacturing process under microgravity; the high vacuum environment alters the heat and mass transfer mechanisms of materials during manufacturing, making heat dissipation and solidification difficult; controlling the position of powder used for 3D printing (additive manufacturing) under microgravity or zero gravity conditions will be a major challenge, posing extremely high safety and environmental pollution risks; at the same time, the printed layers in microgravity or zero gravity environments are difficult to form a good metallurgical bond due to the lack of external forces.

[0006] Furthermore, the available materials suitable for 3D printing (additive manufacturing) in the space environment are currently limited, mainly polymer materials. These are primarily polymers or polymer composites used in fused deposition modeling (FDM) 3D printing. However, the strength of polymers and composites generally does not exceed 150 MPa, and the low melting point of polymers severely restricts their application in space. Meanwhile, the main components of spacecraft are made of metal materials, and currently, the types of materials suitable for metal 3D printing (additive manufacturing) are relatively few, mainly including stainless steel, high-temperature alloys, titanium alloys, aluminum-magnesium alloys, and rare metals.

[0007] Therefore, the lack of suitable manufacturing technology is a key issue restricting future development as we move towards extreme environments such as deep space and outer space. There is an urgent need for a new manufacturing technology that can overcome the effects of the microgravity environment in space, overcome the dependence on specialized, complex, and cumbersome equipment, and achieve convenient, rapid, and low-cost manufacturing of components.

[0008] While traditional manufacturing methods are difficult to apply to space due to the lack of specialized, complex, and cumbersome machinery, auxiliary tools, and molds, certain forms of traditional manufacturing, such as deformation-based processing, can use solid materials as blanks, avoiding the problems associated with using granular blanks and molten blanks as liquids in 3D printing (additive manufacturing). Therefore, they have significant advantages. However, during the transformation of sheet metal blanks into complex three-dimensional shapes through plastic deformation, problems such as instability, wrinkling, or cracking may occur. This necessitates improving the formability of complex sheet metal components through multi-regional coordination of stress states. It requires adjusting the pressure and loading sequence in different areas of the sheet metal, and improving the formability of complex sheet metal components through staged control of the stress path. This creates a need for multi-regional, multi-stage coordinated control of the forming process. Only by controlling the deformation process of the sheet metal blank in stages and regions can the component be successfully formed. If this problem can be overcome, then the method of using deformed solid blanks as components will be a valuable space manufacturing method. Summary of the Invention

[0009] To address the issue that traditional manufacturing methods and 3D printing (additive manufacturing) require specialized and bulky equipment, making them unsuitable for environments such as space, this invention provides a technical solution: a mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials. This method involves regional, discrete, and composite control and actuation processes of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes. This results in shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, and non-simultaneous triggering actuation functions and stress responses. These metamaterials serve as flexible intelligent materials whose stress response spatial distribution and time-varying characteristics can be designed. The actuator creates a spatially non-uniformly distributed stress field and a time-varying, controllable stress response, which acts on the billet and the rigid complex-shaped target body. By utilizing the restoring force generated during the shape recovery process of the shape memory alloy composite flexible metamaterial, which acts as a flexible intelligent actuator, the billet is forced to deform and conform to the rigid complex-shaped target body. The geometric shape information of the rigid complex-shaped target body is mechanically cloned and assigned to the billet. Based on this, the component is first used as the rigid complex-shaped target body, and mechanical cloning is performed to clone an intermediate template body. Then, the intermediate template body is used as the rigid complex-shaped target body, and mechanical cloning is performed to clone a component that is identical to the original component.

[0010] Furthermore, the shape memory alloy can be of two types: one is a shape memory alloy with only single-pass shape memory function, and the other is a shape memory alloy with two-pass shape memory function. The material of the shape memory alloy can be selected from nickel-titanium shape memory alloys, copper-based shape memory alloys, and high-temperature shape memory alloys, such as Ti-Ni-Pd high-temperature shape memory alloys and Ti-Ni-Hf high-temperature shape memory alloys.

[0011] The beneficial effects of selecting shape memory alloys are as follows: they provide more reasonable choices for the forming and manufacturing of different components. Because the shapes of components are diverse and vary greatly, selection can be made according to the specific component. For example, single-pass shape memory alloys have a larger recoverable strain, stronger recovery force, and better fatigue resistance, thus providing better forming force and enabling the forming of more complex shapes. However, it can only remember one shape. When deforming a shape memory alloy to store energy, an external force is needed to change its shape to store energy and achieve actuation. On the other hand, two-pass shape memory alloys can remember two different shapes. Utilizing their own shape memory function, the shape can be transformed and changed through temperature changes. Thus, energy storage and actuation can be achieved through temperature control without the need for additional external force, making the operation simpler. However, the recoverable deformation of two-pass shape memory alloys is smaller.

[0012] Furthermore, the shape memory alloy curved rod lattice metamaterial and the curved edge stretchable mesh are "flexible" shape memory alloys. The shape memory alloy curved rod lattice metamaterial is composed of curved rods forming the unit cell; the curved edge stretchable mesh is composed of curved edges forming the unit cell. This structural unit cell gives the curved rod lattice metamaterial and the curved edge stretchable mesh flexibility, stretchability, and the ability to adapt to large deformations required for complex shape forming.

[0013] The beneficial effects of the above-mentioned selection of the unit cell structure form of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes are: both the shape memory alloy curved rod lattice metamaterials and curved stretchable meshes can generate sufficiently large deformations, while the strain is controlled within the recoverable strain range of the shape memory alloy. That is, by adopting a structure in the form of curved supports, rather than the usual straight truss structure, the deformation of the curved rod lattice metamaterial supports is dominated by bending or elongation deformation, allowing for both large shrinkage and elongation expansion deformations, while the strain of the shape memory alloy itself is relatively small. By controlling the deformation within the recoverable range of shape memory alloys, shape memory alloy curved rod lattice metamaterials become flexible metamaterials that can adapt to large deformations of complex shapes. Similarly, for the curved stretchable mesh, the unit cells are composed of curved edges, which also makes the edges of the curved stretchable mesh dominated by bending or elongation deformation. This allows it to have both large shrinkage and elongation expansion deformations, while the deformation of the shape memory alloy itself is relatively small, controlled within the recoverable range of shape memory alloys. This makes the shape memory alloy curved stretchable mesh a flexible metamaterial that can adapt to large deformations of complex shapes.

[0014] Furthermore, the shape memory alloy curved rod lattice metamaterial and the curved edge stretchable mesh are "flexible" shape memory alloys, which need to be strengthened. The strengthening method is as follows:

[0015] Multiple flexible shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are stacked together. This stacking process gives them sufficient restoring force, enabling the "flexible" shape memory alloy to provide sufficient restoring force.

[0016] The beneficial effects of strengthening the shape memory alloy curved rod lattice metamaterial and the curved edge stretchable mesh mentioned above are: the shape memory alloy curved rod lattice metamaterial and the curved edge stretchable mesh, which are "flexible" enough to adapt to the need for complex shape deformation, are "flexible" enough to produce large deformation while also having sufficient restoring force to force the blank to deform or control the blank holder force, so as to form components of various shapes.

[0017] Furthermore, the aforementioned method of regionally controlling the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes is as follows:

[0018] In different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes, lattice unit cells or mesh unit cells with different structural parameters or properties are used. That is, the structural parameters or properties of unit cells in local regions are different from those in other regions. This layout of composite structure or composite performance unit cells makes shape memory alloy curved rod lattice metamaterials or curved stretchable meshes into flexible metamaterials in the form of composite unit cells with different structural parameters or properties, generating non-uniform stress response and realizing regional control of the spatial distribution of stress response.

[0019] The beneficial effects of regionally controlling the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes to generate non-uniform stress responses are as follows: By simply changing the structural parameters or properties of the lattice unit cells of the local lattice metamaterial or the mesh unit cells of the stretchable mesh—that is, making the structural parameters or properties of the unit cells in the local area different from those in other areas—the shape memory alloy curved rod lattice metamaterial or the curved stretchable mesh becomes a flexible metamaterial in the form of a composite of unit cells with different structural parameters or properties, generating a non-uniform stress response. This provides a basis for constructing various complex stress fields and meets the needs of complex non-uniform pressure fields when forming complex and difficult-to-deform plates. This is of great significance for the space environment, which has particularly strict requirements for loads. In the space environment, the fewer materials or tools required, the less fuel the spacecraft consumes, and the lower the launch cost of the spacecraft, the more conducive it is to long-term, long-range space exploration.

[0020] Furthermore, the aforementioned method of separately controlling the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes includes:

[0021] The spatial distribution of stress response can be controlled by splitting the layout of unit cells with different structural parameters or properties in each curved rod lattice metamaterial or curved edge stretchable mesh during regional control. That is, the layout of unit cells with different structural parameters or properties is controlled separately for each individual, resulting in multiple shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different spatial distributions of stress response.

[0022] The stress response is triggered asynchronously and controlled separately. By regulating the heat treatment specifications or the composition of the shape memory alloy material, the phase transition temperature of multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes is controlled to different temperature values. That is, the phase transition temperature is controlled separately for each individual, so that multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes produce staggered phase transition triggering and stress response.

[0023] Furthermore, the composite control of the structure or properties of the shape memory alloy curved rod lattice metamaterial and the curved edge stretchable mesh through superposition and lamination includes the following composite control methods:

[0024] By stacking multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different spatial distributions of stress response, structural parameters or performance, and different layouts of unit cells, complex structures or performance are formed by regional control of the structure. This results in shape memory alloy composite flexible metamaterials with non-uniform structures and performance, and produces complex spatial distributions of stress response.

[0025] By combining multiple separate controllable curved rod lattice metamaterials or curved stretchable meshes with different phase transition temperatures that have undergone non-simultaneous triggering of stress response, shape memory alloy composite flexible metamaterials with non-simultaneous triggering actuation function and stress response are formed.

[0026] By combining multiple spatially distributed and non-simultaneously triggered stress response control, structural parameters or performance of unit cells with different layouts and phase transition temperatures, curved rod lattice metamaterials or curved edge stretchable meshes are stacked together to obtain shape memory alloy composite flexible metamaterials with non-uniform structure, non-uniform performance, non-simultaneously triggered actuation function and stress response.

[0027] Furthermore, the method for actuating the shape memory alloy curved rod lattice metamaterial and the curved stretchable mesh to transform them into actuators is as follows:

[0028] Actuation treatment of shape memory alloy curved rod lattice metamaterials.

[0029] First, shape memory alloy curved rod lattice metamaterials are fabricated;

[0030] Secondly, the prepared shape memory alloy curved rod lattice metamaterial is subjected to shaping heat treatment to set its shape and phase transition temperature, so that it has shape memory function. Furthermore, the phase transition temperature of each shape memory alloy curved rod lattice metamaterial can be controlled individually by adjusting the heat treatment specifications or the material composition.

[0031] Then, the shape memory alloy curved rod lattice metamaterial with a set shape, a set phase transition temperature and a shape memory function is deformed from the set shape to a temporary shape, storing energy to enable it to have an actuation function, thus transforming it into a flexible actuator.

[0032] Actuation processing for curved stretchable mesh in two-dimensional flat plate shape.

[0033] First, the two-dimensional flat plate-shaped curved stretchable mesh is deformed into a three-dimensional shape, or directly processed into a three-dimensional shape and constrained. Then, it undergoes shaping heat treatment to shape it into a set three-dimensional shape and give it shape memory function. At the same time, its phase transition temperature is set. Furthermore, by adjusting the heat treatment specifications or the material composition, the phase transition temperature of each curved stretchable mesh shaped into a three-dimensional shape can be controlled individually.

[0034] Then, the curved stretchable mesh, which is shaped into a set three-dimensional shape, has shape memory function, and a set phase transition temperature, is deformed into a temporary shape to store energy and enable actuation, thus transforming it into a flexible actuator.

[0035] Furthermore, the formable shape memory alloy composite flexible metamaterials include:

[0036] (1) Based on the regional control, split control, and composite control of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, complex regional control is formed to obtain shape memory alloy composite flexible metamaterials with non-uniform structures and non-uniform properties that can produce complex stress response spatial distributions. The method is as follows:

[0037] First, through regional control, lattice unit cells or mesh unit cells with different structural parameters or properties are used in different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes.

[0038] Secondly, split control is carried out. By changing the layout of the unit cells with different structural parameters or performances of each curved rod lattice metamaterial or curved edge stretchable mesh during regional control, each individual is controlled separately to obtain multiple shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different stress response spatial distributions.

[0039] Then, composite control of superposition and layering is carried out. Multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different layouts of unit cells that have been separately controlled and have different structural parameters or performance are superimposed and layered to form complex regional control of structure or performance. This results in shape memory alloy composite flexible metamaterials with non-uniform structure and non-uniform performance, producing a complex spatial distribution of stress response.

[0040] (2) Based on the split control and superimposed layering composite control of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, shape memory alloy composite flexible metamaterials that can trigger actuation functions and stress responses non-simultaneously are obtained. The method is as follows:

[0041] First, separate control is implemented. By regulating the heat treatment specifications or the composition of the shape memory alloy material, the phase transition temperatures of multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are set to different temperature values, and the phase transition temperature of each individual is controlled separately.

[0042] Then, the composite control of superposition and lamination is used to superimpose and laminate multiple curved rod lattice metamaterials or curved stretchable meshes with different phase transition temperatures after separate control, forming shape memory alloy composite flexible metamaterials with non-simultaneous triggering actuation function and stress response.

[0043] (3) Based on the regionalized control, split-type control, and composite control of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, and non-simultaneous triggering actuation functions and stress responses are formed. The method is as follows:

[0044] First, through regional control, lattice unit cells or mesh unit cells with different structural parameters or properties are used in different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes.

[0045] Secondly, the spatial distribution of stress response is controlled in a split manner. By changing the layout of unit cells with different structural parameters or performance in each curved rod lattice metamaterial or curved edge stretchable mesh during regional control, multiple shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different spatial distributions of stress response are obtained.

[0046] Then, the stress response is not triggered simultaneously and is controlled separately. By adjusting the heat treatment specifications or the composition of the shape memory alloy material, the phase transition temperature of the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh with different structural parameters or performance of the unit cells is adjusted to different temperature values. This allows the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh with different structural parameters or performance of the unit cells with different layouts under regional control to generate non-simultaneous phase transition triggering and stress response.

[0047] Finally, composite control is carried out by superimposing and layering multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different layouts and phase transition temperatures, which have undergone regional and split control and have different structural parameters or performance. This results in shape memory alloy composite flexible metamaterials with non-uniform structure, non-uniform performance, and non-simultaneous triggering actuation function and stress response.

[0048] Furthermore, based on the aforementioned regionalized, discrete, and composite control and actuation processing of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation functions and stress responses is formed and transformed into an actuator, serving as a flexible intelligent actuator. The method and process are as follows:

[0049] First, through regional control, lattice unit cells or mesh unit cells with different structural parameters or properties are used in different regions of shape memory alloy curved bar lattice metamaterials or curved edge stretchable meshes. That is, the structural parameters or properties of the unit cells in local regions are different from those in other regions, resulting in non-uniform stress response.

[0050] Secondly, the spatial distribution of stress response is controlled separately. By changing the layout of unit cells with different structural parameters or properties in each curved rod lattice metamaterial or curved edge stretchable mesh during regional control, that is, by changing the layout of unit cells with different structural parameters or properties, each individual is controlled separately, resulting in multiple shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different spatial distributions of stress response. In other words, the layout of unit cells with different structural parameters or properties in each shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh is different, and the spatial distribution of stress response is also different.

[0051] Then, for the obtained shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different layouts of unit cells with different structural parameters or properties, a separate control and actuation process with non-simultaneous triggering of stress response is performed. First, the obtained shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different layouts of unit cells with different structural parameters or properties are subjected to shape-fixing heat treatment to set their shape. Then, by controlling the heat treatment specifications or the shape memory alloy material composition, the obtained shape of the obtained unit cells with different layouts is adjusted. The phase transition temperature of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes is controlled to different values, causing non-simultaneous phase transition triggering and stress response in shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different structural parameters or performance under regional control, and endowing them with shape memory function; then, the shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with set shape, set phase transition temperature and shape memory function are deformed from the set shape to a temporary shape, storing energy and endowing them with actuation function;

[0052] Finally, a composite control method involving superposition and lamination is employed. Multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different structural parameters or properties, which have undergone regional and discrete control and have been transformed into flexible actuators, are superimposed and laminated to obtain shape memory alloy composite flexible metamaterials with actuation functions. At this point, a composite control method involving regional control, discrete control, and superposition and actuation processing is comprehensively applied. This not only generates a complex spatial distribution of stress response but also a stress response that varies over time. As a result, a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation function and stress response is formed, possessing actuation function and becoming a shape memory alloy flexible intelligent actuator.

[0053] The above-mentioned method involves regional, discrete, and composite control and actuation processes on the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes. This results in the formation of shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, and non-simultaneous triggering actuation functions and stress responses, which are then transformed into actuators. The beneficial effect of these flexible intelligent actuators is that by simply taking shape memory alloy curved rod lattice metamaterials and curved stretchable meshes with different structural parameters or properties, different layouts of unit cells, and different phase transition temperatures, and performing simple shaping heat treatment and deformation, they can be endowed with actuation functions. Stacking and layering them transforms them into non-uniform structures and non-uniform... A flexible metamaterial of shape memory alloy, characterized by high performance, non-simultaneous triggering actuation function, and stress response, can be transformed into a flexible intelligent actuator with intelligently controllable spatial distribution and time-varying stress response. It can then be restored to its original shape by simply triggering a phase transition through heating, generating an actuation effect for blank forming. This avoids the use of complex and expensive pressure generating and control equipment. Moreover, it can be adapted to the forming of various components through different combinations, exhibiting strong versatility and cost savings. This is of great significance for the space environment with its particularly stringent load requirements. In the space environment, the fewer materials or tools required, the less fuel the spacecraft consumes, and the lower the launch cost of the spacecraft, the more conducive it is to long-term, long-range space exploration.

[0054] Furthermore, the aforementioned curved rod lattice metamaterial and curved edge stretchable mesh are transformed into flexible actuators capable of acting on the billet through actuation treatment. This is achieved through shaping heat treatment and deformation energy storage, the methods and processes of which are as follows:

[0055] When using single-pass shape memory alloys, the process of performing shaping heat treatment and storing energy is as follows:

[0056] Shape memory alloy curved bar lattice metamaterials or curved edge stretchable meshes can be directly fabricated into the desired shape, or shape memory alloy curved bar lattice metamaterials or curved edge stretchable meshes can be fabricated into simple flat plate shapes, deformed into the desired shape, constrained, heated to transform into the parent austenitic phase, subjected to shaping heat treatment to solidify the shape and give it a single-pass shape memory function, and then cooled to transform into the low-temperature martensite phase. Deformation is then performed in the low-temperature martensite phase state to form a temporary shape, which is determined by the blank of the forming component.

[0057] When using two-way shape memory alloys, the process of performing shaping heat treatment and storing energy is as follows:

[0058] First, shape memory alloy curved rod lattice metamaterials or curved stretchable meshes can be directly prepared into the desired shape, or shape memory alloy curved rod lattice metamaterials or curved stretchable meshes can be prepared into simple flat plate shapes, deformed into the desired shape, constrained, heated to transform into the parent austenite phase, and then subjected to shaping heat treatment to shape it and give it a single-pass shape memory function.

[0059] Secondly, the shape memory alloy curved rod lattice metamaterial or curved stretchable mesh, which has been shaped and memorized, is cooled to transform into a low-temperature martensitic phase and deformed into a temporary shape. Under constrained conditions, it undergoes thermomechanical treatment involving heating and cooling to train it to remember the temporary shape of the low-temperature martensitic phase. This gives it a two-way shape memory function, allowing it to remember not only the high-temperature austenitic phase shape but also the temporary shape of the low-temperature martensitic phase. The temporary shape is determined by the blank of the forming component. Energy is stored through temperature-induced deformation between the original and temporary shapes, transforming it into a flexible actuator with actuation capabilities.

[0060] Furthermore, based on the aforementioned mechanical cloning and assignment of the geometric shape information of a rigid, complex-shaped object to the blank, the mechanical cloning of the geometric shape information of the rigid, complex-shaped object is achieved by cloning and transferring the geometric shape information of the component in the following manner, and cloning a component identical to the original component:

[0061] First, taking the component as a rigid, complex-shaped target body, the structure or properties of the shape memory alloy curved rod lattice metamaterial and the curved-edge stretchable mesh are controlled by regionalization, splitting, superposition and lamination, and composite control and actuation processing. This forms a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, non-simultaneous triggering of actuation functions and stress response. As a flexible intelligent actuator, it forms a spatially non-uniformly distributed stress field and a stress response that can be controlled and varied with time. This stress field acts on the blank and the component, forcing the blank to deform and adapt to and fit the component. The geometric shape information of the component is mechanically cloned and assigned to the blank, mechanically cloning an intermediate template body that stores the geometric shape information of the component.

[0062] Then, using the intermediate template as a rigid complex shape target body, a flexible metamaterial composed of shape memory alloy with non-uniform structure, non-uniform performance, non-simultaneous triggering actuation function and stress response is used as a flexible intelligent actuator to form a spatially non-uniformly distributed stress field and a stress response that can be controlled over time. This stress field acts on the blank and the intermediate template, forcing the blank to deform and adapt to and fit the intermediate template. The geometric shape information of the component stored in the intermediate template is mechanically cloned and assigned to the blank, creating a component that is identical to the original component.

[0063] Furthermore, the aforementioned shape memory alloy composite flexible metamaterial, which forms non-identical structures, non-uniform properties, and non-simultaneously triggered actuation functions and stress responses, serves as a flexible intelligent actuator, cloning a component identical to the original component. The steps include:

[0064] Step 1: Analyze the characteristics of the component to be formed and the distribution of the pressure load required for its forming and the change of the pressure load over time; and prepare the shape memory alloy billet, and process and prepare other auxiliary tools and materials;

[0065] Step 2: Based on the required pressure load distribution and pressure load variation over time obtained in Step 1, a composite control method is adopted to regionalize, split, and superimpose the structure or properties of shape memory alloy curved rod lattice metamaterials and curved edge stretchable meshes. This method is used to design shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different structures or properties, so as to form shape memory alloy flexible metamaterials with non-uniform structures, non-uniform properties, non-simultaneous triggering actuation functions and stress responses.

[0066] Step 3: Fabrication of shape memory alloy curved rod lattice metamaterial and curved-edge stretchable mesh.

[0067] Based on the design in step two, regional control methods and split control methods are used to process shape memory alloy billets into curved rod lattice metamaterials and curved edge stretchable meshes with different structures or properties.

[0068] Step 4: Actuation treatment and formation of shape memory alloy composite flexible metamaterials as flexible intelligent actuators.

[0069] A split-control method is used to perform shaping heat treatment on the prepared shape memory alloy curved rod lattice metamaterial and curved stretchable mesh, setting the shape and phase transition temperature. Then, through actuation treatment, the shaped curved rod lattice metamaterial and curved stretchable mesh with different structures or properties are deformed into a temporary shape to store energy and enable them to have actuation function, thus becoming an actuator. Finally, a composite method of superposition and lamination is used to form a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation function and stress response, which is then transformed into a flexible intelligent actuator.

[0070] Step 5, Assembly.

[0071] A flexible metamaterial composed of shape memory alloys with non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response after actuation treatment is used as a flexible intelligent actuator to act on blanks and components, and is assembled and fixed together with auxiliary assembly and fixing parts and heating devices.

[0072] Step six: Heating triggers the mechanical cloning process to obtain the intermediate template body.

[0073] Heating triggering has transformed into a flexible intelligent actuator with a non-identical structure, non-uniform performance, non-simultaneous triggering actuation function and stress response. The shape memory alloy composite flexible metamaterial undergoes a phase transformation, restores the original shape, generates restoring force and actuation function, acts on the blank and component, forces the blank to deform and fit into the component, and obtains the intermediate template body.

[0074] Step seven: Energy is stored through deformation again, and then actuation is performed.

[0075] A shape memory alloy curved rod lattice metamaterial that stores energy after deformation induced by external force or temperature and undergoes actuation treatment, and a curved stretchable mesh are superimposed and layered to form a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation function and stress response, which serves as a flexible intelligent actuator.

[0076] Step 8: Reassemble.

