An actuator
By winding shape memory alloy wire around the guide surface in the actuator to form an angled segment and rotating it with the support arm, the problems of actuator placement and material fatigue in space-constrained equipment are solved, thereby improving compactness and reliability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI YANFENG JINQIAO AUTOMOTIVE TRIM SYSTEMS CO LTD
- Filing Date
- 2026-06-18
- Publication Date
- 2026-07-21
AI Technical Summary
When shape memory alloy wires are used directly for displacement in actuators, a relatively long initial length is required to achieve a large stroke, resulting in an excessively long actuator shape that is difficult to arrange in space-constrained equipment. Furthermore, the use of winding components for fixing can easily cause material fatigue, shortening the service life.
The system uses two segments with shape memory alloy wires wound around a guide surface to form an angle. The support arm is rotatably connected to the housing. When the shape memory alloy wires are energized and contract, the segments generate tension to make the support arm rotate, avoiding repeated slippage and bending. The shape memory alloy wires are arranged in an angled bend through the guide surface to improve the compactness of the layout.
This improves the compactness of the actuator layout, reduces the overall footprint, alleviates material fatigue, and enhances the reliability and service life of the actuator.
Smart Images
Figure CN224532899U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of actuator technology, and more specifically, to an actuator. Background Technology
[0002] Shape memory alloy wires are commonly used as drive elements in actuators. When heated to above the phase transformation temperature, the shape memory alloy wire undergoes a phase transformation from martensite to austenite, thereby generating contraction force and displacement along the axial direction; after cooling, it returns to its original length.
[0003] However, the inventors discovered that the shrinkage ratio of shape memory alloy wire is relatively small. When it is used directly in actuators to generate displacement, a longer original length is required to obtain a larger stroke, resulting in an excessively long actuator that is difficult to place in space-constrained equipment.
[0004] Typically, actuators include a winding element around which the shape memory alloy wire winds. However, if the winding element is fixed, during contraction, the portion of the shape memory alloy wire that is forced to bend around the winding element will gradually slip away and be straightened under the contraction force. This repeated bending and straightening process can easily cause material fatigue and shorten the service life of the shape memory alloy wire. Utility Model Content
[0005] The purpose of this utility model is to provide an actuator that improves the compactness of the layout, reduces the overall area occupied by the actuator, effectively alleviates material fatigue, and improves the reliability and service life of the actuator.
[0006] The embodiments of this utility model can be implemented as follows: In a first aspect, this utility model provides an actuator, including a movable part, a housing, and an actuation assembly; wherein, the actuation assembly includes a shape memory alloy wire and at least one support arm, each support arm being rotatably connected to the housing and having a guide surface at one end; the movable part is used to maintain a tendency to move in the opposite direction towards a preset direction under the action of an external force; The shape memory alloy wire is wound around the guide surface and connected to the movable part, and the shape memory alloy wire forms two segments set at an angle on both sides of the guide surface; when the shape memory alloy wire is energized and contracts, the movable part moves in a preset direction, and the two segments of the shape memory alloy wire wound around the guide surface generate tension, and the resultant force of the tension of the two segments together causes the support arm to rotate relative to the housing.
[0007] In an optional embodiment, the shape memory alloy wire is U-shaped, including an arc portion and two extensions extending from both ends of the arc portion; each extension is wound around a guide surface; each segment includes two extensions.
[0008] In an optional embodiment, the actuating component further includes two connection terminals, each of which is fixedly connected to the housing and connected to the end of the extension away from the arcuate portion.
[0009] In an optional embodiment, the shape memory alloy wire is pressed at the pressing point on the guide surface, and a straight line is connected to the rotation center of the support arm to form a line. The line is located on the angle bisector of the angle between the two segments formed by the shape memory alloy wire on both sides of the pressing point.
[0010] In an optional embodiment, the actuating component further includes a limiting member disposed on the housing and located on the support arm in a preset direction and / or the opposite direction of the preset direction, for supporting the support arm.