[0077] Using the intermediate template body obtained in step six as the rigid complex shape target body, the shape memory alloy composite flexible metamaterial with non-identical structure, non-uniform performance, non-simultaneous triggering actuation function and stress response after actuation treatment is used as a flexible intelligent actuator to act on the blank and intermediate template body, and is assembled and fixed together with auxiliary assembly and fixing components and heating devices.

[0078] Step nine: Reheat to trigger the mechanical cloning process and obtain a clone of the component.

[0079] Heating triggering has transformed into a flexible intelligent actuator with a non-identical structure, non-uniform properties, non-simultaneous triggering actuation function, and stress response. The shape memory alloy composite flexible metamaterial undergoes a phase transition, restoring the original shape, generating restoring force and actuation function, acting on the blank and intermediate template body, forcing the blank to deform and fit into the intermediate template body, thus obtaining a clone of the component.

[0080] Furthermore, when the shape memory alloy composite flexible metamaterial, which has non-uniform structure, non-uniform properties, and non-simultaneous triggering actuation function and stress response, is used as a flexible intelligent actuator on the billet, it needs to be assembled with the billet and other materials. Lubrication is required between the metals that come into contact during assembly and forming. Graphite paper or a sprayed coating is filled into the pores of the shape memory alloy curved rod lattice metamaterial for lubrication. Graphite paper or a sprayed coating is placed between the superimposed shape memory alloy curved rod lattice metamaterial and the curved stretchable mesh, and between different shapes memory alloy curved stretchable meshes, for lubrication. Graphite paper or a sprayed coating is placed between the shape memory alloy composite flexible metamaterial (composed of the shape memory alloy curved rod lattice metamaterial and the shapes memory alloy curved stretchable mesh) and the metal billet for lubrication.

[0081] The beneficial effects of using graphite paper or spray coating for lubrication are as follows: with the help of graphite paper or spray coating, friction between metals is reduced, ensuring that the recovery force of the shape memory alloy can be maximized and used for the deformation of the blank, ensuring the successful formation process. Otherwise, the porous shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh will generate severe friction during the process of restoring the original shape, dissipating the actuation energy of the shape memory alloy, resulting in insufficient energy and difficulty in successfully forming the component.

[0082] Furthermore, when the shape memory alloy composite flexible metamaterial, which has non-uniform structure, non-uniform properties, and non-simultaneous triggering actuation function and stress response, is used as a flexible intelligent actuator to act on the billet, auxiliary assembly and fixing components are required, including an actuation container, a pressure plate, and a support plate. The actuation container is assembled and fixed together with the pressure plate and the support plate to enclose the shape memory alloy composite flexible metamaterial in a closed space, constrain and fix the billet, assemble and fix the heating device, and guide the shape memory alloy composite flexible metamaterial to expand towards the billet, forcing the billet to deform.

[0083] The beneficial effects of using an actuated capillary frame to constrain and guide the expansion of shape memory alloy composite flexible metamaterials into the billet are as follows: By using an actuated capillary frame to constrain and guide the shape memory alloy composite flexible metamaterials, they expand into the billet while restoring their original shape, forcing the billet to deform and conform to the component or intermediate template, thus forming the component. This does not require the shape memory alloy composite flexible metamaterial to be shaped into the component's shape. It only needs to be shaped into a stretchable and expandable three-dimensional shape, then compressed and placed within an actuated capillary frame. Under the constraint and guidance of the actuated capillary frame, the shape memory effect can generate a restoring force during the process of restoring the original shape, causing the billet to expand and deform. In this way, the shape memory alloy composite flexible metamaterial has versatility and can be used for components of any shape without the need for corresponding shaping heat treatment for each different shape of component. This reduces operations and expands the application range, which is of great significance for environments such as space.

[0084] Furthermore, when the shape memory alloy composite flexible metamaterial, which has non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response, is used as a flexible intelligent actuator to act on the billet and component or intermediate template, the restoring force generated by the shape memory alloy curved rod lattice metamaterial needs to be applied to improve the stiffness of the component or intermediate template when the component or intermediate template drives the billet to deform or when it is subjected to the deformation of the billet and it is attached to it, so as to ensure that the component and intermediate template do not deform themselves when driving the billet to deform or when they are subjected to the deformation of the billet and it is attached to it.

[0085] The benefits of using the restoring force generated by the shape memory alloy curved bar lattice metamaterial to improve the stiffness of components and intermediate templates are: ensuring that the components and intermediate templates do not deform themselves when driving the blank to deform or when subjected to the bending of the deformed blank; ensuring that the geometric shape information of the components or intermediate templates can be accurately cloned and assigned to the blank, realizing the mechanical cloning manufacturing of components. Especially for some thin-walled components and low-strength material components, which have low stiffness, if the restoring force generated by the shape memory alloy curved bar lattice metamaterial is not used to improve the stiffness of the components or intermediate templates, they may deform themselves when driving the blank to deform or when subjected to the bending of the deformed blank, making the mechanical cloning process impossible.

[0086] Furthermore, when the shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response is used as a flexible intelligent actuator to act on the blank for component forming, a rigid cover plate or a rigid-flexible composite cover plate can be covered on one side of the blank to improve formability, or an elastomer can be placed between the shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response and the blank to improve the surface quality of the component.

[0087] The beneficial effects of covering one side of the blank with a rigid cover plate or a rigid-flexible composite cover plate, or placing an elastomer between the shape memory alloy flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering actuation function and stress response and the blank, are as follows: The shape memory alloy flexible metamaterial itself can generate intelligent pressure control that is adjustable in both spatial distribution and time variation, improving the formability of the sheet metal and enhancing the forming quality of the components. Covering one side of the blank with a rigid cover plate or a rigid-flexible composite cover plate can further improve the formability, or placing an elastomer between the shape memory alloy flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering actuation function and stress response and the blank can further enhance the formability of the sheet metal and improve the forming quality of the sheet metal components.

[0088] Furthermore, the shape memory alloy composite flexible metamaterial, which combines non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function, and stress response, is used as a flexible intelligent actuator to act on the billet during forming. The action on the billet is divided into two regions: one is the billet deformation region corresponding to the component or intermediate template, and the other is the region at the edge of the billet. In the billet deformation region corresponding to the mold component or intermediate template, the shape memory alloy composite flexible metamaterial, which combines non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function, and stress response, is applied to generate a non-uniform pressure distribution and pressure that changes over time. In the edge region, the shape memory alloy composite flexible metamaterial is also used to adjust and control the blank holder force acting on the edge of the billet.

[0089] The aforementioned benefits of using shape memory alloy flexible metamaterials to adjust and control the blank holder force acting on the blank edge in the edge region are: it eliminates the need for complex blank holder force adjustment equipment and devices, allowing for the adjustment and control of the blank holder force acting on the blank edge. Otherwise, blank forming typically requires additional devices to apply and control the blank holder force at the blank edge to control the blank flow and suppress instability and wrinkling at the blank edge, avoiding the use of complex and expensive pressure generating and pressure control equipment. This is of great significance for the space environment, which has particularly stringent requirements for loads. In the space environment, the fewer materials or tools required, the less fuel the spacecraft consumes, and the lower the launch cost of the spacecraft, the more conducive it is to long-term, long-range space exploration.

[0090] The method of the present invention has the following beneficial effects:

[0091] 1. No complex, bulky, or specialized equipment required. This invention requires only a small amount of reusable shape memory alloy curved rod lattice metamaterial and curved stretchable mesh, as well as simple heating and fixing assembly auxiliary tools and components. It can control the deformation process of sheet metal blanks in different areas and stages, and can be easily manufactured in extreme environments such as space and deep space, far away from factories and even far from Earth, where it is difficult to obtain complex and bulky specialized mechanical equipment. This avoids carrying bulky equipment to extreme environments such as space.

[0092] 2. No special molds or other special tools are required. By mechanical cloning, using a component as the target object and a prototype of its geometric shape, and storing energy through the deformation of a shape memory alloy, components can be manufactured using only blank material and a small amount of energy to activate the shape memory alloy's actuation function.

[0093] 3. Free from dependence on Earth's gravity and atmospheric environment. The blanks required for forming do not need to be melted. Therefore, there is no problem of metallurgical bonding of molten metals. There is no need for gravity to promote the metallurgical bonding of molten metals. It avoids the problems of metallurgical solidification and heat transfer in space environment being different from those on Earth, and the difficulties of heat dissipation and solidification in high vacuum environment. Therefore, it is not limited by environmental conditions such as zero gravity, vacuum, and extreme temperature changes.

[0094] 4. It enables more convenient and cost-effective development and utilization of resources in extreme environments such as space, as well as in-situ manufacturing in these environments. Manufacturing technology is key to resource development and utilization; resources only have meaning when they are manufactured into products. However, manufacturing is a challenge in environments such as space and other planets. Traditional manufacturing requires specialized, complex, and cumbersome equipment. Since such equipment is difficult to obtain in extreme environments like space, resources in these environments are difficult to develop and utilize, and difficult to process into components and products. Because the method presented in this invention is more convenient and lower in cost, it facilitates the development and utilization of resources in extreme environments such as space. For example, in space or on other planets, materials from space-going materials, materials from discarded spacecraft, materials recovered in orbit, or in-situ resources on other planets can be used as raw materials for mechanical cloning manufacturing. This avoids the need for round-trip transportation of raw materials between Earth and space, and avoids transporting complex and cumbersome specialized equipment to space or other planets, greatly reducing costs and providing a foundation for in-orbit manufacturing and construction of spacecraft, development and utilization of extraterrestrial resources, and the development of new space-based economic models.

[0095] 5. Enables rapid replacement of damaged components during space, deep space, and ocean exploration missions. A significant challenge in space, deep space, and ocean exploration is how to replace damaged components mid-exploration. Carrying backup components would require numerous spares, increasing the load and hindering long-range exploration. Carrying manufacturing equipment, such as 3D printing (additive manufacturing), also increases the load and impacts long-range exploration. Furthermore, 3D printing, which melts material layer by layer, is time-consuming. Mechanical cloning can solve this problem. Using the damaged component as a target object and geometric prototype, and shape memory alloy composite flexible metamaterials as actuators, an identical component can be quickly and easily cloned. Similar to biological cloning, information is copied and stored on an intermediate template, and then, in any environment, it absorbs surrounding materials and energy to clone an identical entity. This allows for self-sustaining development, enabling the direct manufacture of necessary components in space, helping humanity reduce dependence on Earth's resources.

[0096] 6. Expands the range of manufacturable materials for extreme environments such as space manufacturing. The raw materials required by the method of this invention are ordinary semi-finished blanks such as sheet metal, which do not require special treatment or preparation. It can be applied to any metal material and polymer material, etc. No special equipment is required to prepare raw materials, and it is not sensitive to conditions such as gravity and vacuum. This greatly expands the range of manufacturable materials for extreme environments such as space manufacturing. Attached Figure Description

[0097] Figure 1 This is a schematic diagram of a curved stretchable mesh;

[0098] Figure 2 This is a schematic diagram of a unit cell of a curved stretchable mesh, in which the shape structure and parameters include the unit cell spans L1 and L2, the widths W1 and W2 of the curved edges, and the radii of curvature R1 and R2 of the curved edges.

[0099] Figure 3 This is a schematic diagram of a curved rod lattice metamaterial with a curved rod as the support.

[0100] Figure 4 This is a schematic diagram of the lattice unit cell of a curved rod lattice metamaterial with a curved rod as the support.

[0101] Figure 5 This is a schematic diagram of the bending support of the lattice unit cell of the curved rod lattice metamaterial, where the shape, structure and parameters of the bending support include the unit cell span L (bending support length L), bending support diameter Φ, bending support radius of curvature R2, and bending support transition section radius of curvature R1.

[0102] Figure 6 This is a schematic diagram of a curved rod lattice metamaterial with springs as supports;

[0103] Figure 7 This is a schematic diagram of the lattice unit cell of a curved rod lattice metamaterial with springs as the support rod;

[0104] Figure 8 This is a schematic diagram of the spring support of a lattice unit cell of a curved rod lattice metamaterial with spring as the support rod. The shape, structure and parameters of the spring support rod include the unit cell span L1 (spring length L1), spring wire diameter Φ2, spring diameter Φ1, and spring pitch L2.

[0105] Figure 9 The following is a schematic diagram of stacking multiple flexible curved rod lattice metamaterials or curved stretchable meshes in sequence, using curved stretchable meshes as an example.

[0106] Figure 10 The diagram illustrates how multiple flexible curved bar lattice metamaterials or curved stretchable meshes are stacked together for reinforcement, using curved edge stretchable mesh as an example.

[0107] Figure 11 This is a schematic diagram of regional control of unit cell composite forms with different structural parameters (the layout is: the structural parameters of the curved stretchable mesh unit cells in one half of the region are different from those in the other half of the region). (The dashed box in the figure is used to indicate the region where the curved stretchable mesh uses unit cells with narrower curved widths).

[0108] Figure 12This is a schematic diagram of regional control of unit cell composite forms with different structural parameters (the layout is: the structural parameters of the curved stretchable mesh unit cells in about a quarter of the edge region are different from those in other regions). (The dashed box in the figure is used to indicate the region where the curved stretchable mesh uses unit cells with narrower curved widths).

[0109] Figure 13 This is a schematic diagram of regional control of unit cell composite forms with different structural parameters (the layout is: the structural parameters of the unit cell of the curved stretchable mesh in the central region are different from those in other regions). (The dashed box in the figure is used to indicate the region where the curved stretchable mesh uses unit cells with narrower curved widths).

[0110] Figure 14 The example given is a curved stretchable mesh: multiple unit cells with different structural parameters or properties are stacked and layered to form a complex stress response spatial distribution, resulting in a shape memory alloy composite flexible metamaterial with non-uniform structure and non-uniform properties (the dashed box in the figure is used to indicate the area of ​​the unit cell with a narrower curved edge width of the curved stretchable mesh).

[0111] Figure 15 It is a schematic diagram (side view) of the regional control of unit cell composite forms of a three-dimensional curved stretchable mesh with different structural parameters (layout mode: the structural parameters of the unit cell of the curved stretchable mesh in the central region are different from those in other regions).

[0112] Figure 16 This is a schematic diagram (top view) of the regional control of unit cell composite forms of a three-dimensional curved stretchable mesh with different structural parameters (layout mode: the structural parameters of the curved stretchable mesh unit cells in the central region are different from those in other regions).

[0113] Figure 17 This is a schematic diagram (side view) of the regional control of unit cell composite forms of a three-dimensional curved stretchable mesh with different structural parameters (layout method: the structural parameters of the curved stretchable mesh unit cells in about a quarter of the edge area are different from those in other areas).

[0114] Figure 18 This is a schematic diagram (top view) of the regional control of unit cell composite forms of a three-dimensional curved stretchable mesh with different structural parameters (layout method: the structural parameters of the curved stretchable mesh unit cells in about a quarter of the edge area are different from those in other areas).

[0115] Figure 19 This is a schematic diagram (side view) of the regional control of unit cell composite forms of a three-dimensional curved stretchable mesh with different structural parameters (layout method: the structural parameters of the curved stretchable mesh unit cells in half of the region are different from those in other regions).

[0116] Figure 20 This is a schematic diagram (top view) of the regional control of unit cell composite forms of a three-dimensional curved stretchable mesh with different structural parameters (layout method: the structural parameters of the curved stretchable mesh unit cells in half of the region are different from those in other regions).

[0117] Figure 21 This is a schematic diagram of the regional control of the composite form of unit cells with different structural parameters of the curved rod lattice metamaterial (layout: the diameter of the curved rods of the unit cells in the edge quarter region is small, which are thin rods, while the diameter of the curved rods of the unit cells in the remaining regions is large, which are thick rods).

[0118] Figure 22 This is a schematic diagram of the split-type control of curved rod lattice metamaterials (coarse rod form: the diameter of the curved rod of the unit cell of the curved rod lattice metamaterial is relatively large);

[0119] Figure 23 This is a schematic diagram of the split-type control of curved rod lattice metamaterials (thin rod form: the diameter of the curved rod of the unit cell of the curved rod lattice metamaterial is small);

[0120] Figure 24 The following is a schematic diagram using a curved stretchable mesh as an example: By controlling the heat treatment specifications or the composition of the shape memory alloy material, the phase transition temperatures of multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are set to different temperature values ​​(T1, T2, T3, T4, T5, and T6 represent the phase transition temperature values ​​of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes).

[0121] Figure 25 The following is a schematic diagram, using a curved stretchable mesh as an example: a stack of multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different phase transition temperatures (T1, T2, T3, T4, T5, and T6 represent the phase transition temperature values ​​of the shape memory alloy curved rod lattice metamaterials or curved stretchable meshes).

[0122] Figure 26The following is an example using a curved stretchable mesh: By controlling the heat treatment specifications or the composition of the shape memory alloy material, the phase transition temperatures of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different structural parameters or performances and different layouts of unit cells are controlled to different temperature values. These are then stacked together to obtain a schematic diagram of a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform performance, and non-simultaneous triggering actuation function and stress response (the dashed box in the figure is used to indicate the area of ​​the unit cell with a narrower curved edge width of the curved stretchable mesh, and T1, T2 and T3 represent the phase transition temperature values ​​of the shape memory alloy curved rod lattice metamaterial or curved stretchable mesh).

[0123] Figure 27 This is a schematic diagram of a curved stretchable mesh that is directly processed into a three-dimensional shape or deformed into a three-dimensional shape;

[0124] Figure 28 yes Figure 27 A schematic diagram of a three-dimensional stretchable mesh deformed into a temporary shape;

[0125] Figure 29 yes Figure 27 The three-dimensional shape of the curved stretchable mesh is deformed to Figure 28 A diagram illustrating how a temporary shape can be restored to its original shape.

[0126] Figure 30 This is a schematic diagram illustrating the influence of structural parameters on the performance of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable mesh, using a curved rod as an example (the two curved rod supports have the same span, but different diameters).

[0127] Figure 31 This is a schematic diagram illustrating the influence of structural parameters on the performance of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable mesh, using a curved rod as an example (the two curved rods have the same diameter, but the spans of the curved rods are different).

[0128] Figure 32 The following is a schematic diagram showing how a shape memory alloy curved rod lattice metamaterial or a curved stretchable mesh is processed into multiple parts, using a curved stretchable mesh as an example.

[0129] Figure 33 The following is a schematic diagram, using a curved stretchable mesh as an example: a shape memory alloy curved rod lattice metamaterial or a curved stretchable mesh is processed into multiple parts, then shaped and heat-treated, and then welded into a whole.

[0130] Figure 34 This is a schematic diagram of the mechanical cloning process (with the component as a rigid, complex-shaped target body, the initial stage, and the assembly completed).

[0131] Figure 35 This is a schematic diagram of the mechanical cloning process (taking the component as a rigid, complex-shaped target body, completing the stage, and obtaining the intermediate template body);

[0132] Figure 36 This is a schematic diagram of the mechanical cloning process (using an intermediate template as a rigid, complex-shaped target body, in the initial stage, assembly completed).

[0133] Figure 37 This is a schematic diagram of the mechanical cloning process (using an intermediate template as a rigid, complex-shaped target body, completing a stage to obtain a clone of the component);

[0134] Figure 38 This is a schematic diagram of the mechanical cloning process when applying a cover plate (with the component as a rigid, complex-shaped target body, the initial stage, and the assembly completed).

[0135] Figure 39 This is a schematic diagram of the mechanical cloning process when applying a cover plate (taking the component as a rigid, complex-shaped target body, completing the stage, and obtaining the intermediate template body);

[0136] Figure 40 This is a schematic diagram of the mechanical cloning process when applying a cover plate (using an intermediate template as a rigid, complex-shaped target body, in the initial stage, assembly completed).

[0137] Figure 41 This is a schematic diagram of the mechanical cloning process when applying a cover plate (using an intermediate template as a rigid, complex-shaped target body, completing the stage to obtain a clone of the component);

[0138] Figure 42 This is a schematic diagram of the mechanical cloning process when using an elastomer (with the component as a rigid, complex-shaped target body, in the initial stage, assembly completed).

[0139] Figure 43 This is a schematic diagram of the mechanical cloning process when using an elastomer (taking the component as a rigid, complex-shaped target body, completing the stage, and obtaining the intermediate template body);

[0140] Figure 44 This is a schematic diagram of the mechanical cloning process when using an elastomer (with an intermediate template as a rigid, complex-shaped target body, in the initial stage, assembly completed).

[0141] Figure 45 This is a schematic diagram of the mechanical cloning process when using an elastomer (using an intermediate template as a rigid, complex-shaped target body, completing the stage to obtain a clone of the component);

[0142] Figure 46This is a schematic diagram of a flexible shape memory alloy metamaterial with multiple non-identical structures, non-uniform properties, and non-simultaneous phase transition temperatures, which is used to implement regional and phased triggering of actuation functions and stress responses. (In the diagram, T1, T2, and T3 represent the phase transition temperatures of the shape memory alloy curved rod lattice metamaterial).

[0143] Figure 47 This is a schematic diagram of the mechanical cloning process when the actuation function and stress response are triggered in different regions and stages (with the component as a rigid complex shape target body, in the initial stage, assembly completed). T1, T2, and T3 in the diagram represent different phase transformation temperatures. Because the phase transformation temperatures are different, the actuation function and stress response of the shape memory alloy are not triggered simultaneously. Therefore, the force exerted by the shape memory alloy on the billet is also not simultaneous, thus applying pressure to the billet in different regions and stages.

[0144] Figure 48 This is a schematic diagram of the mechanical cloning process when implementing regional and phased triggering of actuation functions and stress response (taking the component as a rigid complex-shaped target body, completing the phase, and obtaining the intermediate template body).

[0145] Figure 49 This is a schematic diagram of the mechanical cloning process when the actuation function and stress response are triggered in different regions and stages (with the intermediate template body as the rigid complex shape target body, the initial stage, and the assembly completed). In the diagram, T1, T2, T3, T4, and T5 represent different phase transformation temperatures. Because the phase transformation temperatures are different, the actuation function and stress response of the shape memory alloy are not triggered simultaneously. Therefore, the force exerted by the shape memory alloy on the billet is also not simultaneous, thus applying pressure to the billet in different regions and stages.

[0146] Figure 50 This is a schematic diagram of the mechanical cloning process when implementing regional and phased triggering actuation functions and stress responses (using the intermediate template body as a rigid complex-shaped target body, completing the phases, and obtaining the clone of the component). Detailed Implementation

[0147] This invention is based on shape memory alloys. Therefore, the specific embodiments of this invention will be further described below in conjunction with the characteristics of shape memory alloys, the ideas and principles of this invention, and the accompanying drawings.

[0148] Shape memory alloys exhibit two different phase morphologies at different temperatures: austenite and martensite. The temperature at which the austenite phase appears is higher than that at which the martensite phase appears; therefore, they are often referred to as the high-temperature austenite phase and the low-temperature martensite phase, respectively. The high-temperature austenite phase is generally referred to as the parent phase; therefore, in this application, the shape corresponding to the high-temperature austenite phase is referred to as the original shape.

[0149] Under different stress and deformation conditions, low-temperature martensite exists in two different forms. One is the existence of many different oriented martensite variants. The other is the formation of martensite monomers or preferred oriented martensite variants through self-cooperative merging and transformation under stress or the combined action of stress and temperature. Since martensite monomers or preferred oriented martensite variants can be transformed into the parent phase high-temperature austenite by heating, their shape will also be restored to the original shape corresponding to the parent phase high-temperature austenite. Therefore, in this application, the shape corresponding to the deformation-induced low-temperature martensite monomers or preferred oriented martensite variants is called the temporary shape, because it can be transformed into the original shape corresponding to the parent phase high-temperature austenite at any time by heating.

[0150] The shape memory function of shape memory alloys refers to the fact that when a shape memory alloy is fixed in an original shape in the high-temperature austenitic state of the parent phase, it will remember this original shape. When it is cooled down and transformed into low-temperature martensite, and then subjected to external forces, many low-temperature martensite variants with different orientations are formed through self-cooperative merging and transformation into martensite monomers or preferred orientation martensite variants. At the same time, the external forces change its shape into a temporary shape. When it is heated again, the martensite monomers or preferred orientation martensite variants will transform into the high-temperature austenitic parent phase, and the shape of the shape memory alloy will also recover from this temporary shape to the original shape. In other words, the shape memory alloy remembers the original shape and can recover its memory and return to its original shape after the shape is changed.

[0151] During the shape recovery process, a restoring force is generated, which produces an actuation effect. That is, through external induction, the shape memory alloy changes shape and can store energy. When the shape is restored to its original shape, this energy is released, generating a restoring force, thus possessing an actuation function.

[0152] The same applies to shape memory alloys with two-way shape memory. Two-way shape memory refers to the process where, through heat treatment, the parent phase of the shape memory alloy, high-temperature austenite, is shaped into a specific form, allowing it to "remember" this original shape. Then, through repeated cycles of thermodynamic "training," a specific stress field is created within the shape memory alloy. This stress field induces the shape memory alloy to automatically transform from high-temperature austenite to low-temperature martensite during cooling, resulting in a preferred orientation of the martensite. This low-temperature martensite phase is then shaped into a temporary shape and remembered, giving the shape memory alloy a two-way shape memory function. Finally, simply cooling is used to restore the shape memory. When the alloy cools down from the parent phase high-temperature austenite to low-temperature martensite, it automatically transforms into a low-temperature martensite with a preferred orientation. At the same time, the shape of the shape memory alloy changes from the original shape of the parent phase high-temperature austenite to the temporary shape of the parent phase low-temperature martensite. This provides a prerequisite for generating a restoring force when it is reheated to restore the original shape of the parent phase high-temperature austenite. That is, through this temperature-induced shape change from the original shape to the low-temperature temporary shape, the purpose of storing energy in the shape memory alloy is achieved. When the shape is restored to the original shape, this energy is released to generate a restoring force, thereby possessing an actuation function.

[0153] If a shape memory alloy curved rod lattice metamaterial or a curved stretchable mesh is shaped, transformed into low-temperature martensite, and then subjected to external forces to transform its shape from its original form to a temporary shape, and then heated, then, due to its shape memory function, it will recover its original shape and generate a restoring force. Furthermore, due to the flexibility and stretchability of the shape memory alloy curved rod lattice metamaterial and the curved stretchable mesh, during the expansion process of recovering its original shape after compression deformation, if it encounters a rigid, complex-shaped object, then the shape memory alloy curved rod lattice metamaterial or the curved stretchable mesh will actively adapt to and conform to this rigid, complex-shaped object. Moreover, due to the restoring force generated during the shape recovery process, the shape memory alloy curved rod lattice metamaterial or the curved stretchable mesh will exert force on the rigid, complex-shaped object that hinders its shape recovery. When a shape memory alloy generates a force, i.e., it produces a stress response, the shape memory alloy curved rod lattice metamaterial or curved stretchable mesh acts on an object that hinders its movement, similar to a mechanical device, both having the actuating function of generating force. If, during the expansion process of the shape memory alloy curved rod lattice metamaterial or curved stretchable mesh after being compressed and deformed, it encounters a relatively soft object, then the actuating function of the shape memory alloy curved rod lattice metamaterial or curved stretchable mesh will force this relatively soft object to deform until it encounters a rigid object. At this point, the shape memory alloy curved rod lattice metamaterial or curved stretchable mesh and the relatively soft object will actively adapt and conform to this rigid object, thereby mechanically cloning and imparting the geometry of the rigid object to the relatively soft object. If the structure or properties of a shape memory alloy are designed to be non-uniform, then the shape memory alloy can be transformed into a flexible actuator capable of generating non-uniform stress distribution and stress variation over time. This allows control over the deformation process of a relatively soft object, enabling it to smoothly conform to a rigid object with a complex shape. Consequently, it can be used to mechanically clone and impart the geometry of a rigid object with a complex shape to a relatively soft object, shaping the relatively soft object into a complex shape. Based on this, this invention proposes a mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials.

[0154] The implementation of this method mainly consists of two parts: first, transforming the shape memory alloy into a flexible intelligent actuator capable of generating non-uniform stress distribution and stress changing over time; and second, applying the transformed shape memory alloy to the billet to mechanically clone and assign geometric shape information to the billet so as to form a component.

[0155] The specific implementation method is as follows.

[0156] (1) Implementation methods for achieving flexible shape memory alloy curved rod lattice metamaterials and curved-edge stretchable meshes with large deformation capabilities:

[0157] Lattice metamaterials and stretchable meshes inherently possess flexibility and large deformation capabilities. However, to ensure more uniform deformation, avoid stress and strain concentration, and prevent the deformation of the shape memory alloy from exceeding its recoverable strain, curved rod lattice metamaterials and curved edge stretchable meshes are employed. In other words, curved rods form the unit cells of the lattice metamaterials, and curved edges form the unit cells of the stretchable meshes. This gives the curved rod lattice metamaterials and curved edge stretchable meshes flexibility, extensibility, and the ability to adapt to the large deformation required for complex shape forming.

[0158] Figure 1 and Figure 2 These are schematic diagrams of a curved stretchable mesh and a schematic diagram of a curved stretchable mesh unit cell, respectively.

[0159] Besides the curved edges of the unit cells in the stretchable mesh to make it "flexible," the thickness of the stretchable mesh must also be "flexible," meaning it must be thin. This is because material thickness is related to the bend radius that can be formed. In practical applications, shape memory alloys can use "flexible" blanks—thin-walled sheets, thin-diameter wires or rods. The width and length of the sheet are much greater than its thickness, making it more "flexible" than bulk or rod-shaped blanks. However, thin sheets are only suitable for simple shape changes such as bending. To deform into more complex shapes, "flexible" shape memory alloy sheet blanks can be processed into stretchable meshes. Compared to continuous sheets, mesh structures can produce greater deformation. To control the deformation of the shape memory alloy within its recoverable deformation range, the unit cell structure of the stretchable mesh adopts a curved edge form, i.e., a flexible structure. One form of this curved edge stretchable mesh and its unit cell structure and dimensions are as follows... Figure 1 and Figure 2 As shown. A "flexible" shape memory alloy billet in the form of a curved, stretchable mesh, processed from sheet metal (such as...). Figure 1 It can produce a large amount of deformation, and therefore can be deformed into complex 3D shapes, forming complex 3D components.

[0160] The design of lattice unit cell structures and parameters for lattice metamaterials aims to enable significant shape changes while keeping the deformation within the recoverable range of shape memory alloys. Therefore, there are two types of lattice unit cells for lattice metamaterials, both employing curved rod forms. One type uses curved rods as the lattice supports (e.g.,...). Figure 3 , Figure 4 and Figure 5As shown), instead of the usual straight-bar truss structure, its deformation is dominated by the elongation and compression deformation of the curved rods. This allows the lattice metamaterial to have both large contraction and expansion deformations, while the strain of the shape memory alloy material itself is relatively small, controlled within the recoverable deformation range of the shape memory alloy material itself; another type is a structure that uses a spring-like structure as the lattice support (such as...). Figure 6 , Figure 7 and Figure 8 As shown, the spring-like structure also allows the lattice metamaterial to have large contraction and expansion deformations, while the strain of the shape memory alloy itself is small and controlled within the range of recoverable deformation of the shape memory alloy.

[0161] (2) Implementation methods for strengthening flexible metamaterials such as curved rod lattice metamaterials and curved stretchable mesh shape memory alloy flexible metamaterials:

[0162] By stacking multiple flexible form shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes, the forces are accumulated, enabling the "flexible form" curved rod lattice metamaterials and curved edge stretchable mesh shape memory alloy flexible metamaterials, which can undergo large deformations to adapt to complex shape deformations, to also have sufficient restoring force to force the blank to deform and form components. Figure 9 and Figure 10 Taking shape memory alloy curved stretchable mesh as an example, a schematic diagram is given of strengthening by stacking multiple flexible shape memory alloy curved rod lattice metamaterials or curved stretchable meshes.

[0163] (3) Implementation methods for regional control of the structure or properties of shape memory alloy curved bar lattice metamaterials and curved edge stretchable meshes:

[0164] Regional control of unit cell composite forms with different structural parameters: Different lattice unit cells or mesh unit cells with different structural parameters are used in different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes. That is, the structural parameters of the unit cells in local regions differ from those in other regions, making the shape memory alloy curved rod lattice metamaterial or curved stretchable mesh a flexible metamaterial with unit cell composite forms of different structural parameters (e.g., Figure 11 As shown in the figure, this non-uniform composite structural unit cell layout enables flexible metamaterials to produce non-uniform stress responses. The regionalized control of the spatial distribution of stress response is achieved through this non-uniform composite structural unit cell layout, for example... Figure 11 The image shows half of a curved stretchable mesh using mesh cells with smaller curved widths. Figure 11 The area within the dashed box is used, while the other half of the curved stretchable mesh uses mesh cells with larger curved widths, forming a regionalized control and layout of two different structural parameters of unit cell composite form.

[0165] Regional control of composite unit cells with the same structure but different properties is achieved by changing the material composition or properties of the lattice unit cells in lattice metamaterials and the mesh unit cells in stretchable meshes. Different lattice unit cells or mesh unit cells with different material compositions or properties are used in different regions of curved rod lattice metamaterials or curved edge stretchable meshes. That is, the material composition or properties of unit cells in local regions differ from those in other regions, making the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh a flexible metamaterial with the same structure but different properties. This non-uniform composite property unit cell layout causes the shape memory alloy flexible metamaterial to produce a non-uniform stress response. Regional control of the spatial distribution of stress response is achieved through the layout of non-identical composite property unit cells; the layout is similar to the layout of non-identical structures (e.g., Figure 11 , Figure 12 and Figure 13 As shown), the only difference is that the material composition or properties of the unit cells in different regions are different; for this method of processing and preparing unit cells with the same structure but different material composition or properties, the parts of the unit cells with the same structure but different material composition or properties can be processed and prepared separately first, and then welded together.

[0166] (4) By regionalizing, splitting, and superimposing the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, complex regional control can be achieved, resulting in shape memory alloy composite flexible metamaterials with non-uniform structures and non-uniform properties that can produce complex stress responses through spatial distribution. The implementation method is as follows:

[0167] First, through regional control, lattice unit cells or mesh unit cells with different structural parameters or properties are used in different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes (e.g., Figure 11 As shown in the figure, the structural parameters or properties of the unit cell in a local region are different from those in other regions, resulting in a non-uniform stress response.

[0168] Secondly, modular control is implemented by changing the structural parameters or the layout of unit cells with different properties in each curved rod lattice metamaterial or curved stretchable mesh during regional control (e.g., Figure 11 , Figure 12 and Figure 13 As shown), by controlling each individual separately, multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different spatial distributions of stress response are obtained. That is, for each individual shape memory alloy curved rod lattice metamaterial or curved stretchable mesh, the layout of the unit cells with different structural parameters or properties is different (e.g., Figure 11 , Figure 12 and Figure 13As shown in the figure, the spatial distribution of stress response is different for each individual (as shown in the figure).

[0169] Then, composite control is performed, combining multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different structural parameters or performance of unit cells that have undergone separate control and have different layouts. That is, multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different stress response spatial distributions are stacked together (e.g., Figure 14 As shown, regional control of complex structures or properties is achieved, resulting in shape memory alloy composite flexible metamaterials with non-uniform structures and properties, and generating complex spatial distributions of stress responses.

[0170] The same applies to the regional and discrete control of unit cell composite forms of three-dimensional curved stretchable meshes with different structural parameters or properties, such as... Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 and Figure 20 As shown; the regional and discrete control of shape memory alloy curved rod lattice metamaterials is similar, such as... Figure 21 and Figure 22 This is a schematic diagram of a lattice metamaterial for two curved struts with different bending parameters. Figure 23 This involves using lattice unit cells with different structural parameters or properties in different regions of a shape memory alloy curved rod lattice metamaterial. That is, the structural parameters or properties of unit cells in local regions differ from those in other regions, resulting in a non-uniform stress response. Similarly, for the composite control of three-dimensional curved stretchable meshes or shape memory alloy curved rod lattice metamaterials, multiple three-dimensional curved stretchable meshes or shape memory alloy curved rod lattice metamaterials with different layouts of unit cells, each with different structural parameters or properties, are arranged using a similar method. Figure 14 By layering and stacking in a manner that allows for the formation of complex structures or regionalized control of properties, shape memory alloy composite flexible metamaterials with non-uniform structures and properties are obtained, resulting in complex spatial distributions of stress responses.

[0171] For the fabrication of this non-identical composite structural unit cell layout, it can be fabricated as a whole according to different size and structural parameters, or the parts with different structural parameters can be fabricated separately first and then welded together to form a complete non-identical composite structural unit cell layout of curved stretchable mesh.

[0172] (5) To achieve separate control and composite control of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, forming shape memory alloy composite flexible metamaterials with non-simultaneous triggering actuation function and stress response, the implementation method is as follows:

[0173] First, through modular control, by adjusting the heat treatment specifications or the composition of the shape memory alloy material, the phase transition temperatures of multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are set to different temperature values ​​(e.g., Figure 24 As shown), the phase transition temperature of each individual is controlled separately; since the phase transition temperature of each curved rod lattice metamaterial or curved edge stretchable mesh is different, their phase transition triggering time is not simultaneous. If these curved rod lattice metamaterials or curved edge stretchable meshes with different phase transition temperatures are deformed and then heated, non-simultaneous shape recovery will occur, resulting in non-simultaneous actuation function triggering and stress response.

[0174] Then, through composite control of superposition and lamination, multiple separately controlled curved rod lattice metamaterials or curved stretchable meshes with different phase transition temperatures are superimposed and laminated to obtain shape memory alloy composite flexible metamaterials with non-simultaneous triggering actuation function and stress response (such as...). Figure 25 As shown, due to their different phase transition temperatures, the timing of their phase transition triggering is not simultaneous. This allows multiple curved rod lattice metamaterials or curved edge stretchable meshes stacked together to generate asynchronous triggering actuation functions and stress responses. Consequently, a stress response that varies with time can be generated, transforming the separate control of curved rod lattice metamaterials or curved edge stretchable meshes with different phase transition temperatures and the composite control of stacked layers into a control that varies with time.

[0175] (6) By regionalizing, splitting, and composite controlling the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, shape memory alloy composite flexible metamaterials with non-uniform structural layouts, non-uniform performance layouts, and non-simultaneous triggering of actuation functions and stress responses are formed. The implementation method is as follows:

[0176] First, through regional control, lattice unit cells or mesh unit cells with different structural parameters or properties are used in different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes. That is, the structural parameters or properties of the unit cells in local regions are different from those in other regions (e.g., Figure 11 As shown in the figure, a non-uniform stress response is generated;

[0177] Secondly, spatial distribution control of stress response is achieved through partitioned control. This is done by altering the layout of unit cells with different structural parameters or properties during regional control, specifically by changing the layout of unit cells with different structural parameters or properties (e.g., ...). Figure 11 , Figure 12 and Figure 13 As shown), by controlling each individual separately, multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different spatial distributions of stress response are obtained. That is, the layout of unit cells with different structural parameters or properties of each shape memory alloy curved rod lattice metamaterial or curved stretchable mesh is different, and the spatial distribution of stress response is also different.

[0178] Then, the stress response is controlled separately by non-simultaneous triggering, through the regulation of heat treatment specifications or the control of the shape memory alloy material composition, such as... Figure 11 , Figure 12 and Figure 13 The phase transition temperatures of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different layouts of unit cells with varying structural parameters or properties are set to different temperature values, and the phase transition temperature of each individual is controlled separately (e.g., Figure 26 As shown, since the phase transition temperatures are different, their phase transition triggering times are not simultaneous. This causes shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different layouts of multiple unit cells with different structural parameters or performance under regional control to generate non-simultaneous phase transition triggering and stress response, thereby generating a stress response that varies with time.

[0179] Finally, composite control is achieved through superposition and lamination. Multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes, with different structural parameters or performances and varying phase transition temperatures, which have undergone regional and discrete control, are superimposed and laminated together (e.g., Figure 26 As shown, a shape memory alloy composite flexible metamaterial is obtained. At this time, a combination of regional control method, split control method and composite control method of superimposed layering form through unit cell layout with different structural parameters or performance is applied. It can not only generate a complex spatial distribution of stress response, but also generate stress response that changes with time, thus forming a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform performance, non-simultaneous triggering actuation function and stress response.

[0180] For the composite control of three-dimensional curved stretchable meshes or shape memory alloy curved rod lattice metamaterials, the same approach involves arranging multiple three-dimensional curved stretchable meshes with different structural parameters or properties through separate control of unit cells (such as...). Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 and Figure 20 (as shown) or shape memory alloy curved rod lattice metamaterials (such as...) Figure 21, Figure 22 , Figure 23 ), adopting a similar Figure 26 By layering and stacking in a manner that allows for the formation of complex structures or regionalized control of properties, shape memory alloy composite flexible metamaterials are obtained, resulting in a complex spatial distribution of stress response.

[0181] (7) The shape memory alloy curved rod lattice metamaterial and the curved stretchable mesh are actuated to become actuators. The implementation method is as follows:

[0182] Actuation treatment of shape memory alloy curved rod lattice metamaterials.

[0183] First, shape memory alloy curved rod lattice metamaterials are fabricated;

[0184] Secondly, the prepared shape memory alloy curved rod lattice metamaterial is subjected to shaping heat treatment to set its shape, set its phase transformation temperature, and enable it to have shape memory function.

[0185] Then, the shape memory alloy curved rod lattice metamaterial with a set shape, set phase transition temperature and shape memory function is deformed from the set shape to a temporary shape, storing energy and enabling it to have an actuation function.

[0186] Actuation processing for curved stretchable mesh in two-dimensional flat plate shape.

[0187] First, the two-dimensional flat, stretchable mesh is deformed into a three-dimensional shape (such as...). Figure 27 As shown), and constrain it; or, the shape memory alloy billet can be directly processed into a three-dimensional curved stretchable mesh (such as...). Figure 27 (as shown), and constrain it;

[0188] Secondly, the curved stretchable mesh that is directly processed into a three-dimensional shape, or the curved stretchable mesh that is deformed into a three-dimensional shape, is constrained and subjected to shaping heat treatment to shape it into a set three-dimensional shape and give it shape memory function. At the same time, its phase transformation temperature is set, and different phase transformation temperatures are set for each curved stretchable mesh shaped into a three-dimensional shape through the adjustment of heat treatment specifications.

[0189] Then, the stretchable mesh with a set three-dimensional shape, shape memory function, and set phase transition temperature is deformed into a temporary shape (such as...). Figure 28 As shown), it stores energy and has an actuating function, that is, when a three-dimensional stretchable mesh with curved edges that has been shaped and then deformed into a temporary shape (such as...) is... Figure 28 As shown), after being heated to cause a phase transition, it will automatically return to its original shape (as shown). Figure 29(as shown), thus transforming into a flexible actuator;

[0190] (8) Implementation methods for regional control of shape memory alloy curved bar lattice metamaterials and shape memory alloy curved edge stretchable meshes through structural parameter or performance design:

[0191] Regional control of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes involves applying lattice unit cells or stretchable mesh unit cells with different structural parameters or properties to different regions. This regional control is achieved through the design and modification of structural parameters or properties. These parameter designs are the control parameters for regional control of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, specifically as follows... Figure 2 , Figure 5 and Figure 8 As shown.

[0192] Figure 2 This is a schematic diagram of the shape, structure, and parameters of a curved stretchable mesh unit cell. The shape, structure, and parameters include the unit cell spans L1 and L2, the widths W1 and W2 of the curved edges, and the radii of curvature R1 and R2 of the curved edges.

[0193] Figure 5 This is a schematic diagram of the shape, structure, and parameters of a curved rod lattice metamaterial unit cell in the form of a curved rod. The shape, structure, and parameters include the unit cell span L (length of the curved rod), the diameter Φ of the curved rod, the radius of curvature R2 of the curved rod, and the radius of curvature R1 of the transition section of the curved rod.

[0194] Figure 8 This is a schematic diagram of the shape, structure, and parameters of a curved rod lattice metamaterial unit cell spring support in the form of a curved support rod. The shape, structure, and parameters include the unit cell span L1 (spring length L1), spring wire diameter Φ2, spring diameter Φ1, and spring pitch L2.

[0195] Modifying structural parameters to achieve regionalized control over shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes involves altering the shape, structure, and parameters of the aforementioned unit cells; specifically, it means changing... Figure 2 , Figure 5 and Figure 8 The parameters shown.

[0196] In practical implementation, these structural parameters are selected based on the performance requirements of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh. For example, taking a curved rod support as an example, the influence of structural parameters on the performance of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh is illustrated. When two curved rod supports have the same span, but the diameters of the curved rod supports are different (e.g., Figure 30When subjected to the same force F, the curved rod with a smaller diameter deforms more and appears more "flexible," while the curved rod with a larger diameter deforms less and appears more "rigid." Therefore, this can be used to control the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes. When two curved rods have the same diameter but different spans (e.g.,...),... Figure 31 When they are compressed to the same height (as shown), the deformation of the curved rod with a larger span is greater, while the deformation of the curved rod with a smaller span is smaller. Since the restoring force of shape memory alloy is related to the amount of deformation, this means that the restoring forces they can generate when compressed to the same height will be different. Therefore, the restoring force of shape memory alloy curved rod lattice metamaterial and shape memory alloy curved edge stretchable mesh can be controlled in this way.

[0197] Similar to the influence of structural parameters on the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes can also be controlled through material composition and heat treatment specifications. For example, the strength and phase transformation temperature of shape memory alloys are related to the material composition, and the material strength also affects the material deformation, thus affecting the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes. The material strength also affects the material stress response, thus affecting the stress response of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes.

[0198] (9) Implementation methods for preparing shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes:

[0199] Since the composition of shape memory alloys affects their properties, such as phase transition temperature and strength, shape memory alloy curved rod lattice metamaterials and curved-edge stretchable meshes with different material compositions can be selected when designing and preparing shape memory alloy composite flexible metamaterials with different structures, non-uniform properties, and non-simultaneous triggering actuation functions and stress responses. This will produce shape memory alloy curved rod lattice metamaterials and curved-edge stretchable meshes with different properties, such as shape memory alloy curved rod lattice metamaterials and curved-edge stretchable meshes with different phase transition temperatures.

[0200] Depending on the requirements, select appropriate shape memory alloy raw materials or blanks, such as suitable shape memory alloy material composition. Then, according to the structural parameters of the unit cell of the designed shape memory alloy curved rod lattice metamaterial, use methods such as laser cutting, electrical discharge wire cutting, or 3D printing (additive manufacturing) to prepare curved rod lattice unit cells or curved rod lattice unit cells of shape memory alloy curved rod lattice metamaterials with different structural parameters. Then, weld them together with laser to form shape memory alloy curved rod lattice metamaterials with non-identical structures, or directly use 3D printing (additive manufacturing) to prepare integral shape memory alloy curved rod lattice metamaterials with non-identical structures.

[0201] For shape memory alloy curved stretchable mesh, different structures of shape memory alloy curved stretchable mesh can be prepared by means of laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing).

[0202] For shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes with non-uniform properties, according to their properties, the parts with different properties are first processed and prepared by laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing), and then the parts are welded together by laser welding.

[0203] (10) Shape memory alloy curved rod lattice metamaterials and curved stretchable meshes are transformed into actuators by shaping heat treatment and deformation energy storage. The implementation method and process of shaping heat treatment are as follows:

[0204] When using single-pass shape memory alloys, the shaping heat treatment process is as follows:

[0205] When shape memory alloy curved rod lattice metamaterials and curved stretchable meshes are directly fabricated into a set shape, they are constrained and subjected to shaping heat treatment to fix their shape and enable them to have a single-pass shape memory function. When shape memory alloy curved rod lattice metamaterials and curved stretchable meshes are fabricated into a simple flat plate shape, the fabricated shape memory alloy curved rod lattice metamaterials and curved stretchable meshes need to be deformed from the simple flat plate shape to the set shape, and then constrained and subjected to shaping heat treatment to fix their shape and enable them to have a shape memory function that can remember the original shape of the high-temperature austenitic phase.

[0206] For smaller components, the required shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are also small in size. The shape memory alloy curved rod lattice metamaterials or curved stretchable meshes can be entirely bound to a single mold for shaping and heat treatment, shaping them into the desired shape and giving them shape memory function. For larger or extra-large components, the required shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are also large or extra-large. Performing overall shaping and heat treatment on the shape memory alloy curved rod lattice metamaterials or curved stretchable meshes would require large or extra-large heating furnaces and binding tools, which is difficult to implement. Therefore, a split approach can be adopted, processing the shape memory alloy curved rod lattice metamaterials or curved stretchable meshes into multiple parts (e.g., Figure 32 As shown), each component is bound to a corresponding binding tool, and after shaping and heat treatment, the individual components are welded together into a whole using laser welding (e.g., Figure 33 As shown), it has a set shape and a shape memory function.

[0207] When using two-way shape memory alloys, the shaping heat treatment process is as follows:

[0208] First, a shaping heat treatment is performed to remember the original shape of the high-temperature austenite phase:

[0209] When shape memory alloy curved rod lattice metamaterials and curved stretchable meshes are directly fabricated into a predetermined shape, they are constrained and subjected to shaping heat treatment to fix their shape and enable them to have a single-pass shape memory function. When shape memory alloy curved rod lattice metamaterials and curved stretchable meshes are directly fabricated into a simple flat plate shape, the fabricated shape memory alloy curved rod lattice metamaterials and curved stretchable meshes need to be deformed into a predetermined shape first, and then constrained and subjected to shaping heat treatment to transform them into a predetermined shape and enable them to have a shape memory function that can remember the original shape of the high-temperature austenitic phase.

[0210] Secondly, a temporary shape for the low-temperature martensitic phase is established using a thermo-mechanical training method with constant deformation cyclic training under constrained conditions:

[0211] Shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, whose original shapes are fixed and memorized in the high-temperature austenitic phase, are cooled to transform into a low-temperature martensitic phase and deformed into a temporary shape. Under constrained conditions, thermomechanical treatment training involving heating and cooling is performed: (a) The shape memory alloy curved rod lattice metamaterial or curved stretchable mesh, whose original shape is fixed to the set geometry, is fixed and heated above the high-temperature austenitic phase transformation temperature to transform it into a high-temperature austenitic phase; (b) The shape memory alloy in the high-temperature austenitic phase is loaded to deform it into the desired temporary shape; (c) The deformation loading is kept constant, and the shape memory alloy is cooled... (c) Increase the temperature of the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh until the load applied to the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh no longer decreases; (d) Keep the deformation load constant and increase the temperature of the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh until the load applied to the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh no longer increases; (e) Repeat steps (c) and (d) until the loading force no longer changes, until the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh can not only remember the original set shape of the parent phase high-temperature austenite, but also remember the temporary shape of the low-temperature martensite phase, forming a two-way shape memory function.

[0212] For smaller components, the required shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are also small in size. The shape memory alloy curved rod lattice metamaterials or curved stretchable meshes can be entirely bound to a single mold for shaping and heat treatment, shaping them into the desired shape and giving them shape memory function. For larger or extra-large components, the required shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are also large or extra-large. Performing overall shaping and heat treatment on the shape memory alloy curved rod lattice metamaterials or curved stretchable meshes would require large or extra-large heating furnaces and binding tools, which is difficult to implement. Therefore, a split approach can be adopted, processing the shape memory alloy curved rod lattice metamaterials or curved stretchable meshes into multiple parts (e.g., Figure 32 As shown), each component is bound to a corresponding binding tool, and after shaping and heat treatment, the individual components are welded together into a whole using laser welding (e.g., Figure 33 As shown), it has a set shape and a shape memory function. Specific Implementation Example 1

[0214] This embodiment is a hemispherical plate component (such as...) Figure 34 , Figure 35 , Figure 36 and Figure 37 As shown, the material of the plate for the component to be formed is TA1 pure titanium plate.

[0215] The specific implementation steps for this example are as follows.

[0216] Step 1: Analyze the characteristics of the component to be formed and the distribution of the pressure load required for its forming and the change of the pressure load over time; and prepare the shape memory alloy billet, and process and prepare other auxiliary tools and materials;

[0217] Finite element analysis software such as ANSYS and Abaqus were used to analyze the forming process. Based on the dimensions of the component and the material parameters of the blank, a finite element analysis model was established to analyze the deformation process of the sheet blank under different pressure loads and blank holder forces, and to determine the distribution of pressure loads required for forming and the variation of pressure loads over time.

[0218] Based on the simulation analysis results, according to Figure 34 , Figure 35 , Figure 36 and Figure 37 As shown, prepare shape memory alloy blanks, process and prepare other auxiliary tools and materials.

[0219] Shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes can be made of nickel-titanium shape memory alloys, copper-based shape memory alloys, etc. This implementation uses nickel-titanium shape memory alloy.

[0220] Step 2: Based on the required pressure load distribution and pressure load variation over time obtained in Step 1, a composite control method is adopted to regionalize, split, and superimpose the structure and properties of shape memory alloy curved rod lattice metamaterials and curved edge stretchable meshes. Shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different structures or properties are designed to form shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, non-simultaneous triggering actuation functions, and stress responses.

[0221] The structure and shape of curved stretchable mesh are as follows: Figure 1 and Figure 2 As shown.

[0222] Besides the curved edges of the unit cells in the stretchable mesh to make it "flexible," the thickness of the stretchable mesh must also be "flexible," meaning it must be thin. This is because, for bending deformation, the blank thickness is related to the formable bending radius. In practical applications, shape memory alloys can use "flexible" blanks—thin-walled sheets, thin-diameter wires, or rods. The width and length of the sheet are much greater than its thickness, making it more "flexible" compared to block or rod-shaped blanks. However, thin sheets are only suitable for simple shape changes such as bending. To deform into more complex shapes, "flexible" shape memory alloy sheet blanks can be processed into stretchable mesh forms. Compared to continuous sheet metal, the mesh structure can produce greater deformation. To control the deformation of the shape memory alloy within its recoverable deformation range, the unit cell structure of the stretchable mesh adopts a curved edge form, i.e., a flexible structure. This type of stretchable mesh and its dimensions (such as...) Figure 1 As shown in the figure. Flexible shape memory alloys (such as those made from sheet metal) are in the form of stretchable meshes. Figure 1 It can produce a large amount of deformation, and therefore can be deformed into complex 3D shapes, forming complex 3D components.

[0223] The structural form of curved rod lattice metamaterials is that of lattice metamaterials with curved support structures (such as...). Figures 3-5 (As shown).

[0224] The design of lattice unit cell structures and parameters for lattice metamaterials aims to enable significant shape changes while keeping the deformation within the recoverable range of shape memory alloys. Therefore, the lattice unit cell form of lattice metamaterials can be curved rod-shaped, one type being a lattice structure where the lattice supports are bent rods (e.g.,...). Figure 3 , Figure 4 and Figure 5 As shown in the figure, instead of the usual straight truss structure, its deformation is dominated by the elongation and compression deformation of the curved rod. This allows the lattice metamaterial to have both large contraction and expansion deformation, while the strain of the shape memory alloy material itself is small and controlled within the range of the recoverable deformation of the shape memory alloy material itself.

[0225] After the flexible structural form of the shape memory alloy is determined, the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh are regionally controlled through the design of structural parameters or performance. In this example, the control parameters for regional control are specifically as follows: Figure 2 and Figure 5 As shown, changing the structural parameters allows for regional control of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes. This involves altering the shape, structure, and parameters of the aforementioned unit cells; specifically, it changes... Figure 2 and Figure 5 The parameters shown.

[0226] In practical implementation, these structural parameters are selected based on the performance requirements of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh. For example, taking a curved rod support as an example, the influence of structural parameters on the performance of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh is illustrated. When two curved rod supports have the same span, but the diameters of the curved rod supports are different (e.g., Figure 30 When subjected to the same force F, the curved rod with a smaller diameter deforms more and appears more "flexible," while the curved rod with a larger diameter deforms less and appears more "rigid." Therefore, this can be used to control the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes. When two curved rods have the same diameter but different spans (e.g.,...),... Figure 31 When they are compressed to the same height (as shown), the deformation of the curved rod with a larger span is greater, while the deformation of the curved rod with a smaller span is smaller. Since the restoring force of shape memory alloy is related to the amount of deformation, this means that the restoring forces they can generate when compressed to the same height will be different. Therefore, the restoring force of shape memory alloy curved rod lattice metamaterial and shape memory alloy curved edge stretchable mesh can be controlled in this way.

[0227] Similar to the influence of structural parameters on the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes can also be controlled through material composition and heat treatment specifications. For example, the strength and phase transformation temperature of shape memory alloys are related to the material composition, and the material strength also affects the material deformation, thus affecting the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes. The material strength also affects the material stress response, thus affecting the stress response of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes.

[0228] Step 3: Fabrication of shape memory alloy curved rod lattice metamaterial and curved-edge stretchable mesh.

[0229] Based on the design in step two, regional control methods and split control methods are used to process shape memory alloy billets into curved rod lattice metamaterials and curved edge stretchable meshes with different structures or properties.

[0230] Select suitable shape memory alloy raw materials or blanks, and then, according to the structural parameters of the unit cell of the designed shape memory alloy curved rod lattice metamaterial, use laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing) to prepare curved rod lattice units or curved rod lattice units of shape memory alloy curved rod lattice metamaterials with different structural parameters. Then, use laser welding to weld them together to form shape memory alloy lattice metamaterials with different structures, or directly use 3D printing (additive manufacturing) to prepare integral curved rod lattice metamaterials with different structures.

[0231] For shape memory alloy curved stretchable mesh, curved stretchable meshes with different structures can be prepared by means of laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing);

[0232] For shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes with non-uniform properties, according to the performance distinction, the parts of each unit cell with the same performance are first processed and prepared by laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing), etc., and then the parts are welded together by laser welding.

[0233] Step 4: Actuation treatment and formation of shape memory alloy composite flexible metamaterials as flexible intelligent actuators.

[0234] A split-control method is used to perform shaping heat treatment on the prepared shape memory alloy curved rod lattice metamaterial and curved edge stretchable mesh, setting the shape and phase transition temperature. Then, through actuation treatment, the curved rod lattice metamaterial and curved edge stretchable mesh with different structures or properties are deformed into a temporary shape to store energy and enable them to have actuation function. This makes the curved rod lattice metamaterial and curved edge stretchable mesh with different structures or properties into flexible actuators. Finally, a composite control method of superposition and lamination is used to form a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation function and stress response, and transform it into a flexible intelligent actuator.

[0235] Step 5: Assembly

[0236] After actuating the energy storage of shape memory alloy composite flexible metamaterials through external force-induced deformation or temperature-induced deformation, various auxiliary tools and materials are prepared and processed for assembly.

[0237] Besides shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, in Figure 34 , Figure 35 , Figure 36 and Figure 37 The specific implementation schemes of the various components shown are as follows.

[0238] Component 4 is a hemispherical TA1 pure titanium plate component with a wall thickness of 1.0 mm.

[0239] The blank 8 used for the mechanical cloning intermediate template body is a 1.5mm thick TA1 pure titanium plate, and the blank 24 used for the clone body of the mechanical cloning component 4 is a 1.0mm thick TA1 pure titanium plate.

[0240] The auxiliary assembly and fixing components, actuating frames 1, 7, 21, and 26, can be made of materials such as 45 steel, stainless steel, and titanium alloy. Stainless steel and titanium alloy are preferred because their low thermal conductivity helps retain heat and prevents heat loss from the billet and shape memory alloy lattice metamaterial during heating. For applications with weight restrictions, such as those requiring space transport, titanium alloy is preferred due to its low thermal conductivity and low density. For applications with space constraints, such as those requiring space-limited spacecraft for transport, actuating frames 1, 7, 21, and 26 can be designed with a detachable, modular assembly structure. Each surface of the frame can be individually machined and bolted together during use. When not in use, it can be disassembled into individual panels, saving space and facilitating transport.

[0241] The baffle 3 can be made of materials such as 45 steel and high-strength copper alloy. Because it is necessary to transfer the heat from heaters 10 and 14 to the shape memory alloy flexible metamaterial as quickly as possible, the baffle 3 needs to be made of materials with good thermal conductivity. 45 steel and high-strength copper alloy have better thermal conductivity than stainless steel and titanium alloy.

[0242] The pallet 9, pressure plate 15, pallet 27, and pressure plate 33 can be made of materials such as 45 steel, stainless steel, and titanium alloy. Stainless steel and titanium alloy are preferred because they have low thermal conductivity, which helps retain heat and prevents heat loss during heating. For situations with weight requirements, such as carrying into space, titanium alloy can be preferred because it has low thermal conductivity and low density.

[0243] Holes are machined inside the support plate 9, pressure plate 15, support plate 27, and pressure plate 33, and heating rods 10, 14, 28, and 32 are inserted into the holes inside the support plate 9, pressure plate 15, support plate 27, and pressure plate 33.

[0244] The inner walls of actuating frames 1, 7, 21, and 26 are covered with 0.1 mm thick graphite paper. This reduces the friction between the nickel-titanium shape memory alloy composite flexible metamaterial and the metal frames during shape recovery. To avoid friction between the supports of the nickel-titanium shape memory alloy composite flexible metamaterial itself, the pores of the material are also filled with 0.1 mm thick graphite paper. The surface of the slab is also covered with 0.1 mm thick graphite paper to reduce friction between the slab and the component or the shape memory alloy composite flexible metamaterial. To prevent the graphite paper from being scratched and broken, multiple layers of 0.1 mm thick graphite paper can be used. Alternatively, a spray coating can be used for lubrication.

[0245] After energy storage is achieved through actuation treatment of shape memory alloy composite flexible metamaterials by external force-induced deformation or temperature-induced deformation, they are assembled (e.g. Figure 34 (As shown).

[0246] The shape memory alloy composite flexible metamaterial 6 is placed inside the actuation frame 7. The support plate 9 is fixed to the actuation frame 7 and aligned with the port of the actuation frame 7. Then, the heater 10 is inserted into the support plate 9. Then, the blank 8 is covered on the actuation frame 7, the shape memory alloy composite flexible metamaterial 6, the support plate 9, and the heater 10.

[0247] Then, a shape memory alloy composite flexible metamaterial 2, which has been compressed and deformed and stored energy and has undergone actuation treatment, is placed into the actuation container 1. A shape memory alloy curved rod lattice metamaterial 5, which has been compressed and deformed and stored energy, is placed into the component 4 and covered with a baffle 3. The baffle 3 is fixed together with the component 4. Then, the assembly formed by the shape memory alloy curved rod lattice metamaterial 5, the baffle 3 and the component 4 is placed into the actuation container 1 and covered onto the shape memory alloy composite flexible metamaterial 2.

[0248] Then, the assembly consisting of shape memory alloy curved rod lattice metamaterial 5, shape memory alloy composite flexible metamaterial 1, actuation frame 1, baffle 3 and component 4 is aligned and closed with the slab blank 8 and the already assembled actuation frame 7.

[0249] The pressure plate 15 is fixed to the actuation frame 1. Then, the shape memory alloy curved rod lattice metamaterial 12, which acts as a pressing edge, is placed between the support plate 9, the pressure plate 15, and the support plate 13. The pressure plate 15 presses the shape memory alloy curved rod lattice metamaterial 12 and the blank 8 into close contact with the support plate 9. Then, the heater 14 is inserted into the pressure plate 15.

[0250] Finally, the actuation frame 1 and the actuation frame 7 are assembled and fixed together using the support plate 9, pressure plate 15, support plate 13 and bolts 11.

[0251] The above-described implementation method uses a separate assembly approach for the pressure plate 15 and the actuating container 1, and for the support plate 9 and the actuating container 7. This is done for two reasons: first, to facilitate portability during disassembly and transportation; and second, because the separate assembly structure offers better versatility. A one-piece structure is generally only suitable for forming components of a specific size and shape. When the size or structure changes, the container will also change, rendering the one-piece structure unsuitable. If there is sufficient space for transport, the pressure plate 15 and the actuating container 1 can be manufactured as a single unit, and the support plate 9 and the actuating container 7 can be manufactured as a single unit. Otherwise, a separate assembly structure can be used. Similarly, the actuating container 1 and the actuating container 7 can be either a single unit or a separate assembly structure.

[0252] During assembly, graphite paper is filled into the pores of the shape memory alloy curved rod lattice metamaterial to reduce friction; graphite paper is placed between each layer of the shape memory alloy composite flexible metamaterial, between the shape memory alloy curved rod lattice metamaterial and the baffle, the actuation frame and the blank to reduce friction; graphite paper is also placed between the component and the blank to reduce friction.

[0253] Step six: Heat triggers the mechanical cloning process to obtain the intermediate template body.

[0254] After assembly, heating is performed to soften the blank and trigger the shape memory alloy curved rod lattice metamaterial or shape memory alloy composite flexible metamaterial to recover its shape (e.g., Figure 34 and Figure 35 (As shown).

[0255] Heaters 10 and 14 are energized and heat up, transferring heat to the slab 8 and softening it. Simultaneously, the heat is transferred through the slab 8, component 4, baffle 3, and actuation frame 1 to the shape memory alloy composite flexible metamaterial 2 and shape memory alloy curved rod lattice metamaterials 5 and 12, which are in a state of compression deformation and energy storage. This causes the shape memory alloy composite flexible metamaterial 2 and shape memory alloy curved rod lattice metamaterials 5 and 12 to recover their shape and generate restoring force. In this design, the shape memory alloy curved rod lattice metamaterial 5 is placed inside the component 4 and covered by the baffle 3. Therefore, the shape memory alloy curved rod lattice metamaterial 5 is in a closed and fixed space. When the shape memory alloy curved rod lattice metamaterial 5 recovers its shape, it will exert pressure on the component 4 and the baffle 3, which is beneficial to improving the stiffness of the component 4. Therefore, the purpose of applying the shape memory alloy curved rod lattice metamaterial 5 is to improve the stiffness of the component 4 through the restoring force generated by its shape recovery. The amount of compressive deformation of the shape memory alloy curved rod lattice metamaterial 5 is determined according to the strength of the component 4 itself, ensuring that the restoring force of the shape memory alloy curved rod lattice metamaterial 5 does not exceed the strength of the component 4. Similarly, the shape memory alloy curved rod lattice metamaterial 12 in the state of compressive deformation will recover its original shape after being heated by the heat generated by the heaters 10 and 14, generating a restoring force, which acts on the edge part of the sheet blank 8, generating a pressing force on the sheet blank 8 (e.g., Figure 34 and Figure 35 (As shown). The shape memory alloy composite flexible metamaterial 2 recovers its shape, changing from a compressed deformation state to an expanded state, thereby generating a restoring force that drives the baffle 3 and component 4 to move, thus forcing the softened slab blank 8 to deform. When the baffle 3, component 4, and slab blank 8 move together, they will compress the shape memory alloy composite flexible metamaterial 6 within the actuation frame 7. At this time, heat is also transferred to the shape memory alloy composite flexible metamaterial 6. Therefore, the compressed shape memory alloy composite flexible metamaterial 6 will produce a shape recovery effect, generating a restoring force. This restoring force acts directly on the slab blank 8, thus the shape memory alloy composite flexible metamaterial 6 will force the softened slab blank 8 to actively adapt to the complex-shaped rigid object—component 4—acting on it. In this way, the shape memory alloy composite flexible metamaterial 6 will force the softened slab blank 8 to actively adapt to component 4, ultimately completely conforming to component 4, thereby mechanically cloning the geometry of component 4 to the softened slab blank 8, deforming the slab blank 8 into an intermediate template body 16 (as shown). Figure 35 (As shown).

[0256] For shape memory alloy composite flexible metamaterials, shape memory alloy curved rod lattice metamaterials, and shape memory alloy curved edge stretchable meshes, the methods for triggering the recovery of the original shape by heating include, besides heat conduction through heating the billet, insulating the surface of a flexible heating wire and directly winding it around the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh. Heating the heating wire directly transfers heat to the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, resulting in a faster heating rate. A third method involves heating both the billet and the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh simultaneously, triggering shape recovery and a mechanical cloning process. This softens the billet and accelerates the heating rate of the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, thus speeding up the shape recovery process.

[0257] Step seven involves storing energy again, performing another actuation process, and forming a shape memory alloy composite flexible metamaterial as a flexible intelligent actuator.

[0258] After the mechanical cloning process with component 4 as the cloning target is completed, the slab blank 8 is deformed into the intermediate template body 16. Then, the mechanical cloning process with the intermediate template body 16 as the cloning target will be carried out. For this purpose, the shape memory alloy curved rod lattice metamaterial and the shape memory alloy composite flexible metamaterial will be subjected to external force-induced compression deformation or temperature-induced shape change to store energy, so that it has actuation function, that is, actuation treatment.

[0259] Step 8: Reassemble.

[0260] The reassembly process is as follows Figure 36 As shown.

[0261] The intermediate template 16 obtained in step six is ​​used as the shape memory alloy composite flexible metamaterial 22, i.e., the flexible intelligent actuator 22, which is an actively adaptive rigid complex-shaped target object. The shape memory alloy curved rod lattice metamaterial 25, which has been deformed and stored energy and has undergone actuation treatment, is placed in the actuation container 26. The intermediate template 16 is placed on the shape memory alloy curved rod lattice metamaterial 25 and fixed to the end of the actuation container 26. In this way, after the shape memory alloy curved rod lattice metamaterial 25 recovers its shape, it will generate pressure to support the intermediate template 16, thereby increasing the stiffness of the intermediate template 16. The purpose of using the shape memory alloy curved rod lattice metamaterial 25 is to increase the stiffness of the intermediate template 16. The amount of compression deformation of the shape memory alloy curved rod lattice metamaterial 25 is determined according to the strength of the intermediate template 16 itself, ensuring that the recovery force of the shape memory alloy curved rod lattice metamaterial 25 does not exceed the strength of the intermediate template 16.

[0262] Place the pad 23 on the support plate 27, fix the support plate 27 to the actuation frame 26, align the pad 23 with the end of the intermediate template body 16, then insert the heater 28 into the support plate 27, and then cover the actuation frame 26, support plate 27, and pad 23 with the blank material 24.

[0263] The shape memory alloy composite flexible metamaterial 22, which has been compressed and stored energy and has undergone actuation treatment, is placed in the actuation container 21. Then, the assembly composed of the shape memory alloy composite flexible metamaterial 22 and the actuation container 21 is aligned and closed with the assembly composed of the intermediate template body 16, the blank 24, the support plate 27, the heater 28 and the actuation container 26.

[0264] The pressure plate 33 is fixed to the actuation frame 21. Then, the shape memory alloy curved rod lattice metamaterial 30, which plays the role of pressing the edge, is placed between the support plate 27, the pressure plate 33, and the support plate 31. The pressure plate 33 presses the shape memory alloy curved rod lattice metamaterial 30 and the blank 24 into close contact with the support plate 27. Then, the heater 32 is inserted into the pressure plate 33.

[0265] Finally, the actuation frame 21 and actuation frame 26 are assembled and fixed together using the support plate 27, pressure plate 33, support plate 31 and bolts 29.

[0266] The above-described implementation method uses a separate assembly approach for the pressure plate 33 and the actuating container 21, and for the support plate 27 and the actuating container 26. This is done for two reasons: first, to facilitate portability during disassembly and transportation; and second, because the separate assembly structure offers better versatility. A one-piece structure is generally only suitable for forming components of a specific size and shape. When the size or structure changes, the container will also change, rendering the one-piece structure unsuitable. If there is sufficient space for transport, the pressure plate 33 and the actuating container 21 can be manufactured as a single unit, and the support plate 27 and the actuating container 26 can also be manufactured as a single unit. Otherwise, a separate assembly structure can be used. Similarly, the actuating container 21 and the actuating container 26 can be either a single unit or a separate assembly structure.

[0267] During assembly, graphite paper is filled into the pores of the shape memory alloy curved rod lattice metamaterial to reduce friction; graphite paper is placed between each layer of the shape memory alloy composite flexible metamaterial, between the shape memory alloy curved rod lattice metamaterial and the baffle, the actuation frame and the blank to reduce friction; graphite paper is also placed between the component and the blank to reduce friction.

[0268] Step nine: Reheat to trigger the mechanical cloning process.

[0269] After assembly, heating is performed to soften the slab blank and trigger the shape memory alloy lattice metamaterial to recover its original shape from a state of compression deformation (e.g., Figure 36 and Figure 37 (As shown).

[0270] Heaters 28 and 32 are energized and heat is transferred to the slab blank 24, softening it. Simultaneously, the heat is transferred through the slab blank 24 and the actuating frames 21 and 26 to the shape memory alloy curved rod lattice metamaterial 25 and the shape memory alloy composite flexible metamaterial 22, which are in a state of compressed deformation and storing energy. This causes the shape memory alloy curved rod lattice metamaterial 25 and the shape memory alloy composite flexible metamaterial 22 to recover their original shape from the compressed deformation state, generating a restoring force. The restoring force generated by the shape memory alloy curved rod lattice metamaterial 25 acts on the intermediate template body 16, enhancing its stiffness. Similarly, the shape memory alloy curved rod lattice metamaterial 30, in a state of compressed deformation, will recover its original shape after being heated by the heat generated by heaters 28 and 32, generating a restoring force that acts on the edge portion of the slab blank 24, producing a pressing force on the slab blank 24 (e.g., ...). Figure 36(As shown). The shape memory alloy composite flexible metamaterial 22 recovers its original shape from compression deformation, undergoing expansion deformation. The resulting restoring force forces the softened slab blank 24 to deform. The shape memory alloy composite flexible metamaterial 22 generates pressure on the slab blank 24, forcing the softened slab blank 24 to deform along with the shape memory alloy composite flexible metamaterial 22, actively adapting to the intermediate template body 16. Ultimately, it completely conforms to the intermediate template body 16, thus mechanically cloning the geometry of the intermediate template body 16 onto the softened slab blank 24, deforming the slab blank 24 into a clone 34 of the component (e.g., ...). Figure 37 As shown), clone a component that is identical to the original component.

[0271] For shape memory alloy composite flexible metamaterials, shape memory alloy curved rod lattice metamaterials, and shape memory alloy curved edge stretchable meshes, the methods for triggering the recovery of the original shape by heating include, besides heat conduction through heating the billet, insulating the surface of a flexible heating wire and directly winding it around the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh. Heating the heating wire directly transfers heat to the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, resulting in a faster heating rate. A third method involves heating both the billet and the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh simultaneously, triggering shape recovery and a mechanical cloning process. This softens the billet and accelerates the heating rate of the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, thus speeding up the shape recovery process.

[0272] For the implementation of this invention, when in space, far from factories and other environments, a database can be pre-established to store data such as pressure fields required for the forming of typical components. This data can then be retrieved when needed. Alternatively, ground-based personnel can use remote communication to analyze the data using software, and then transmit the results to space. For the shape memory alloy curved rod lattice metamaterials, curved stretchable meshes, and auxiliary housings required for mechanical cloning, these can be pre-fabricated on the ground and transported to space with other launch missions. Then, during use, they can be combined through stacking to form various required non-uniform structures, non-uniform properties, non-simultaneous triggering actuation functions, and stress responses of shape memory alloy flexible metamaterials, transforming them into actuators. The separately fabricated housing components are assembled into a complete housing. When mechanical cloning components are needed, the implementation steps described above are followed. Specific Implementation Example 2

[0274] This embodiment is a hemispherical plate component (such as...) Figure 38 , Figure 39 , Figure 40 and Figure 41 As shown, the sheet material of the component to be formed is aluminum alloy sheet. In order to improve the formability of aluminum alloy sheet, in this embodiment, a stainless steel sheet is covered on the back of the aluminum alloy sheet blank.

[0275] The specific implementation steps for this example are as follows.

[0276] Step 1: Analyze the characteristics of the component to be formed and the distribution of the pressure load required for its forming and the change of the pressure load over time; and prepare the shape memory alloy billet, and process and prepare other auxiliary tools and materials;

[0277] The forming process was analyzed using finite element analysis software such as ANSYS and Abaqus. Based on the component dimensions and the material parameters of the blank, a finite element analysis model was established to analyze the deformation process of the sheet metal blank under different forming forces and blank holder forces, determining the distribution of the pressure load required for forming and the variation of the pressure load over time. The deformation when covered with a cover plate was analyzed, and a suitable cover plate was selected, including its material and thickness.

[0278] according to Figure 38 , Figure 39 , Figure 40 and Figure 41 As shown, prepare shape memory alloy blanks, process and prepare other auxiliary tools and materials.

[0279] Shape memory alloy curved rod lattice metamaterial and shape memory alloy curved edge stretchable mesh are made of nickel-titanium shape memory alloy.

[0280] Step 2: Based on the required pressure load distribution and pressure load variation over time obtained in Step 1, a composite control method is adopted to regionalize, split, and superimpose the structure and properties of shape memory alloy curved rod lattice metamaterials and curved edge stretchable meshes. Shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different structures or properties are designed to form shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, non-simultaneous triggering actuation functions, and stress responses.

[0281] The structure and shape of curved stretchable mesh are as follows: Figure 1 and Figure 2 As shown.

[0282] Besides the curved edges of the unit cells in a stretchable mesh, the mesh itself must also be thin. This is because, for bending deformation, the blank thickness is related to the formable bending radius. In practical applications, shape memory alloys can use "flexible" blanks—thin-walled sheets, thin-diameter wires or rods. The width and length of the sheet are much greater than its thickness, making it more "flexible" than bulk or rod-shaped blanks. However, thin sheets are only suitable for simple shape changes such as bending. To deform into more complex shapes, "flexible" shape memory alloy sheet blanks can be processed into stretchable meshes. Compared to continuous sheets, mesh structures can produce greater deformation. To control the deformation of the shape memory alloy within its recoverable range, the unit cell structure of the stretchable mesh also uses curved edges, i.e., a flexible structure. This type of stretchable mesh and its dimensions (such as...) Figure 1 As shown in the figure. Flexible shape memory alloy blanks (such as those made from sheet metal) are in the form of stretchable meshes. Figure 1 It can produce a large amount of deformation, and therefore can be deformed into complex 3D shapes, forming complex 3D components.

[0283] The structural form of curved rod lattice metamaterials is that of lattice metamaterials with curved support structures (such as...). Figures 3-5 (As shown).

[0284] The design of lattice unit cell structures and parameters for lattice metamaterials aims to enable significant shape changes while keeping the deformation within the recoverable range of shape memory alloys. Therefore, the lattice unit cell form of lattice metamaterials can be curved rod-shaped, one type being a lattice structure where the lattice supports are bent rods (e.g.,...). Figure 3 , Figure 4 and Figure 5 As shown in the figure, instead of the usual straight truss structure, its deformation is dominated by the elongation and compression deformation of the curved rod. This allows the lattice metamaterial to have both large contraction and expansion deformation, while the strain of the shape memory alloy material itself is small and controlled within the range of the recoverable deformation of the shape memory alloy material itself.

[0285] After the flexible structural form of the shape memory alloy is determined, the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh are regionally controlled through the design of structural parameters or performance. In this example, the control parameters for regional control are specifically as follows: Figure 2 and Figure 5 As shown, changing the structural parameters allows for regional control of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes. This involves altering the shape, structure, and parameters of the aforementioned unit cells; specifically, it changes... Figure 2 and Figure 5 The parameters shown.

[0286] In practical implementation, these structural parameters are selected based on the performance requirements of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh. For example, taking a curved rod support as an example, the influence of structural parameters on the performance of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh is illustrated. When two curved rod supports have the same span, but the diameters of the curved rod supports are different (e.g., Figure 30 When subjected to the same force F, the curved rod with a smaller diameter deforms more and appears more "flexible," while the curved rod with a larger diameter deforms less and appears more "rigid." Therefore, this can be used to control the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes. When two curved rods have the same diameter but different spans (e.g.,...),... Figure 31 When they are compressed to the same height (as shown), the deformation of the curved rod with a larger span is greater, while the deformation of the curved rod with a smaller span is smaller. Since the restoring force of shape memory alloy is related to the amount of deformation, this means that the restoring forces they can generate when compressed to the same height will be different. Therefore, the restoring force of shape memory alloy curved rod lattice metamaterial and shape memory alloy curved edge stretchable mesh can be controlled in this way.

[0287] Similar to the influence of structural parameters on the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes can also be controlled through material composition and heat treatment specifications. For example, the strength and phase transformation temperature of shape memory alloys are related to the material composition, and the material strength also affects the material deformation, thus affecting the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes. The material strength also affects the material stress response, thus affecting the stress response of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes.

[0288] Step 3: Fabrication of shape memory alloy curved rod lattice metamaterial and curved-edge stretchable mesh.

[0289] Based on the design in step two, regional control methods and split control methods are used to process shape memory alloy billets into curved rod lattice metamaterials and curved edge stretchable meshes with different structures or properties.

[0290] Select suitable shape memory alloy raw materials or blanks, and then, according to the structural parameters of the unit cell of the designed shape memory alloy curved rod lattice metamaterial, use methods such as laser cutting, wire EDM, or 3D printing (additive manufacturing) to prepare curved rod lattice units or curved rod lattice units of shape memory alloy curved rod lattice metamaterials with different structural parameters. Then, weld them together with laser welding to form shape memory alloy lattice metamaterials with different structures, or directly use 3D printing (additive manufacturing) to prepare integral curved rod lattice metamaterials with different structures.

[0291] For shape memory alloy curved stretchable mesh, curved stretchable meshes with different structures can be fabricated by means of laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing).

[0292] For shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes with non-uniform properties, according to the performance distinction, the parts of each unit cell with the same performance are first processed and prepared by laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing), etc., and then the parts are welded together by laser welding.

[0293] Step 4: Actuation treatment and formation of shape memory alloy composite flexible metamaterials as flexible intelligent actuators.

[0294] A split-control method is adopted to perform shaping heat treatment on the prepared shape memory alloy curved rod lattice metamaterial and curved edge stretchable mesh, setting the shape and phase transition temperature. Then, through actuation treatment, the curved rod lattice metamaterial and curved edge stretchable mesh with different structures or properties are deformed into a temporary shape to store energy and enable them to have actuation function. This makes the curved rod lattice metamaterial and curved edge stretchable mesh with different structures or properties into flexible actuators. Finally, through a composite control method of superposition and lamination, they are formed into shape memory alloy composite flexible metamaterials with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation function and stress response, and transformed into flexible intelligent actuators.

[0295] Step 5: Assembly

[0296] After actuating the energy storage of shape memory alloy composite flexible metamaterials through external force-induced deformation or temperature-induced deformation, various auxiliary tools and materials are prepared and processed for assembly.

[0297] Besides shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, in Figure 38 , Figure 39 , Figure 40 and Figure 41 The specific implementation schemes of the various components shown are as follows.

[0298] Component 4 is a hemispherical aluminum alloy sheet component with a wall thickness of 1.0 mm.

[0299] The blanks 8 and 17 used for the mechanical cloning intermediate template are 1.0mm thick stainless steel sheets. Selecting two stainless steel sheet blanks for the mechanical cloning intermediate template, resulting in two intermediate templates, is to leave space for the aluminum alloy sheet cover plate when the intermediate template is used as the cloning target (e.g., ...). Figure 38 , Figure 39 , Figure 40 and Figure 41 (As shown in the diagram). The blank 24 for the clone used in the mechanical cloning component 4 is a 1.0 mm thick aluminum alloy sheet. To improve the formability of the aluminum alloy sheet, a cover plate covering the back of the aluminum alloy sheet blank 24 is a stainless steel sheet, and the stainless steel sheet blank 35 is 1.0 mm thick.

[0300] The auxiliary assembly and fixing components, actuating frames 1, 7, 21, and 26, can be made of materials such as 45 steel, stainless steel, and titanium alloy. Stainless steel and titanium alloy are preferred because their low thermal conductivity helps retain heat and prevents heat loss from the billet and shape memory alloy lattice metamaterial during heating. For applications with weight restrictions, such as those requiring space transport, titanium alloy is preferred due to its low thermal conductivity and low density. For applications with space constraints, such as those requiring space-limited spacecraft for transport, actuating frames 1, 7, 21, and 26 can be designed with a detachable, modular assembly structure. Each surface of the frame can be individually machined and bolted together during use. When not in use, it can be disassembled into individual panels, saving space and facilitating transport.

[0301] The baffle 3 can be made of materials such as 45 steel and high-strength copper alloy. Because it is necessary to transfer the heat from heaters 10 and 14 to the shape memory alloy flexible metamaterial as quickly as possible, the baffle 3 needs to be made of materials with good thermal conductivity. 45 steel and high-strength copper alloy have better thermal conductivity than stainless steel and titanium alloy.

[0302] The pallet 9, pressure plate 15, pallet 27, and pressure plate 33 can be made of materials such as 45 steel, stainless steel, and titanium alloy. Stainless steel and titanium alloy are preferred because they have low thermal conductivity, which helps retain heat and prevents heat loss during heating. For situations with weight requirements, such as carrying into space, titanium alloy can be preferred because it has low thermal conductivity and low density.

[0303] Holes are machined inside the support plate 9, pressure plate 15, support plate 27, and pressure plate 33, and heating rods 10, 14, 28, and 32 are inserted into the holes inside the support plate 9, pressure plate 15, support plate 27, and pressure plate 33.

[0304] The inner walls of actuating frames 1, 7, 21, and 26 are covered with 0.1 mm thick graphite paper. This reduces the friction between the nickel-titanium shape memory alloy composite flexible metamaterial and the metal frames during shape recovery. To avoid friction between the supports of the nickel-titanium shape memory alloy composite flexible metamaterial itself, the pores of the material are also filled with 0.1 mm thick graphite paper. The surface of the slab is also covered with 0.1 mm thick graphite paper to reduce friction between the slab and the component or the shape memory alloy composite flexible metamaterial. To prevent the graphite paper from being scratched and broken, multiple layers of 0.1 mm thick graphite paper can be used. Alternatively, a spray coating can be used for lubrication.

[0305] After pre-processing the shape memory alloy composite flexible metamaterial with energy storage through external force-induced deformation or temperature-induced deformation, it is assembled (e.g. Figure 38 (As shown).

[0306] The shape memory alloy composite flexible metamaterial 6 is placed inside the actuation frame 7. The support plate 9 is fixed to the actuation frame 7 and aligned with the port of the actuation frame 7. Then, the heater 10 is inserted into the support plate 9. Then, stainless steel blanks 8 and 17 are covered on the actuation frame 7, the shape memory alloy composite flexible metamaterial 6, the support plate 9, and the heater 10.

[0307] Then, a shape memory alloy composite flexible metamaterial 2, which has been compressed and deformed and stored energy and has undergone actuation treatment, is placed into the actuation container 1. A shape memory alloy curved rod lattice metamaterial 5, which has been compressed and deformed and stored energy, is placed into the component 4 and covered with a baffle 3. The baffle 3 is fixed together with the component 4. Then, the assembly formed by the shape memory alloy curved rod lattice metamaterial 5, the baffle 3 and the component 4 is placed into the actuation container 1 and covered onto the shape memory alloy composite flexible metamaterial 2.

[0308] Then, the assembly consisting of shape memory alloy curved rod lattice metamaterial 5, shape memory alloy composite flexible metamaterial 1, actuation frame 1, baffle 3 and component 4 is aligned and closed with stainless steel plate blanks 8 and 17 and the already assembled actuation frame 7.

[0309] The pressure plate 15 is fixed to the actuation frame 1. Then, the shape memory alloy curved rod lattice metamaterial 12, which acts as a pressing edge, is placed between the support plate 9, the pressure plate 15, and the support plate 13. The pressure plate 15 presses the shape memory alloy curved rod lattice metamaterial 12 and the stainless steel plate blanks 8 and 17 into contact with the support plate 9. Then, the heater 14 is inserted into the pressure plate 15.

[0310] Finally, the actuation frame 1 and the actuation frame 7 are assembled and fixed together using the support plate 9, pressure plate 15, support plate 13 and bolts 11.

[0311] The above-described implementation method uses a separate assembly approach for the pressure plate 15 and the actuating container 1, and for the support plate 9 and the actuating container 7. This is done for two reasons: first, to facilitate portability during disassembly and transportation; and second, because the separate assembly structure offers better versatility. A one-piece structure is generally only suitable for forming components of a specific size and shape. When the size or structure changes, the container will also change, rendering the one-piece structure unsuitable. If there is sufficient space for transport, the pressure plate 15 and the actuating container 1 can be manufactured as a single unit, and the support plate 9 and the actuating container 7 can be manufactured as a single unit. Otherwise, a separate assembly structure can be used. Similarly, the actuating container 1 and the actuating container 7 can be either a single unit or a separate assembly structure.

[0312] During assembly, graphite paper is filled into the pores of the shape memory alloy curved rod lattice metamaterial to reduce friction; graphite paper is placed between each layer of the shape memory alloy composite flexible metamaterial, between the shape memory alloy curved rod lattice metamaterial and the baffle, the actuation frame and the blank to reduce friction; graphite paper is also placed between the component and the blank to reduce friction.

[0313] Step six: Heat triggers the mechanical cloning process to obtain the intermediate template body.

[0314] After assembly, heating is performed to soften the blank and trigger the shape memory alloy curved rod lattice metamaterial or shape memory alloy composite flexible metamaterial to recover its shape (e.g., Figure 38 and Figure 39 (As shown).

[0315] Heaters 10 and 14 are energized and heat up, transferring heat to stainless steel blanks 8 and 17, softening them. Simultaneously, the heat is transferred through stainless steel blanks 8 and 17, component 4, baffle 3, and actuation frame 1 to shape memory alloy composite flexible metamaterial 2 and shape memory alloy curved rod lattice metamaterials 5 and 12, which are in a state of compressive deformation and energy storage. This causes the shape memory alloy composite flexible metamaterial 2 and shape memory alloy curved rod lattice metamaterials 5 and 12 to recover their shape and generate restoring force. In this design, the shape memory alloy curved rod lattice metamaterial 5 is placed inside the component 4 and covered by the baffle 3. Therefore, the shape memory alloy curved rod lattice metamaterial 5 is in a closed and fixed space. When the shape memory alloy curved rod lattice metamaterial 5 recovers its shape, it will exert pressure on the component 4 and the baffle 3, which is beneficial to improving the stiffness of the component 4. Therefore, the purpose of applying the shape memory alloy curved rod lattice metamaterial 5 is to improve the stiffness of the component 4 through the restoring force generated by its shape recovery. The amount of compressive deformation of the shape memory alloy curved rod lattice metamaterial 5 is determined according to the strength of the component 4 itself, ensuring that the restoring force of the shape memory alloy curved rod lattice metamaterial 5 does not exceed the strength of the component 4. Similarly, the shape memory alloy curved rod lattice metamaterial 12 in the state of compressive deformation will recover its original shape after being heated by the heat generated by the heaters 10 and 14, generating a restoring force that acts on the edge portions of the stainless steel sheet blanks 8 and 17, generating a blank-pressing force on the stainless steel sheet blanks 8 and 17 (e.g., Figure 38 and Figure 39 (As shown). The shape memory alloy composite flexible metamaterial 2 recovers its shape, changing from a compressed deformation state to an expanded state, thereby generating a restoring force that drives the baffle 3 and component 4 to move, which in turn forces the softened slab blanks 8 and 17 to deform. When the baffle 3, component 4, and stainless steel slab blanks 8 and 17 move together, they will compress the shape memory alloy composite flexible metamaterial 6 within the actuation frame 7. At this time, heat is also transferred to the shape memory alloy composite flexible metamaterial 6. Therefore, the compressed shape memory alloy composite flexible metamaterial 6 will produce a shape recovery effect, generating a restoring force. The compound force acts directly on the stainless steel sheet blanks 8 and 17, thus the shape memory alloy composite flexible metamaterial 6 forces the softened stainless steel sheet blanks 8 and 17 to actively adapt to the complex-shaped rigid object—component 4—acting on them. In this way, the shape memory alloy composite flexible metamaterial 6 forces the softened stainless steel sheet blanks 8 and 17 to actively adapt to component 4, ultimately fitting completely to component 4, thereby mechanically cloning the geometry of component 4 onto the softened stainless steel sheet blanks 8 and 17, deforming the stainless steel sheet blanks 8 and 17 into intermediate template bodies 16 and 18 (such as...). Figure 39 (As shown).

[0316] For shape memory alloy composite flexible metamaterials, shape memory alloy curved rod lattice metamaterials, and shape memory alloy curved edge stretchable meshes, the methods for triggering the recovery of the original shape by heating include, besides heat conduction through heating the billet, insulating the surface of a flexible heating wire and directly winding it around the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh. Heating the heating wire directly transfers heat to the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, resulting in a faster heating rate. A third method involves heating both the billet and the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh simultaneously, triggering shape recovery and a mechanical cloning process. This softens the billet and accelerates the heating rate of the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, thus speeding up the shape recovery process.

[0317] Step seven involves storing energy again, performing another actuation process, and forming a shape memory alloy composite flexible metamaterial as a flexible intelligent actuator.

[0318] After the mechanical cloning process with component 4 as the cloning target is completed, stainless steel blanks 8 and 17 are deformed into intermediate templates 16 and 18. Then, the mechanical cloning process with intermediate template 16 as the cloning target will be carried out. For this purpose, the shape memory alloy curved rod lattice metamaterial and the shape memory alloy composite flexible metamaterial will be subjected to external force-induced compression deformation or temperature-induced shape change to store energy, so that they have actuation function, that is, actuation treatment.

[0319] Step 8: Reassemble.

[0320] The reassembly process is as follows Figure 40 As shown.

[0321] The intermediate template 16 obtained in step six is ​​used as the shape memory alloy composite flexible metamaterial 22, i.e., the flexible intelligent actuator 22, which is an actively adaptive rigid complex-shaped target object. The shape memory alloy curved rod lattice metamaterial 25, which has been deformed and stored energy and has undergone actuation treatment, is placed in the actuation container 26. The intermediate template 16 is placed on the shape memory alloy curved rod lattice metamaterial 25 and fixed to the end of the actuation container 26. In this way, after the shape memory alloy curved rod lattice metamaterial 25 recovers its shape, it will generate pressure to support the intermediate template 16, thereby increasing the stiffness of the intermediate template 16. The purpose of using the shape memory alloy curved rod lattice metamaterial 25 is to increase the stiffness of the intermediate template 16. The amount of compression deformation of the shape memory alloy curved rod lattice metamaterial 25 is determined according to the strength of the intermediate template 16 itself, ensuring that the recovery force of the shape memory alloy curved rod lattice metamaterial 25 does not exceed the strength of the intermediate template 16.

[0322] Place the pad 23 on the support plate 27, fix the support plate 27 to the actuation frame 26, align the pad 23 with the end of the intermediate template body 16, then insert the heater 28 into the support plate 27, and then cover the actuation frame 26, support plate 27, and pad 23 with the aluminum alloy blank 24 and the stainless steel cover plate 35.

[0323] The shape memory alloy composite flexible metamaterial 22, which has been compressed and stored energy and has undergone actuation treatment, is placed in the actuation container 21. Then, the assembly composed of the shape memory alloy composite flexible metamaterial 22 and the actuation container 21 is aligned and closed with the assembly composed of the intermediate template body 16, the aluminum alloy blank 24, the stainless steel cover plate 35, the support plate 27, the heater 28, and the actuation container 26.

[0324] The pressure plate 33 is fixed to the actuation frame 21. Then, the shape memory alloy curved rod lattice metamaterial 30, which acts as the edge pressing material, is placed between the support plate 27, the pressure plate 33, and the support plate 31. The pressure plate 33 presses the shape memory alloy curved rod lattice metamaterial 30, the aluminum alloy blank 24, and the stainless steel cover plate 35 into close contact with the support plate 27. Then, the heater 32 is inserted into the pressure plate 33.

[0325] Finally, the actuation frame 21 and actuation frame 26 are assembled and fixed together using the support plate 27, pressure plate 33, support plate 31 and bolts 29.

[0326] The above-described implementation method uses a separate assembly approach for the pressure plate 33 and the actuating container 21, and for the support plate 27 and the actuating container 26. This is done for two reasons: first, to facilitate portability during disassembly and transportation; and second, because the separate assembly structure offers better versatility. A one-piece structure is generally only suitable for forming components of a specific size and shape. When the size or structure changes, the container will also change, rendering the one-piece structure unsuitable. If there is sufficient space for transport, the pressure plate 33 and the actuating container 21 can be manufactured as a single unit, and the support plate 27 and the actuating container 26 can also be manufactured as a single unit. Otherwise, a separate assembly structure can be used. Similarly, the actuating container 21 and the actuating container 26 can be either a single unit or a separate assembly structure.

[0327] During assembly, graphite paper is filled into the pores of the shape memory alloy curved rod lattice metamaterial to reduce friction; graphite paper is placed between each layer of the shape memory alloy composite flexible metamaterial, between the shape memory alloy curved rod lattice metamaterial and the baffle, the actuation frame and the blank to reduce friction; graphite paper is also placed between the component and the blank to reduce friction.

[0328] Step nine: Reheat to trigger the mechanical cloning process.

[0329] After assembly, heating is performed to soften the slab blank and trigger the shape memory alloy lattice metamaterial to recover its original shape from a state of compression deformation (e.g., Figure 40 and Figure 41 (As shown).

[0330] Heaters 28 and 32 are energized and heat up, transferring heat to the aluminum alloy blank 24 and the stainless steel cover plate 35, softening them. Simultaneously, the heat is transferred through the aluminum alloy blank 24, the stainless steel cover plate 35, and the actuating frames 21 and 26 to the shape memory alloy curved rod lattice metamaterial 25 and the shape memory alloy composite flexible metamaterial 22, which are in a state of compressive deformation and energy storage. This causes the shape memory alloy curved rod lattice metamaterial 25 and the shape memory alloy composite flexible metamaterial 22 to recover their original shape from the state of compression deformation, generating a restoring force. The restoring force generated by the shape memory alloy curved rod lattice metamaterial 25 acts on the intermediate template body 16, enhancing the stiffness of the intermediate template body 16. Similarly, the shape memory alloy curved rod lattice metamaterial 30, which is in a state of compression deformation, will restore its original shape after being heated by the heat generated by heaters 28 and 32, generating a restoring force that acts on the edge portion of the sheet blank 24, producing a pressing force on the aluminum alloy sheet blank 24 and the stainless steel cover plate 35 (e.g. Figure 40 and Figure 41(As shown). The shape memory alloy composite flexible metamaterial 22 recovers its original shape from a compressed deformation state, undergoing expansion deformation. The resulting restoring force forces the softened aluminum alloy blank 24 and stainless steel cover plate 35 to deform. The shape memory alloy composite flexible metamaterial 22 will generate pressure on the aluminum alloy blank 24 and stainless steel cover plate 35, forcing them to deform along with the shape memory alloy composite flexible metamaterial 22, actively adapting to the intermediate template body 16. Ultimately, they completely conform to the intermediate template body 16, thus mechanically cloning the geometry of the intermediate template body 16 onto the softened aluminum alloy blank 24 and stainless steel cover plate 35, deforming the aluminum alloy blank 24 into a clone 34 of the component (e.g., ...). Figure 41 As shown), the stainless steel sheet cover plate 35 is deformed into 36 (as shown). Figure 41 As shown), clone a component that is identical to the original component.

[0331] For shape memory alloy composite flexible metamaterials, shape memory alloy curved rod lattice metamaterials, and shape memory alloy curved edge stretchable meshes, the methods for triggering the recovery of the original shape by heating include, besides heat conduction through heating the billet, insulating the surface of a flexible heating wire and directly winding it around the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh. Heating the heating wire directly transfers heat to the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, resulting in a faster heating rate. A third method involves heating both the billet and the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh simultaneously, triggering shape recovery and a mechanical cloning process. This softens the billet and accelerates the heating rate of the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, thus speeding up the shape recovery process.

[0332] Another embodiment of this invention involves covering the back of the aluminum alloy sheet blank with a rigid-flexible composite cover plate, specifically a rigid-flexible composite cover plate composed of a stainless steel sheet and an elastomer sheet. Using this rigid-flexible composite cover plate leverages the high frictional properties of the elastomer to alter the stress state of the sheet, suppressing instability, wrinkling, and localized thinning, promoting the deformation of the sheet blank, and improving formability. The elastomer sheet can be made of heat-resistant polyurethane. Specific Implementation Example 3

[0334] This embodiment is a hemispherical plate component (such as...) Figure 42 , Figure 43 , Figure 44 and Figure 45As shown, the sheet material of the component to be formed is aluminum alloy sheet. In order to improve the formability and surface quality of the aluminum alloy sheet, in this embodiment, a heat-resistant polyurethane elastomer is covered on the aluminum alloy sheet. On the one hand, the polyurethane elastomer has a large coefficient of friction, which can increase the friction between the polyurethane elastomer and the aluminum alloy sheet, promote the material flow of the aluminum alloy sheet, and improve its formability. On the other hand, covering the surface of the aluminum alloy sheet with polyurethane elastomer can improve the surface quality and avoid leaving scratches or indentations on the aluminum alloy surface. In addition, the polyurethane elastomer has large deformation characteristics and good flow and filling properties, which can improve the forming accuracy.

[0335] The specific implementation steps for this example are as follows.

[0336] Step 1: Analyze the characteristics of the component to be formed and the distribution of the pressure load required for its forming and the change of the pressure load over time; and prepare the shape memory alloy billet, and process and prepare other auxiliary tools and materials;

[0337] Finite element analysis software such as ANSYS and Abaqus were used to analyze the forming process. Based on the dimensions of the component and the material parameters of the blank, a finite element analysis model was established to analyze the deformation process of the sheet blank under different forming forces and blank holder forces, and to determine the distribution of the pressure load required for forming and the change of the pressure load over time.

[0338] according to Figure 42 , Figure 43 , Figure 44 and Figure 45 As shown, prepare shape memory alloy blanks, process and prepare other auxiliary tools and materials.

[0339] Shape memory alloy curved rod lattice metamaterial and shape memory alloy curved edge stretchable mesh are made of nickel-titanium shape memory alloy.

[0340] Step 2: Based on the required pressure load distribution and pressure load variation over time obtained in Step 1, a composite control method is adopted to regionalize, split, and superimpose the structure and properties of shape memory alloy curved rod lattice metamaterials and curved edge stretchable meshes. Shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different structures or properties are designed to form shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, non-simultaneous triggering actuation functions, and stress responses.

[0341] The structure and shape of curved stretchable mesh are as follows: Figure 1 and Figure 2 As shown.

[0342] Besides the curved edges of the unit cells in a stretchable mesh, the mesh itself must also be thin. This is because, for bending deformation, the blank thickness is related to the formable bending radius. In practical applications, shape memory alloys can use "flexible" blanks—thin-walled sheets, thin-diameter wires or rods. The width and length of the sheet are much greater than its thickness, making it more "flexible" than bulk or rod-shaped blanks. However, thin sheets are only suitable for simple shape changes such as bending. To deform into more complex shapes, "flexible" shape memory alloy sheet blanks can be processed into stretchable meshes. Compared to continuous sheets, mesh structures can produce greater deformation. To control the deformation of the shape memory alloy within its recoverable range, the unit cell structure of the stretchable mesh also uses curved edges, i.e., a flexible structure. This type of stretchable mesh and its dimensions (such as...) Figure 1 As shown in the figure. Flexible shape memory alloy blanks (such as those made from sheet metal) are in the form of stretchable meshes. Figure 1 It can produce a large amount of deformation, and therefore can be deformed into complex 3D shapes, forming complex 3D components.

[0343] The structural form of curved rod lattice metamaterials is that of lattice metamaterials with curved support structures (such as...). Figures 3-5 (As shown).

[0344] The design of lattice unit cell structures and parameters for lattice metamaterials aims to enable significant shape changes while keeping the deformation within the recoverable range of shape memory alloys. Therefore, the lattice unit cell form of lattice metamaterials can be curved rod-shaped, one type being a lattice structure where the lattice supports are bent rods (e.g.,...). Figure 3 , Figure 4 and Figure 5 As shown in the figure, instead of the usual straight truss structure, its deformation is dominated by the elongation and compression deformation of the curved rod. This allows the lattice metamaterial to have both large contraction and expansion deformation, while the strain of the shape memory alloy material itself is small and controlled within the range of the recoverable deformation of the shape memory alloy material itself.

[0345] After the flexible structural form of the shape memory alloy is determined, the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh are regionally controlled through the design of structural parameters or performance. In this example, the control parameters for regional control are specifically as follows: Figure 2 and Figure 5 As shown, changing the structural parameters allows for regional control of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes. This involves altering the shape, structure, and parameters of the aforementioned unit cells; specifically, it changes... Figure 2 and Figure 5 The parameters shown.

[0346] In practical implementation, these structural parameters are selected based on the performance requirements of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh. For example, taking a curved rod support as an example, the influence of structural parameters on the performance of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh is illustrated. When two curved rod supports have the same span, but the diameters of the curved rod supports are different (e.g., Figure 30 When subjected to the same force F, the curved rod with a smaller diameter deforms more and appears more "flexible," while the curved rod with a larger diameter deforms less and appears more "rigid." Therefore, this can be used to control the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes. When two curved rods have the same diameter but different spans (e.g.,...),... Figure 31 When they are compressed to the same height (as shown), the deformation of the curved rod with a larger span is greater, while the deformation of the curved rod with a smaller span is smaller. Since the restoring force of shape memory alloy is related to the amount of deformation, this means that the restoring forces they can generate when compressed to the same height will be different. Therefore, the restoring force of shape memory alloy curved rod lattice metamaterial and shape memory alloy curved edge stretchable mesh can be controlled in this way.

[0347] Similar to the influence of structural parameters on the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes can also be controlled through material composition and heat treatment specifications. For example, the strength and phase transformation temperature of shape memory alloys are related to the material composition, and the material strength also affects the material deformation, thus affecting the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes. The material strength also affects the material stress response, thus affecting the stress response of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes.

[0348] Step 3: Fabrication of shape memory alloy curved rod lattice metamaterial and curved-edge stretchable mesh.

[0349] Based on the design in step two, regional control methods and split control methods are used to process shape memory alloy billets into curved rod lattice metamaterials and curved edge stretchable meshes with different structures or properties.

[0350] Select suitable shape memory alloy raw materials or blanks, and then, according to the structural parameters of the unit cell of the designed shape memory alloy curved rod lattice metamaterial, use laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing) to prepare curved rod lattice units or curved rod lattice units of shape memory alloy curved rod lattice metamaterials with different structural parameters. Then, use laser welding to weld them together to form shape memory alloy lattice metamaterials with different structures, or directly use 3D printing (additive manufacturing) to prepare integral curved rod lattice metamaterials with different structures.

[0351] For shape memory alloy curved stretchable mesh, curved stretchable meshes with different structures can be prepared by means of laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing);

[0352] For shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes with non-uniform properties, according to the performance distinction, the parts of each unit cell with the same performance are first processed and prepared by laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing), etc., and then the parts are welded together by laser welding.

[0353] Step 4: Actuation treatment and formation of shape memory alloy composite flexible metamaterials as flexible intelligent actuators.

[0354] A split-control method is used to perform shaping heat treatment on the prepared shape memory alloy curved rod lattice metamaterial and curved edge stretchable mesh, setting the shape and phase transition temperature. Then, through actuation treatment, the shaped curved rod lattice metamaterial and curved edge stretchable mesh with different structures or properties are deformed into a temporary shape to store energy and enable them to have actuation function. This makes the curved rod lattice metamaterial and curved edge stretchable mesh with different structures or properties into flexible actuators. Finally, a composite control method of superposition and lamination is used to form a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation function and stress response, and transform it into a flexible intelligent actuator.

[0355] Step 5: Assembly

[0356] After actuating the energy storage of shape memory alloy composite flexible metamaterials through external force-induced deformation or temperature-induced deformation, various auxiliary tools and materials are prepared and processed for assembly.

[0357] Besides shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, in Figure 42 , Figure 43 , Figure 44 and Figure 45 The specific implementation schemes of the various components shown are as follows.

[0358] Component 4 is a hemispherical aluminum alloy sheet component with a wall thickness of 1.0 mm.

[0359] The blank 8 used for the mechanical cloning intermediate template is a 1.0mm thick stainless steel sheet. The elastomer 17 is made of heat-resistant polyurethane rubber. The blank 24 used for the clone body of the mechanical cloning component 4 is a 1.0mm thick aluminum alloy sheet. The elastomer 35, which is made of heat-resistant polyurethane rubber, is used to improve the formability of the aluminum alloy sheet and covers the surface of the aluminum alloy sheet blank.

[0360] The auxiliary assembly and fixing components, actuating frames 1, 7, 21, and 26, can be made of materials such as 45 steel, stainless steel, and titanium alloy. Stainless steel and titanium alloy are preferred because their low thermal conductivity helps retain heat and prevents heat loss from the billet and shape memory alloy lattice metamaterial during heating. For applications with weight restrictions, such as those requiring space transport, titanium alloy is preferred due to its low thermal conductivity and low density. For applications with space constraints, such as those requiring space-limited spacecraft for transport, actuating frames 1, 7, 21, and 26 can be designed with a detachable, modular assembly structure. Each surface of the frame can be individually machined and bolted together during use. When not in use, it can be disassembled into individual panels, saving space and facilitating transport.

[0361] The baffle 3 can be made of materials such as 45 steel and high-strength copper alloy. Because it is necessary to transfer the heat from heaters 10 and 14 to the shape memory alloy flexible metamaterial as quickly as possible, the baffle 3 needs to be made of materials with good thermal conductivity. 45 steel and high-strength copper alloy have better thermal conductivity than stainless steel and titanium alloy.

[0362] The pallet 9, pressure plate 15, pallet 27, and pressure plate 33 can be made of materials such as 45 steel, stainless steel, and titanium alloy. Stainless steel and titanium alloy are preferred because they have low thermal conductivity, which helps retain heat and prevents heat loss during heating. For situations with weight requirements, such as carrying into space, titanium alloy can be preferred because it has low thermal conductivity and low density.

[0363] Holes are machined inside the support plate 9, pressure plate 15, support plate 27, and pressure plate 33, and heating rods 10, 14, 28, and 32 are inserted into the holes inside the support plate 9, pressure plate 15, support plate 27, and pressure plate 33.

[0364] The inner walls of actuating frames 1, 7, 21, and 26 are covered with 0.1 mm thick graphite paper. This reduces the friction between the nickel-titanium shape memory alloy composite flexible metamaterial and the metal frames during shape recovery. To avoid friction between the supports of the nickel-titanium shape memory alloy composite flexible metamaterial itself, the pores of the material are also filled with 0.1 mm thick graphite paper. The surface of the slab is also covered with 0.1 mm thick graphite paper to reduce friction between the slab and the component or the shape memory alloy composite flexible metamaterial. To prevent the graphite paper from being scratched and broken, multiple layers of 0.1 mm thick graphite paper can be used. Alternatively, a spray coating can be used for lubrication.

[0365] After pre-processing the shape memory alloy composite flexible metamaterial with energy storage through external force-induced deformation or temperature-induced deformation, it is assembled (e.g. Figure 42 (As shown).

[0366] The shape memory alloy composite flexible metamaterial 6 is placed inside the actuation container 7. The support plate 9 is fixed to the actuation container 7 and aligned with the port of the actuation container 7. Then, the heater 10 is inserted into the support plate 9. Then, the elastomer 17 is covered on the shape memory alloy composite flexible metamaterial 6. The stainless steel blank 8 is covered on the elastomer 17, the actuation container 7, the support plate 9, and the heater 10.

[0367] Then, a shape memory alloy composite flexible metamaterial 2, which has been compressed and deformed and stored energy and has undergone actuation treatment, is placed into the actuation container 1. A shape memory alloy curved rod lattice metamaterial 5, which has been compressed and deformed and stored energy, is placed into the component 4 and covered with a baffle 3. The baffle 3 is fixed together with the component 4. Then, the assembly formed by the shape memory alloy curved rod lattice metamaterial 5, the baffle 3 and the component 4 is placed into the actuation container 1 and covered onto the shape memory alloy composite flexible metamaterial 2.

[0368] Then, the assembly consisting of shape memory alloy curved rod lattice metamaterial 5, shape memory alloy composite flexible metamaterial 1, actuation frame 1, baffle 3 and component 4 is aligned and closed with stainless steel plate blank 8, elastomer 17 and the already assembled actuation frame 7.

[0369] The pressure plate 15 is fixed to the actuation frame 1. Then, the shape memory alloy curved rod lattice metamaterial 12, which plays the role of pressing the edge, is placed between the support plate 9, the pressure plate 15, and the support plate 13. The pressure plate 15 presses the shape memory alloy curved rod lattice metamaterial 12 and the stainless steel plate blank 8 into close contact with the support plate 9. Then, the heater 14 is inserted into the pressure plate 15.

[0370] Finally, the actuation frame 1 and actuation frame 7 are assembled and fixed together by the support plate 9, pressure plate 15, support plate 13 and bolts 11.

[0371] The above-described implementation method uses a separate assembly approach for the pressure plate 15 and the actuating container 1, and for the support plate 9 and the actuating container 7. This is done for two reasons: first, to facilitate portability during disassembly and transportation; and second, because the separate assembly structure offers better versatility. A one-piece structure is generally only suitable for forming components of a specific size and shape. When the size or structure changes, the container will also change, rendering the one-piece structure unsuitable. If there is sufficient space for transport, the pressure plate 15 and the actuating container 1 can be manufactured as a single unit, and the support plate 9 and the actuating container 7 can be manufactured as a single unit. Otherwise, a separate assembly structure can be used. Similarly, the actuating container 1 and the actuating container 7 can be either a single unit or a separate assembly structure.

[0372] During assembly, graphite paper is filled into the pores of the shape memory alloy curved rod lattice metamaterial to reduce friction; graphite paper is placed between each layer of the shape memory alloy composite flexible metamaterial, between the shape memory alloy curved rod lattice metamaterial and the baffle, the actuation frame and the blank to reduce friction; graphite paper is also placed between the component and the blank to reduce friction.

[0373] Step six: Heat triggers the mechanical cloning process to obtain the intermediate template body.

[0374] After assembly, heating is performed to soften the blank and trigger the shape memory alloy curved rod lattice metamaterial or shape memory alloy composite flexible metamaterial to recover its shape (e.g., Figure 42 and Figure 43 (As shown).

[0375] Heaters 10 and 14 are energized and heat up, transferring heat to the stainless steel blank 8, softening it. Simultaneously, the heat is transferred through the stainless steel blank 8, component 4, baffle 3, and actuation frame 1 to the shape memory alloy composite flexible metamaterial 2 and shape memory alloy curved rod lattice metamaterials 5 and 12, which are in a state of compression deformation and energy storage. This causes the shape memory alloy composite flexible metamaterial 2 and shape memory alloy curved rod lattice metamaterials 5 and 12 to recover their shape and generate restoring force. In this design, the shape memory alloy curved rod lattice metamaterial 5 is placed inside the component 4 and covered by the baffle 3. Therefore, the shape memory alloy curved rod lattice metamaterial 5 is in a closed and fixed space. When the shape memory alloy curved rod lattice metamaterial 5 recovers its shape, it will exert pressure on the component 4 and the baffle 3, which is beneficial to improving the stiffness of the component 4. Therefore, the purpose of applying the shape memory alloy curved rod lattice metamaterial 5 is to improve the stiffness of the component 4 through the restoring force generated by its shape recovery. The amount of compressive deformation of the shape memory alloy curved rod lattice metamaterial 5 is determined according to the strength of the component 4 itself, ensuring that the restoring force of the shape memory alloy curved rod lattice metamaterial 5 does not exceed the strength of the component 4. Similarly, the shape memory alloy curved rod lattice metamaterial 12 in the state of compressive deformation will recover its original shape after being heated by the heat generated by the heaters 10 and 14, generating a restoring force, which acts on the edge part of the stainless steel sheet blank 8, generating a blanking force on the stainless steel sheet blank 8 (e.g., Figure 42 and Figure 43 (As shown). The shape memory alloy composite flexible metamaterial 2 recovers its shape, changing from a compressed deformation state to an expanded state, thereby generating a restoring force that drives the baffle 3 and component 4 to move, thus forcing the softened slab blank 8 to deform. When the baffle 3, component 4, stainless steel slab blank 8, and heat-resistant polyurethane elastomer 17 move together, they will compress the shape memory alloy composite flexible metamaterial 6 within the actuation frame 7. At this time, heat is also transferred to the shape memory alloy composite flexible metamaterial 6. Therefore, the compressed shape memory alloy composite flexible metamaterial 6 will produce a shape recovery effect, generating a restoring force. This restoring force acts directly on the stainless steel slab blank 8. On the heat-resistant polyurethane elastomer 17, the shape memory alloy composite flexible metamaterial 6 forces the softened stainless steel blank 8 and the heat-resistant polyurethane elastomer 17 to actively adapt to the complex-shaped rigid object—the component 4—acting upon it. Thus, the shape memory alloy composite flexible metamaterial 6 forces the softened stainless steel blank 8 and the heat-resistant polyurethane elastomer 17 to actively adapt to the component 4, ultimately fitting completely to the component 4, thereby mechanically cloning the geometry of the component 4 onto the softened stainless steel blank 8, deforming the stainless steel blank 8 into an intermediate template body 16, and deforming the heat-resistant polyurethane elastomer 17 into 18 (as shown). Figure 43 (As shown).

[0376] For shape memory alloy composite flexible metamaterials, shape memory alloy curved rod lattice metamaterials, and shape memory alloy curved edge stretchable meshes, the methods for triggering the recovery of the original shape by heating include, besides heat conduction through heating the billet, insulating the surface of a flexible heating wire and directly winding it around the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh. Heating the heating wire directly transfers heat to the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, resulting in a faster heating rate. A third method involves heating both the billet and the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh simultaneously, triggering shape recovery and a mechanical cloning process. This softens the billet and accelerates the heating rate of the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, thus speeding up the shape recovery process.

[0377] Step seven involves storing energy again, performing another actuation process, and forming a shape memory alloy composite flexible metamaterial as a flexible intelligent actuator.

[0378] After the mechanical cloning process with component 4 as the cloning target is completed, the stainless steel plate blank 8 is deformed into the intermediate template body 16. Then, the mechanical cloning process with the intermediate template body 16 as the cloning target will be carried out. For this purpose, the shape memory alloy curved rod lattice metamaterial and the shape memory alloy composite flexible metamaterial will be subjected to external force-induced compression deformation or temperature-induced shape change to store energy, so that it has actuation function, that is, actuation treatment.

[0379] Step 8: Reassemble.

[0380] The reassembly process is as follows Figure 44 As shown.

[0381] The intermediate template 16 obtained in step six is ​​used as the shape memory alloy composite flexible metamaterial 22, i.e., the flexible intelligent actuator 22, which is an actively adaptive rigid complex-shaped target object. The shape memory alloy curved rod lattice metamaterial 25, which has been deformed and stored energy and has undergone actuation treatment, is placed in the actuation container 26. The intermediate template 16 is placed on the shape memory alloy curved rod lattice metamaterial 25 and fixed to the end of the actuation container 26. In this way, after the shape memory alloy curved rod lattice metamaterial 25 recovers its shape, it will generate pressure to support the intermediate template 16, thereby increasing the stiffness of the intermediate template 16. The purpose of using the shape memory alloy curved rod lattice metamaterial 25 is to increase the stiffness of the intermediate template 16. The amount of compression deformation of the shape memory alloy curved rod lattice metamaterial 25 is determined according to the strength of the intermediate template 16 itself, ensuring that the recovery force of the shape memory alloy curved rod lattice metamaterial 25 does not exceed the strength of the intermediate template 16.

[0382] Place the pad 23 on the support plate 27, fix the support plate 27 to the actuation frame 26, align the pad 23 with the end of the intermediate template body 16, then insert the heater 28 into the support plate 27, then cover the actuation frame 26, support plate 27, and pad 23 with the aluminum alloy blank 24, and cover the aluminum alloy blank 24 with the heat-resistant polyurethane elastomer 35.

[0383] The shape memory alloy composite flexible metamaterial 22, which has been compressed and stored energy and has undergone actuation treatment, is placed in the actuation container 21. Then, the assembly composed of the shape memory alloy composite flexible metamaterial 22 and the actuation container 21 is aligned and closed with the assembly composed of the intermediate template body 16, the aluminum alloy blank 24, the heat-resistant polyurethane elastomer 35, the support plate 27, the heater 28, and the actuation container 26.

[0384] The pressure plate 33 is fixed to the actuation frame 21. Then, the shape memory alloy curved rod lattice metamaterial 30, which acts as the edge pressing material, is placed between the support plate 27, the pressure plate 33, and the support plate 31. The pressure plate 33 presses the shape memory alloy curved rod lattice metamaterial 30 and the aluminum alloy blank 24 into close contact with the support plate 27. Then, the heater 32 is inserted into the pressure plate 33.

[0385] Finally, the actuation frame 21 and actuation frame 26 are assembled and fixed together by the support plate 27, pressure plate 33, support plate 31 and bolts 29.

[0386] The above-described implementation method uses a separate assembly approach for the pressure plate 33 and the actuating container 21, and for the support plate 27 and the actuating container 26. This is done for two reasons: first, to facilitate portability during disassembly and transportation; and second, because the separate assembly structure offers better versatility. A one-piece structure is generally only suitable for forming components of a specific size and shape. When the size or structure changes, the container will also change, rendering the one-piece structure unsuitable. If there is sufficient space for transport, the pressure plate 33 and the actuating container 21 can be manufactured as a single unit, and the support plate 27 and the actuating container 26 can also be manufactured as a single unit. Otherwise, a separate assembly structure can be used. Similarly, the actuating container 21 and the actuating container 26 can be either a single unit or a separate assembly structure.

[0387] During assembly, graphite paper is filled into the pores of the shape memory alloy curved rod lattice metamaterial to reduce friction; graphite paper is placed between each layer of the shape memory alloy composite flexible metamaterial, between the shape memory alloy curved rod lattice metamaterial and the baffle, the actuation frame and the blank to reduce friction; graphite paper is also placed between the component and the blank to reduce friction.

[0388] Step nine: Reheat to trigger the mechanical cloning process.

[0389] After assembly, heating is performed to soften the slab blank and trigger the shape memory alloy lattice metamaterial to recover its original shape from a state of compression deformation (e.g., Figure 44 and Figure 45 (As shown).

[0390] Heaters 28 and 32 are energized and heat is transferred to the aluminum alloy sheet blank 24, softening it. Simultaneously, the heat is transferred through the aluminum alloy sheet blank 24 and the actuating frames 21 and 26 to the shape memory alloy curved rod lattice metamaterial 25 and the shape memory alloy composite flexible metamaterial 22, which are in a state of compressive deformation and energy storage. This causes the shape memory alloy curved rod lattice metamaterial 25 and the shape memory alloy composite flexible metamaterial 22 to recover their original shape from the state of compressive deformation, generating a restoring force. The restoring force generated by the shape memory alloy curved rod lattice metamaterial 25 acts on the intermediate template body 16, enhancing its stiffness. Similarly, the shape memory alloy curved rod lattice metamaterial 30, in a state of compressive deformation, will recover its original shape after being heated by the heat generated by heaters 28 and 32, generating a restoring force that acts on the edge portion of the sheet blank 24, producing a pressing force on the aluminum alloy sheet blank 24 (e.g., ...). Figure 44 and Figure 45(As shown). The shape memory alloy composite flexible metamaterial 22 recovers its original shape from a compressed deformation state, undergoing expansion deformation. The resulting restoring force forces the softened aluminum alloy blank 24 and the heat-resistant polyurethane elastomer 35 to deform. The shape memory alloy composite flexible metamaterial 22 will generate pressure on the aluminum alloy blank 24 and the heat-resistant polyurethane elastomer 35, forcing them to deform along with the shape memory alloy composite flexible metamaterial 22, actively adapting to the intermediate template body 16. Ultimately, they completely conform to the intermediate template body 16, thus mechanically cloning the geometry of the intermediate template body 16 onto the softened aluminum alloy blank 24, deforming the aluminum alloy blank 24 into a clone 34 of the component (e.g., ...). Figure 45 As shown), the heat-resistant polyurethane elastomer 35 deforms to 36 (as shown). Figure 45 As shown), clone a component that is identical to the original component.

[0391] For shape memory alloy composite flexible metamaterials, shape memory alloy curved rod lattice metamaterials, and shape memory alloy curved edge stretchable meshes, the methods for triggering the recovery of the original shape by heating include, besides heat conduction through heating the billet, insulating the surface of a flexible heating wire and directly winding it around the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh. Heating the heating wire directly transfers heat to the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, resulting in a faster heating rate. A third method involves heating both the billet and the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh simultaneously, triggering shape recovery and a mechanical cloning process. This softens the billet and accelerates the heating rate of the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, thus speeding up the shape recovery process. Specific Implementation Example 4

[0393] This embodiment is a hemispherical plate component, and the plate material of the component to be formed is a welded plate of two materials.

[0394] This example uses a segmented, phased triggering actuation function and stress response to apply pressure to the billet.

[0395] Figure 46This is a schematic diagram illustrating the process of stacking multiple shape memory alloy point-curved rod array metamaterials with different structures, properties, and phase transition temperatures to form a shape memory alloy composite flexible metamaterial with different structures, properties, and simultaneous triggering of actuation functions and stress responses, in order to achieve regional and staged triggering of actuation functions and stress responses. Figure 46 In the diagram, T1, T2, and T3 represent the phase transition temperatures of the shape memory alloy curved rod lattice metamaterials in each part.

[0396] like Figure 47 , Figure 48 , Figure 49 and Figure 50 As shown, this implementation adopts Figure 46 The method shown illustrates the formation of a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation functions and stress responses, which serves as a flexible intelligent actuator for component forming. The shape memory alloy composite flexible metamaterial, transformed into an actuator, is composed of multiple layers stacked together. Because the phase transition temperatures of each part are different, the phase transition-triggered actuation functions are non-simultaneous. Therefore, upon heating, as the temperature rises, each part undergoes a phase transition sequentially, generating restoring forces acting on the sheet metal blank in a regional and phased manner.

[0397] The specific implementation steps for this example are as follows.

[0398] Step 1: Analyze the characteristics of the component to be formed and the distribution of the pressure load required for its forming and the change of the pressure load over time; and prepare the shape memory alloy billet, and process and prepare other auxiliary tools and materials;

[0399] Finite element analysis software such as ANSYS and Abaqus were used to analyze the forming process. Based on the dimensions of the component and the material parameters of the blank, a finite element analysis model was established to analyze the deformation process of the sheet blank under different forming forces and blank holder forces, and to determine the distribution of the pressure load required for forming and the change of the pressure load over time.

[0400] Based on the simulation results, according to Figure 47 , Figure 48 , Figure 49 and Figure 50 As shown, prepare shape memory alloy blanks, process and prepare other auxiliary tools and materials.

[0401] Shape memory alloy curved rod lattice metamaterial and shape memory alloy curved edge stretchable mesh are made of nickel-titanium shape memory alloy.

[0402] Step 2: Based on the required pressure load distribution and pressure load variation over time obtained in Step 1, a composite control method is adopted to regionalize, split, and superimpose the structure and properties of shape memory alloy curved rod lattice metamaterials and curved edge stretchable meshes. Shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different structures or properties are designed to form shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, non-simultaneous triggering actuation functions, and stress responses.

[0403] The structure and shape of curved stretchable mesh are as follows: Figure 1 and Figure 2 As shown.

[0404] Besides the curved edges of the unit cells in a stretchable mesh, the mesh itself must also be thin. This is because, for bending deformation, the blank thickness is related to the formable bending radius. In practical applications, shape memory alloys can use "flexible" blanks—thin-walled sheets, thin-diameter wires or rods. The width and length of the sheet are much greater than its thickness, making it more "flexible" than bulk or rod-shaped blanks. However, thin sheets are only suitable for simple shape changes such as bending. To deform into more complex shapes, "flexible" shape memory alloy sheet blanks can be processed into stretchable meshes. Compared to continuous sheets, mesh structures can produce greater deformation. To control the deformation of the shape memory alloy within its recoverable range, the unit cell structure of the stretchable mesh also uses curved edges, i.e., a flexible structure. This type of stretchable mesh and its dimensions (such as...) Figure 1 As shown in the figure. Flexible shape memory alloy blanks (such as those made from sheet metal) are in the form of stretchable meshes. Figure 1 It can produce a large amount of deformation, and therefore can be deformed into complex 3D shapes, forming complex 3D components.

[0405] The structural form of curved rod lattice metamaterials is that of lattice metamaterials with curved support structures (such as...). Figures 3-5 (As shown).

[0406] The design of lattice unit cell structures and parameters for lattice metamaterials aims to enable significant shape changes while keeping the deformation within the recoverable range of shape memory alloys. Therefore, the lattice unit cell form of lattice metamaterials can be curved rod-shaped, one type being a lattice structure where the lattice supports are bent rods (e.g.,...). Figure 3 , Figure 4 and Figure 5As shown in the figure, instead of the usual straight truss structure, its deformation is dominated by the elongation and compression deformation of the curved rod. This allows the lattice metamaterial to have both large contraction and expansion deformation, while the strain of the shape memory alloy material itself is small and controlled within the range of the recoverable deformation of the shape memory alloy material itself.

[0407] After the flexible structural form of the shape memory alloy is determined, the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh are regionally controlled through the design of structural parameters or performance. In this example, the control parameters for regional control are specifically as follows: Figure 2 and Figure 5 As shown, changing the structural parameters allows for regional control of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes. This involves altering the shape, structure, and parameters of the aforementioned unit cells; specifically, it changes... Figure 2 and Figure 5 The parameters shown.

[0408] In practical implementation, these structural parameters are selected based on the performance requirements of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh. For example, taking a curved rod support as an example, the influence of structural parameters on the performance of the shape memory alloy curved rod lattice metamaterial and the shape memory alloy curved edge stretchable mesh is illustrated. When two curved rod supports have the same span, but the diameters of the curved rod supports are different (e.g., Figure 30 When subjected to the same force F, the curved rod with a smaller diameter deforms more and appears more "flexible," while the curved rod with a larger diameter deforms less and appears more "rigid." Therefore, this can be used to control the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved stretchable meshes. When two curved rods have the same diameter but different spans (e.g.,...),... Figure 31 When they are compressed to the same height (as shown), the deformation of the curved rod with a larger span is greater, while the deformation of the curved rod with a smaller span is smaller. Since the restoring force of shape memory alloy is related to the amount of deformation, this means that the restoring forces they can generate when compressed to the same height will be different. Therefore, the restoring force of shape memory alloy curved rod lattice metamaterial and shape memory alloy curved edge stretchable mesh can be controlled in this way.

[0409] Similar to the influence of structural parameters on the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, the properties of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes can also be controlled through material composition and heat treatment specifications. For example, the strength and phase transformation temperature of shape memory alloys are related to the material composition, and the material strength also affects the material deformation, thus affecting the flexibility of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes. The material strength also affects the material stress response, thus affecting the stress response of shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes.

[0410] Step 3: Fabrication of shape memory alloy curved rod lattice metamaterial and curved-edge stretchable mesh.

[0411] Based on the design in step two, regional control methods and split control methods are used to process shape memory alloy billets into curved rod lattice metamaterials and curved edge stretchable meshes with different structures or properties.

[0412] Select suitable shape memory alloy raw materials or blanks, and then, according to the structural parameters of the unit cell of the designed shape memory alloy curved rod lattice metamaterial, use laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing) to prepare curved rod lattice unit cells or curved rod lattice unit cells of shape memory alloy curved rod lattice metamaterials with different structural parameters. Then, use laser welding to weld them together to form shape memory alloy lattice metamaterials with different structures, or directly use 3D printing (additive manufacturing) to prepare integral curved rod lattice metamaterials with different structures.

[0413] For shape memory alloy curved stretchable mesh, curved stretchable meshes with different structures can be prepared by means of laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing);

[0414] For shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes with non-uniform properties, according to the performance distinction, the parts of each unit cell with the same performance are first processed and prepared by laser cutting, electrical discharge wire cutting or 3D printing (additive manufacturing), etc., and then the parts are welded together by laser welding.

[0415] Step 4: Actuation treatment and formation of shape memory alloy composite flexible metamaterials as flexible intelligent actuators.

[0416] A split-control method is used to perform shaping heat treatment on the prepared shape memory alloy curved rod lattice metamaterial and curved edge stretchable mesh, setting the shape and phase transition temperature. Then, through actuation treatment, the shaped curved rod lattice metamaterial and curved edge stretchable mesh with different structures or properties are deformed into a temporary shape to store energy and enable them to have actuation function. This makes the curved rod lattice metamaterial and curved edge stretchable mesh with different structures or properties into flexible actuators. Finally, a composite control method of superposition and lamination is used to form a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation function and stress response, and transform it into a flexible intelligent actuator.

[0417] Step 5: Assembly

[0418] After actuating the energy storage of shape memory alloy composite flexible metamaterials through external force-induced deformation or temperature-induced deformation, various auxiliary tools and materials are prepared and processed for assembly.

[0419] Besides shape memory alloy curved rod lattice metamaterials and shape memory alloy curved edge stretchable meshes, in Figure 47 , Figure 48 , Figure 49 and Figure 50 The specific implementation schemes of the various components shown are as follows.

[0420] Component 4 is a hemispherical welded plate component made of two materials, namely aluminum-steel welded plate or other welded plates made of different materials, with a wall thickness of 1.0 mm.

[0421] The blank 8 used for the intermediate template body in mechanical cloning is a 1.5mm thick welded plate of two materials, either aluminum-steel welded plate or 1.5mm thick stainless steel plate. Because the intermediate template body stores the geometric shape information of the component, its material can differ from that of the component. The blank 24 used for the clone of component 4 is a 1.0mm thick welded plate of two materials, using aluminum-steel welded plate, and is made of the same material as component 4.

[0422] The auxiliary assembly and fixing components, actuating frames 1, 7, 21, and 26, can be made of materials such as 45 steel, stainless steel, and titanium alloy. Stainless steel and titanium alloy are preferred because their low thermal conductivity helps retain heat and prevents heat loss from the billet and shape memory alloy lattice metamaterial during heating. For applications with weight restrictions, such as those requiring space transport, titanium alloy is preferred due to its low thermal conductivity and low density. For applications with space constraints, such as those requiring space-limited spacecraft for transport, actuating frames 1, 7, 21, and 26 can be designed with a detachable, modular assembly structure. Each surface of the frame can be individually machined and bolted together during use. When not in use, it can be disassembled into individual panels, saving space and facilitating transport.

[0423] The baffle 3 can be made of materials such as 45 steel and high-strength copper alloy. Because it is necessary to transfer the heat from heaters 10 and 14 to the shape memory alloy flexible metamaterial as quickly as possible, the baffle 3 needs to be made of materials with good thermal conductivity. 45 steel and high-strength copper alloy have better thermal conductivity than stainless steel and titanium alloy.

[0424] The pallet 9, pressure plate 15, pallet 27, and pressure plate 33 can be made of materials such as 45 steel, stainless steel, and titanium alloy. Stainless steel and titanium alloy are preferred because they have low thermal conductivity, which helps retain heat and prevents heat loss during heating. For situations with weight requirements, such as carrying into space, titanium alloy can be preferred because it has low thermal conductivity and low density.

[0425] Holes are machined inside the support plate 9, pressure plate 15, support plate 27, and pressure plate 33, and heating rods 10, 14, 28, and 32 are inserted into the holes inside the support plate 9, pressure plate 15, support plate 27, and pressure plate 33.

[0426] The inner walls of actuating frames 1, 7, 21, and 26 are covered with 0.1 mm thick graphite paper. This reduces the friction between the nickel-titanium shape memory alloy composite flexible metamaterial and the metal frames during shape recovery. To avoid friction between the supports of the nickel-titanium shape memory alloy composite flexible metamaterial itself, the pores of the material are also filled with 0.1 mm thick graphite paper. The surface of the slab is also covered with 0.1 mm thick graphite paper to reduce friction between the slab and the component or the shape memory alloy composite flexible metamaterial. To prevent the graphite paper from being scratched and broken, multiple layers of 0.1 mm thick graphite paper can be used. Alternatively, a spray coating can be used for lubrication.

[0427] After energy storage is achieved through actuation treatment of shape memory alloy composite flexible metamaterials by inducing deformation by external force or temperature, they are assembled, such as... Figure 47 As shown in the figure, T1, T2, and T3 represent different phase transition temperatures, which are determined by... Figure 46 The method shown creates a shape memory alloy flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation functions and stress responses, which serves as a flexible intelligent actuator for component forming. The shape memory alloy composite flexible metamaterial body transformed into an actuator is composed of multiple parts stacked and laminated together. Since the phase transition temperatures of each part are different, the phase transition triggering actuation functions are non-simultaneous. Therefore, after being heated, as the temperature rises, each part undergoes a phase transition one by one, generating restoring forces acting on the sheet blank in different regions and stages.

[0428] The shape memory alloy composite flexible metamaterial 6 is placed inside the actuation frame 7. The support plate 9 is fixed to the actuation frame 7 and aligned with the port of the actuation frame 7. Then, the heater 10 is inserted into the support plate 9. Then, the blank 8 is covered on the actuation frame 7, the shape memory alloy composite flexible metamaterial 6, the support plate 9, and the heater 10.

[0429] Then, a shape memory alloy composite flexible metamaterial 2, which has been compressed and deformed and stored energy and has undergone actuation treatment, is placed into the actuation container 1. A shape memory alloy curved rod lattice metamaterial 5, which has been compressed and deformed and stored energy, is placed into the component 4 and covered with a baffle 3. The baffle 3 is fixed together with the component 4. Then, the assembly formed by the shape memory alloy curved rod lattice metamaterial 5, the baffle 3 and the component 4 is placed into the actuation container 1 and covered onto the shape memory alloy composite flexible metamaterial 2.

[0430] Then, the assembly consisting of shape memory alloy curved rod lattice metamaterial 5, shape memory alloy composite flexible metamaterial 1, actuation frame 1, baffle 3 and component 4 is aligned and closed with the slab blank 8 and the already assembled actuation frame 7.

[0431] The pressure plate 15 is fixed to the actuation frame 1. Then, the shape memory alloy curved rod lattice metamaterial 12, which acts as a pressing edge, is placed between the support plate 9, the pressure plate 15, and the support plate 13. The pressure plate 15 presses the shape memory alloy curved rod lattice metamaterial 12 and the blank 8 into close contact with the support plate 9. Then, the heater 14 is inserted into the pressure plate 15.

[0432] Finally, the actuation frame 1 and actuation frame 7 are assembled and fixed together by the support plate 9, pressure plate 15, support plate 13 and bolts 11.

[0433] The above-described implementation method uses a separate assembly approach for the pressure plate 15 and the actuating container 1, and for the support plate 9 and the actuating container 7. This is done for two reasons: first, to facilitate portability during disassembly and transportation; and second, because the separate assembly structure offers better versatility. A one-piece structure is generally only suitable for forming components of a specific size and shape. When the size or structure changes, the container will also change, rendering the one-piece structure unsuitable. If there is sufficient space for transport, the pressure plate 15 and the actuating container 1 can be manufactured as a single unit, and the support plate 9 and the actuating container 7 can be manufactured as a single unit. Otherwise, a separate assembly structure can be used. Similarly, the actuating container 1 and the actuating container 7 can be either a single unit or a separate assembly structure.

[0434] During assembly, graphite paper is filled into the pores of the shape memory alloy curved rod lattice metamaterial to reduce friction; graphite paper is placed between each layer of the shape memory alloy composite flexible metamaterial, between the shape memory alloy curved rod lattice metamaterial and the baffle, the actuation frame and the blank to reduce friction; graphite paper is also placed between the component and the blank to reduce friction.

[0435] Step six: Heat triggers the mechanical cloning process to obtain the intermediate template body.

[0436] After assembly, heating is performed to soften the blank and trigger the shape memory alloy curved rod lattice metamaterial or shape memory alloy composite flexible metamaterial to recover its shape (e.g., Figure 47 and Figure 48 (As shown).

[0437] Heaters 10 and 14 are energized and heat up, transferring heat to the slab 8 and softening it. Simultaneously, the heat is transferred through the slab 8, component 4, baffle 3, and actuation frame 1 to the shape memory alloy composite flexible metamaterial 2 and shape memory alloy curved rod lattice metamaterials 5 and 12, which are in a state of compression deformation and energy storage. This causes the shape memory alloy composite flexible metamaterial 2 and shape memory alloy curved rod lattice metamaterials 5 and 12 to recover their shape and generate restoring force. In this design, the shape memory alloy curved rod lattice metamaterial 5 is placed inside the component 4 and covered by the baffle 3. Therefore, the shape memory alloy curved rod lattice metamaterial 5 is in a closed and fixed space. When the shape memory alloy curved rod lattice metamaterial 5 recovers its shape, it will exert pressure on the component 4 and the baffle 3, which is beneficial to improving the stiffness of the component 4. Therefore, the purpose of applying the shape memory alloy curved rod lattice metamaterial 5 is to improve the stiffness of the component 4 through the restoring force generated by its shape recovery. The amount of compressive deformation of the shape memory alloy curved rod lattice metamaterial 5 is determined according to the strength of the component 4 itself, ensuring that the restoring force of the shape memory alloy curved rod lattice metamaterial 5 does not exceed the strength of the component 4. Similarly, the shape memory alloy curved rod lattice metamaterial 12 in the state of compressive deformation will recover its original shape after being heated by the heat generated by the heaters 10 and 14, generating a restoring force, which acts on the edge part of the sheet blank 8, generating a pressing force on the sheet blank 8 (e.g., Figure 47 (As shown). The shape memory alloy composite flexible metamaterial 2 recovers its shape, changing from a compressed deformation state to an expanded state, thereby generating a restoring force that drives the baffle 3 and component 4 to move, thus forcing the softened slab 8 to deform. When the baffle 3, component 4, and slab 8 move together, they compress the shape memory alloy composite flexible metamaterial 6 within the actuation frame 7. At this time, heat is also transferred to the shape memory alloy composite flexible metamaterial 6. Therefore, the compressed shape memory alloy composite flexible metamaterial 6 will produce a shape recovery effect, generating a restoring force. Furthermore, the shape memory alloy composite flexible metamaterial 6, as a flexible intelligent actuator, is composed of multiple parts stacked and laminated together. Since the phase transition temperatures are different in some parts, the phase transition triggering actuation functions are not simultaneous. Therefore, after being heated, as the temperature rises, each part undergoes a phase transition one by one, generating restoring forces acting on the sheet metal blank 8 in different regions and stages. Thus, the shape memory alloy composite flexible metamaterial 6 forces the softened sheet metal blank 8 to actively adapt to the complex-shaped rigid object—component 4—acting on it in different regions and stages. In this way, the shape memory alloy composite flexible metamaterial 6 forces the softened sheet metal blank 8 to actively adapt to component 4, ultimately completely conforming to component 4, thereby mechanically cloning the geometry of component 4 to the softened sheet metal blank 8, deforming the sheet metal blank 8 into an intermediate template body 16 (such as...). Figure 48 (As shown).

[0438] For shape memory alloy composite flexible metamaterials, shape memory alloy curved rod lattice metamaterials, and shape memory alloy curved edge stretchable meshes, the methods for triggering the recovery of the original shape by heating include, besides heat conduction through heating the billet, insulating the surface of a flexible heating wire and directly winding it around the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh. Heating the heating wire directly transfers heat to the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, resulting in a faster heating rate. A third method involves heating both the billet and the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh simultaneously, triggering shape recovery and a mechanical cloning process. This softens the billet and accelerates the heating rate of the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, thus speeding up the shape recovery process.

[0439] Step seven involves storing energy again, performing another actuation process, and forming a shape memory alloy composite flexible metamaterial as a flexible intelligent actuator.

[0440] After the mechanical cloning process with component 4 as the cloning target is completed, the slab blank 8 is deformed into the intermediate template body 16. Then, the mechanical cloning process with the intermediate template body 16 as the cloning target will be carried out. For this purpose, the shape memory alloy curved rod lattice metamaterial and the shape memory alloy composite flexible metamaterial will be subjected to external force-induced compression deformation or temperature-induced shape change to store energy, so that it has actuation function, that is, actuation treatment.

[0441] Step 8: Reassemble.

[0442] The reassembly process is as follows Figure 49 As shown, Figure 49 In this context, T1, T2, T3, T4, and T5 represent the different phase transition temperatures of the shape memory alloy flexible metamaterial in each part, which are determined by... Figure 46 The method shown creates a shape memory alloy flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation functions and stress responses, which serves as a flexible intelligent actuator for component forming. The shape memory alloy composite flexible metamaterial body transformed into an actuator is composed of multiple parts stacked and laminated together. Since the phase transition temperatures of each part are different, the phase transition triggering actuation functions are non-simultaneous. Therefore, after being heated, as the temperature rises, each part undergoes a phase transition one by one, generating restoring forces acting on the sheet blank in different regions and stages.

[0443] The intermediate template 16 obtained in step six is ​​used as the shape memory alloy composite flexible metamaterial 22, i.e., the flexible intelligent actuator 22, which is an actively adaptive rigid complex-shaped target object. The shape memory alloy curved rod lattice metamaterial 25, which has been deformed and stored energy and has undergone actuation treatment, is placed in the actuation container 26. The intermediate template 16 is placed on the shape memory alloy curved rod lattice metamaterial 25 and fixed to the end of the actuation container 26. In this way, after the shape memory alloy curved rod lattice metamaterial 25 recovers its shape, it will generate pressure to support the intermediate template 16, thereby increasing the stiffness of the intermediate template 16. The purpose of using the shape memory alloy curved rod lattice metamaterial 25 is to increase the stiffness of the intermediate template 16. The amount of compression deformation of the shape memory alloy curved rod lattice metamaterial 25 is determined according to the strength of the intermediate template 16 itself, ensuring that the recovery force of the shape memory alloy curved rod lattice metamaterial 25 does not exceed the strength of the intermediate template 16.

[0444] Place the pad 23 on the support plate 27, fix the support plate 27 to the actuation frame 26, align the pad 23 with the end of the intermediate template body 16, then insert the heater 28 into the support plate 27, and then cover the actuation frame 26, support plate 27, and pad 23 with the blank material 24.

[0445] The shape memory alloy composite flexible metamaterial 22, which has been compressed and stored energy and has undergone actuation treatment, is placed in the actuation container 21. Then, the assembly composed of the shape memory alloy composite flexible metamaterial 22 and the actuation container 21 is aligned and closed with the assembly composed of the intermediate template body 16, the blank 24, the support plate 27, the heater 28 and the actuation container 26.

[0446] The pressure plate 33 is fixed to the actuation frame 21. Then, the shape memory alloy curved rod lattice metamaterial 30, which acts as a pressing edge, is placed between the support plate 27, the pad plate 23, the pressure plate 33, and the support plate 31. The pressure plate 33 presses the shape memory alloy curved rod lattice metamaterial 30 and the blank 24 into close contact with the support plate 27 and the pad plate 23. Then, the heater 32 is inserted into the pressure plate 33.

[0447] Finally, the actuation frame 21 and actuation frame 26 are assembled and fixed together by the support plate 27, pressure plate 33, support plate 31 and bolts 29.

[0448] The above-described implementation method uses a separate assembly approach for the pressure plate 33 and the actuating container 21, and for the support plate 27 and the actuating container 26. This is done for two reasons: first, to facilitate portability during disassembly and transportation; and second, because the separate assembly structure offers better versatility. A one-piece structure is generally only suitable for forming components of a specific size and shape. When the size or structure changes, the container will also change, rendering the one-piece structure unsuitable. If there is sufficient space for transport, the pressure plate 33 and the actuating container 21 can be manufactured as a single unit, and the support plate 27 and the actuating container 26 can also be manufactured as a single unit. Otherwise, a separate assembly structure can be used. Similarly, the actuating container 21 and the actuating container 26 can be either a single unit or a separate assembly structure.

[0449] During assembly, graphite paper is filled into the pores of the shape memory alloy curved rod lattice metamaterial to reduce friction; graphite paper is placed between each layer of the shape memory alloy composite flexible metamaterial, between the shape memory alloy curved rod lattice metamaterial and the baffle, the actuation frame and the blank to reduce friction; graphite paper is also placed between the component and the blank to reduce friction.

[0450] Step nine: Reheat to trigger the mechanical cloning process.

[0451] After assembly, heating is performed to soften the slab blank and trigger the shape memory alloy lattice metamaterial to recover its original shape from a state of compression deformation (e.g., Figure 49 and Figure 50 (As shown).

[0452] Heaters 28 and 32 are energized and heat is transferred to the slab blank 24, softening it. Simultaneously, the heat is transferred through the slab blank 24 and the actuating frames 21 and 26 to the shape memory alloy curved rod lattice metamaterial 25 and the shape memory alloy composite flexible metamaterial 22, which are in a state of compressed deformation and storing energy. This causes the shape memory alloy curved rod lattice metamaterial 25 and the shape memory alloy composite flexible metamaterial 22 to recover their original shape from the compressed deformation state, generating a restoring force. The restoring force generated by the shape memory alloy curved rod lattice metamaterial 25 acts on the intermediate template body 16, enhancing its stiffness. Similarly, the shape memory alloy curved rod lattice metamaterial 30, in a state of compressed deformation, will recover its original shape after being heated by the heat generated by heaters 28 and 32, generating a restoring force that acts on the edge portion of the slab blank 24, producing a pressing force on the slab blank 24 (e.g., ...). Figure 49 (As shown). The shape memory alloy composite flexible metamaterial 22 recovers its original shape from a compressed deformation state through expansion deformation. The resulting restoring force will force the softened slab 24 to deform.

[0453] Furthermore, the shape memory alloy composite flexible metamaterial 22, as a flexible intelligent actuator, is composed of multiple parts stacked and laminated together. Since the phase transition temperatures of each part are different, the phase transition-triggered actuation function is not simultaneous. Therefore, after heating, as the temperature rises, each part undergoes a phase transition sequentially, generating restoring forces in different regions and stages, acting on the sheet metal blank 24. Thus, the shape memory alloy composite flexible metamaterial 22 forces the softened sheet metal blank 24 to actively adapt to the complex-shaped rigid object—the intermediate template body 16—acting on it in different regions and stages. This forces the softened sheet metal blank 24 to deform along with the shape memory alloy composite flexible metamaterial 22, actively adapting to the intermediate template body 16. Ultimately, it completely conforms to the intermediate template body 16, mechanically cloning the geometry of the intermediate template body 16 onto the softened sheet metal blank 24, deforming the sheet metal blank 24 into a clone 34 of the component (e.g., Figure 50 As shown), clone a component that is identical to the original component.

[0454] For shape memory alloy composite flexible metamaterials, shape memory alloy curved rod lattice metamaterials, and shape memory alloy curved edge stretchable meshes, the methods for triggering the recovery of the original shape by heating include, besides heat conduction through heating the billet, insulating the surface of a flexible heating wire and directly winding it around the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh. Heating the heating wire directly transfers heat to the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, resulting in a faster heating rate. A third method involves heating both the billet and the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh simultaneously, triggering shape recovery and a mechanical cloning process. This softens the billet and accelerates the heating rate of the shape memory alloy curved rod lattice metamaterial or shape memory alloy curved edge stretchable mesh, thus speeding up the shape recovery process.

[0455] While the present invention has been disclosed above, it provides only a few typical examples and specific embodiments, and the scope of protection of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials, characterized in that, By regionalizing, splitting, and superimposing the structure and properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, and through composite control and actuation processing, shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, and non-simultaneous triggering actuation functions and stress responses are formed. As a flexible intelligent actuator, the spatial distribution and time-varying nature of the stress response can be designed, forming a spatially non-uniformly distributed stress field and a time-varying adjustable stress response. This stress field acts on the billet and rigid complex-shaped target bodies. With the restoring force generated by the shape memory alloy composite flexible metamaterial as a flexible intelligent actuator during the shape recovery process, the billet is forced to deform and conform to the rigid complex-shaped target body. The geometric shape information of the rigid complex-shaped target body is mechanically cloned and assigned to the billet. Based on this, the component is first used as the rigid complex-shaped target body for mechanical cloning to clone an intermediate template body. Then, the intermediate template body is used as the rigid complex-shaped target body for mechanical cloning to clone a component identical to the original component.

2. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, The shape memory alloy can be of two types: one is a shape memory alloy with only single-pass shape memory function, and the other is a shape memory alloy with two-pass shape memory function.

3. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, The shape memory alloy curved rod lattice metamaterial and the curved edge stretchable mesh are "flexible" shape memory alloys. The shape memory alloy curved rod lattice metamaterial is composed of curved rods forming the unit cell of the curved rod lattice metamaterial; the curved edge stretchable mesh is composed of curved edges forming the unit cell of the curved edge stretchable mesh.

4. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1 or 3, characterized in that, The shape memory alloy curved rod lattice metamaterial and the curved edge stretchable mesh described herein are "flexible" shape memory alloys. As flexible intelligent actuators, they force the blank to deform, requiring reinforcement. The reinforcement method is as follows: Multiple flexible shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are stacked together. This stacking process gives them sufficient restoring force, enabling the "flexible" shape memory alloy to provide sufficient restoring force.

5. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, The aforementioned method for regional control of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes is as follows: In different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes, lattice unit cells or mesh unit cells with different structural parameters or properties are used.

6. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, The aforementioned method of separately controlling the structure or properties of shape memory alloy curved rod lattice metamaterials and curved edge stretchable meshes includes: The spatial distribution of stress response can be controlled by splitting the layout of unit cells with different structural parameters or performances when each curved rod lattice metamaterial or curved edge stretchable mesh is controlled in a regionalized manner, thereby obtaining multiple shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different spatial distributions of stress response. The separate control of non-simultaneous stress response triggering, through the regulation of heat treatment specifications or the regulation of shape memory alloy material composition, controls the phase transition temperature of multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes to different temperature values, so that multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes produce non-simultaneous phase transition triggering and stress response.

7. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, The composite control of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved edge stretchable meshes through superposition and lamination includes the following composite control methods: By stacking multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different spatial distributions of stress response, structural parameters or performance, and different layouts of unit cells, complex structures or performance are formed by regional control of the structure. This results in shape memory alloy composite flexible metamaterials with non-uniform structures and performance, and produces complex spatial distributions of stress response. By combining multiple separate controllable curved rod lattice metamaterials or curved stretchable meshes with different phase transition temperatures that have undergone non-simultaneous triggering of stress response, shape memory alloy composite flexible metamaterials with non-simultaneous triggering actuation function and stress response are formed. By combining multiple spatially distributed and non-simultaneously triggered stress response control, structural parameters or performance of unit cells with different layouts and phase transition temperatures, curved rod lattice metamaterials or curved edge stretchable meshes are stacked together to obtain shape memory alloy composite flexible metamaterials with non-uniform structure, non-uniform performance, non-simultaneously triggered actuation function and stress response.

8. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, The method for actuating the shape memory alloy curved rod lattice metamaterial and the curved stretchable mesh into an actuator is as follows: Actuation treatment of shape memory alloy curved rod lattice metamaterials. First, shape memory alloy curved rod lattice metamaterials are fabricated; Secondly, the prepared shape memory alloy curved rod lattice metamaterial is subjected to shaping heat treatment to set its shape and phase transition temperature, so that it has shape memory function. Furthermore, the phase transition temperature of each shape memory alloy curved rod lattice metamaterial can be controlled individually by adjusting the heat treatment specifications or the material composition. Then, the shape memory alloy curved rod lattice metamaterial with a set shape, a set phase transition temperature and a shape memory function is deformed from the set shape to a temporary shape, storing energy to enable it to have an actuation function, thus transforming it into a flexible actuator. Actuation processing for curved stretchable mesh in two-dimensional flat plate shape. First, the two-dimensional flat plate-shaped curved stretchable mesh is deformed into a three-dimensional shape, or directly processed into a three-dimensional shape and constrained. Then, it undergoes shaping heat treatment to shape it into a set three-dimensional shape and give it shape memory function. At the same time, its phase transition temperature is set. Furthermore, by adjusting the heat treatment specifications or the material composition, the phase transition temperature of each curved stretchable mesh shaped into a three-dimensional shape can be controlled individually. Then, the curved stretchable mesh, which is shaped into a set three-dimensional shape, has shape memory function, and a set phase transition temperature, is deformed into a temporary shape to store energy and enable actuation, thus transforming it into a flexible actuator.

9. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, Formable shape memory alloy composite flexible metamaterials include: (1) Based on the regional control, split control, and composite control of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, complex regional control is formed to obtain shape memory alloy composite flexible metamaterials with non-uniform structures and non-uniform properties that can produce complex stress response spatial distributions. The method is as follows: First, through regional control, lattice unit cells or mesh unit cells with different structural parameters or properties are used in different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes. Secondly, split control is carried out. By changing the layout of the unit cells with different structural parameters or performances of each curved rod lattice metamaterial or curved edge stretchable mesh during regional control, each individual is controlled separately to obtain multiple shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different stress response spatial distributions. Then, composite control of superposition and layering is carried out. Multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different layouts of unit cells that have been separately controlled and have different structural parameters or performance are superimposed and layered to form complex regional control of structure or performance. This results in shape memory alloy composite flexible metamaterials with non-uniform structure and non-uniform performance, producing a complex spatial distribution of stress response. (2) Based on the separate control and composite control of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, shape memory alloy composite flexible metamaterials that can trigger actuation functions and stress responses non-simultaneously are obtained. The method is as follows: First, separate control is implemented. By regulating the heat treatment specifications or the composition of the shape memory alloy material, the phase transition temperatures of multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes are set to different temperature values, and the phase transition temperature of each individual is controlled separately. Then, the composite control of superposition and lamination is used to superimpose and laminate multiple curved rod lattice metamaterials or curved stretchable meshes with different phase transition temperatures after separate control, forming shape memory alloy composite flexible metamaterials with non-simultaneous triggering actuation function and stress response. (3) Based on the regionalized control, split-type control, and composite control of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, and non-simultaneous triggering actuation functions and stress responses are formed. The method is as follows: First, through regional control, lattice unit cells or mesh unit cells with different structural parameters or properties are used in different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes. Secondly, the spatial distribution of stress response is controlled in a split manner. By changing the layout of unit cells with different structural parameters or performance in each curved rod lattice metamaterial or curved edge stretchable mesh during regional control, multiple shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different spatial distributions of stress response are obtained. Then, the stress response is not triggered simultaneously and is controlled separately. By adjusting the heat treatment specifications or the composition of the shape memory alloy material, the phase transition temperature of the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh with different structural parameters or performance of the unit cells is adjusted to different temperature values. This allows the shape memory alloy curved rod lattice metamaterial or curved edge stretchable mesh with different structural parameters or performance of the unit cells with different layouts under regional control to generate non-simultaneous phase transition triggering and stress response. Finally, composite control is carried out by superimposing and layering multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different layouts and phase transition temperatures, which have undergone regional and split control and have different structural parameters or performance. This results in shape memory alloy composite flexible metamaterials with non-uniform structure, non-uniform performance, and non-simultaneous triggering actuation function and stress response.

10. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, Based on the aforementioned method of regional control, split control, superposition and lamination composite control and actuation processing of the structure or properties of shape memory alloy curved rod lattice metamaterials and curved stretchable meshes, a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation functions and stress responses is formed and transformed into an actuator, serving as a flexible intelligent actuator. The method and process are as follows: First, through regional control, lattice unit cells or mesh unit cells with different structural parameters or properties are used in different regions of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes. Secondly, the spatial distribution of stress response is controlled in a split manner. By changing the layout of unit cells with different structural parameters or performance in each curved rod lattice metamaterial or curved edge stretchable mesh during regional control, multiple shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different spatial distributions of stress response are obtained. Then, for the obtained shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different layouts of unit cells with different structural parameters or properties, a separate control and actuation process with non-simultaneous triggering of stress response is performed. First, the obtained shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different layouts of unit cells with different structural parameters or properties are subjected to shape-fixing heat treatment to set their shape. Then, by controlling the heat treatment specifications or the shape memory alloy material composition, the obtained shape of the obtained unit cells with different layouts is adjusted. The phase transition temperature of shape memory alloy curved rod lattice metamaterials or curved stretchable meshes is controlled to different values, causing non-simultaneous phase transition triggering and stress response in shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different structural parameters or performance under regional control, and endowing them with shape memory function; then, the shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with set shape, set phase transition temperature and shape memory function are deformed from the set shape to a temporary shape, storing energy and endowing them with actuation function; Finally, composite control is achieved by superimposing and layering multiple shape memory alloy curved rod lattice metamaterials or curved stretchable meshes with different structural parameters or performances, which have undergone regional control, split control, and actuation treatment, have different layouts and phase transition temperatures, and have been transformed into flexible actuators. These are then superimposed and layered to form shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, and non-simultaneous triggering of actuation functions and stress responses, thus becoming shape memory alloy flexible intelligent actuators.

11. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, The aforementioned curved rod lattice metamaterial and curved edge stretchable mesh are actuated to transform them into flexible actuators capable of acting on the blank. This is achieved through shaping heat treatment and deformation energy storage, the methods and processes of which are as follows: When using single-pass shape memory alloys, the process of performing shaping heat treatment and storing energy is as follows: Shape memory alloy curved bar lattice metamaterials or curved edge stretchable meshes can be directly fabricated into the desired shape, or shape memory alloy curved bar lattice metamaterials or curved edge stretchable meshes can be fabricated into simple flat plate shapes, deformed into the desired shape, constrained, heated to transform into the parent austenitic phase, subjected to shaping heat treatment to solidify the shape and give it a single-pass shape memory function, and then cooled to transform into the low-temperature martensite phase. Deformation is then performed in the low-temperature martensite phase state to deform into a temporary shape, the temporary shape being determined by the blank of the forming component; When using two-way shape memory alloys, the process of performing shaping heat treatment and storing energy is as follows: First, shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes can be directly prepared into the desired shape, or shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes can be prepared into simple flat plate shapes, deformed into the desired shape, constrained, heated to transform into the parent austenite phase, and then subjected to shaping heat treatment to shape it and give it a single-pass shape memory function. Secondly, the shape memory alloy curved rod lattice metamaterial or curved stretchable mesh, which has been shaped and memorized, is cooled to transform into a low-temperature martensitic phase and deformed into a temporary shape. The temporary shape is determined by the blank of the forming component. Under constrained conditions, it undergoes thermomechanical treatment training by heating and cooling to memorize the temporary shape of the low-temperature martensitic phase, thus possessing a two-way shape memory function. It can not only memorize the shaped high-temperature austenitic phase but also the temporary shape of the low-temperature martensitic phase. Energy is stored through temperature-induced deformation between the original shape and the temporary shape, transforming it into a flexible actuator with actuation properties.

12. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1, characterized in that, Based on the aforementioned mechanical cloning and assignment of the geometric shape information of a rigid, complex-shaped object to a blank, the mechanical cloning of the geometric shape information of the rigid, complex-shaped object is achieved by cloning and transferring the geometric shape information of the component in the following manner, and cloning a component identical to the original component: First, taking the component as a rigid complex shape target body, the structure or properties of the shape memory alloy curved rod lattice metamaterial and the curved edge stretchable mesh are regionalized, split, and composite controlled and actuated through superposition and layering. This forms a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation functions and stress response. As a flexible intelligent actuator, it acts on the blank and the component, forcing the blank to deform and adapt to and fit the component. The geometric shape information of the component is mechanically cloned and assigned to the blank, mechanically cloning an intermediate template body that stores the geometric shape information of the component. Then, using the intermediate template as a rigid complex shape target body, a flexible metamaterial composed of shape memory alloy with non-identical structure, non-uniform performance, non-simultaneous triggering actuation function and stress response is used as a flexible intelligent actuator to act on the blank and the intermediate template, forcing the blank to deform and adapt to and fit the intermediate template. The geometric shape information of the component stored in the intermediate template is mechanically cloned and assigned to the blank, cloning a component that is the same as the original component.

13. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1 or 12, characterized in that, The aforementioned shape memory alloy composite flexible metamaterial, which forms non-uniform structures, non-uniform properties, and non-simultaneously triggered actuation functions and stress responses, serves as a flexible intelligent actuator, cloning a component identical to the original component. The steps include: Step 1: Analyze the characteristics of the component to be formed and the distribution of the pressure load required for its forming, as well as the change of the pressure load over time; Step 2: Based on the required pressure load distribution and pressure load variation over time obtained in Step 1, a composite control method is adopted to regionalize, split, and superimpose the structure or properties of shape memory alloy curved rod lattice metamaterials and curved edge stretchable meshes. This method is used to design shape memory alloy curved rod lattice metamaterials or curved edge stretchable meshes with different structures or properties, so as to form shape memory alloy composite flexible metamaterials with non-uniform structures, non-uniform properties, non-simultaneous triggering actuation functions and stress responses. Step 3: Fabrication of shape memory alloy curved rod lattice metamaterial and curved stretchable mesh. Based on the design in step two, regional control methods and split control methods are used to process shape memory alloy billets into curved rod lattice metamaterials and curved edge stretchable meshes with different structures or properties. Step 4: Actuation treatment and formation of shape memory alloy composite flexible metamaterials as flexible intelligent actuators. A split-control method is used to perform shaping heat treatment on the prepared shape memory alloy curved rod lattice metamaterial and curved stretchable mesh, setting the shape and phase transition temperature. Then, through actuation treatment, the already shaped curved rod lattice metamaterial and curved stretchable mesh with different structures or properties are deformed into a temporary shape to store energy and enable them to have actuation function, thus becoming an actuator. Finally, a composite method of superposition and lamination is used to form a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation function and stress response, and transform it into a flexible intelligent actuator. Step 5, Assembly. A flexible metamaterial composed of shape memory alloys with non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response after actuation treatment is used as a flexible intelligent actuator to act on blanks and components, and is assembled and fixed together with auxiliary assembly and fixing parts and heating devices. Step six: Heating triggers the mechanical cloning process to obtain the intermediate template body. Heating triggering has transformed into a flexible intelligent actuator with a non-identical structure, non-uniform performance, non-simultaneous triggering actuation function and stress response. The shape memory alloy composite flexible metamaterial undergoes a phase transformation, restores the original shape, generates restoring force and actuation function, acts on the blank and component, forces the blank to deform and fit into the component, and obtains the intermediate template body. Step seven: Energy is stored through deformation again, and then actuation is performed. A shape memory alloy curved rod lattice metamaterial that stores energy after deformation induced by external force or temperature and undergoes actuation treatment, and a curved stretchable mesh are superimposed and layered to form a shape memory alloy composite flexible metamaterial with non-uniform structure, non-uniform properties, and non-simultaneous triggering of actuation function and stress response, which serves as a flexible intelligent actuator. Step 8: Reassemble. Using the intermediate template body obtained in step six as the rigid complex shape target body, the shape memory alloy composite flexible metamaterial with non-identical structure, non-uniform performance, non-simultaneous triggering actuation function and stress response after actuation treatment is used as a flexible intelligent actuator to act on the blank and intermediate template body, and is assembled and fixed together with auxiliary assembly and fixing components and heating devices. Step nine: Reheat to trigger the mechanical cloning process and obtain a clone of the component. Heating triggering has transformed into a flexible intelligent actuator with a non-identical structure, non-uniform properties, non-simultaneous triggering actuation function, and stress response. The shape memory alloy composite flexible metamaterial undergoes a phase transition, restoring the original shape, generating restoring force and actuation function, acting on the blank and intermediate template body, forcing the blank to deform and fit into the intermediate template body, thus obtaining a clone of the component.

14. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1 or 13, characterized in that, When the flexible metamaterial, which combines shape memory alloys with non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response, is used as a flexible intelligent actuator to act on the billet, it needs to be assembled with the billet and other materials. Lubrication is required between the metals that come into contact with each other during assembly and forming.

15. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1 or 13, characterized in that, When the shape memory alloy composite flexible metamaterial, which has non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response, is used as a flexible intelligent actuator to act on the billet, auxiliary assembly and fixing components are required, including an actuation container, a pressure plate, and a support plate. The actuation container is assembled and fixed together with the pressure plate and the support plate to enclose the shape memory alloy composite flexible metamaterial in a closed space, constrain and fix the billet, assemble and fix the heating device, and guide the shape memory alloy composite flexible metamaterial to expand towards the billet, forcing the billet to deform.

16. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1 or 13, characterized in that, When the flexible metamaterial, which combines shape memory alloys with non-uniform structures, non-uniform properties, non-simultaneous triggering actuation functions, and stress responses, is used as a flexible intelligent actuator to act on a blank and a component or intermediate template, the restoring force generated by the shape memory alloy curved rod lattice metamaterial needs to be applied to improve the stiffness of the component or intermediate template when the component or intermediate template drives the blank to deform or when it is subjected to the deformation of the blank and ...

17. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1 or 13, characterized in that, The shape memory alloy composite flexible metamaterial, which has non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response, is used as a flexible intelligent actuator to act on the blank. When forming the component, a rigid cover plate or a rigid-flexible composite cover plate can be covered on one side of the blank to improve formability, or an elastomer can be placed between the shape memory alloy composite flexible metamaterial and the blank to improve the surface quality of the component.

18. The mechanical cloning manufacturing method based on shape memory alloy composite flexible metamaterials according to claim 1 or 13, characterized in that, The flexible metamaterial, which combines shape memory alloys with non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response, is used as a flexible intelligent actuator to act on the blank. When forming, the action on the blank is divided into two regions: one is the blank deformation region corresponding to the component or intermediate template body, and the other is the region at the edge of the blank. In the blank deformation region corresponding to the component or intermediate template, shape memory alloy composite flexible metamaterials with non-uniform structure, non-uniform properties, non-simultaneous triggering actuation function and stress response are applied to generate non-uniform pressure distribution and time-varying pressure. Shape memory alloy composite flexible metamaterials are also used in the edge region to adjust and control the blanking force acting on the edge of the billet.

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