[0011] In an optional implementation, the moving part is rotatably or slidably connected to the housing.
[0012] In an optional embodiment, the actuator further includes a transmission element and an output element; wherein the transmission element includes a key shaft portion and a gear portion connected to the key shaft portion; the key shaft portion is connected to a moving part; and the gear portion meshes with the output element.
[0013] In an optional implementation, the output element is an output gear or an output rack.
[0014] In an optional embodiment, the actuator further includes an elastic element connected to the moving part, the elastic element being used to drive the moving part to move in the opposite direction along a preset direction; or, The actuator includes two actuation components. The shape memory alloy wires in the two actuation components are connected to the same moving part. One actuation component is used to drive the moving part to move in a preset direction, and the other actuation component is used to drive the moving part to move in the opposite direction of the preset direction.
[0015] In an optional implementation, the actuating component includes four arms, defined as a first arm, a second arm, a third arm, and a fourth arm; one end of the shape memory alloy wire is fixed to the housing, and the other end is sequentially wound around the guide surfaces of the first arm, the second arm, the third arm, and the fourth arm, and connected to the movable part, thereby forming a first segment, a second segment, a third segment, a fourth segment, and a fifth segment arranged along a spiral path.
[0016] The beneficial effects of the actuator provided in this embodiment of the utility model include: This invention provides an actuator comprising a movable component, a housing, and an actuation assembly. The actuation assembly includes a shape memory alloy wire and at least one support arm. Each support arm has a guide surface at one end. The movable component is used to maintain a tendency to move in the opposite direction to a preset direction under external force. The shape memory alloy wire is connected to the movable component via the guide surface, forming two segments at an angle on both sides of the guide surface. It is understood that by bending the shape memory alloy wire, which would otherwise extend in a straight line, at an angle via the guide surface, the compactness of the shape memory alloy wire layout can be improved, reducing the overall area occupied by the actuator. Simultaneously, the support arm is rotatably connected to the housing. When the shape memory alloy wire is energized and contracts, the movable component moves in the preset direction, and the two segments of the shape memory alloy wire around the guide surface generate tension. The resultant force of the tension in the two segments causes the support arm to rotate relative to the housing. Therefore, the contact between the shape memory alloy wire and the guide surface remains stable at the same pressing point, avoiding repeated slippage, bending, and straightening on the guide surface, thereby effectively alleviating material fatigue and improving the reliability and service life of the actuator. Attached Figure Description
[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a schematic diagram of the structure of the first actuator provided in this embodiment; Figure 2 for Figure 1 An exploded view of the actuator in the diagram; Figure 3 for Figure 1 A structural schematic diagram of the shell, support arms, and moving parts in the design; Figure 4 for Figure 1 A schematic diagram of the actuator in the state of being de-energized; Figure 5 for Figure 1 A schematic diagram of the actuator in the powered-on state; Figure 6 This is a schematic diagram of the structure of the second actuator provided in this embodiment; Figure 7 for Figure 6 An exploded view of the actuator in the diagram; Figure 8 for Figure 6 A structural schematic diagram of the shell, support arms, and moving parts in the design; Figure 9 for Figure 6 A schematic diagram of the actuator in the state of being de-energized; Figure 10 for Figure 6 A schematic diagram of the actuator in the powered-on state; Figure 11 This is a schematic diagram of the structure of the third actuator provided in this embodiment; Figure 12 for Figure 11 An exploded view of the actuator in the diagram; Figure 13 for Figure 11 A schematic diagram of the exploded structure of a local part of the image; Figure 14 for Figure 11 A schematic diagram of the actuator in the image from a first-person perspective; Figure 15 for Figure 11 A partial structural diagram of the actuator in the diagram; Figure 16 for Figure 11 A schematic diagram of the structure of the moving parts in the diagram; Figure 17 for Figure 11 A schematic diagram of the support arm in the diagram; Figure 18 for Figure 11 A schematic diagram of another type of support arm; Figure 19 for Figure 11 A schematic diagram of the structure of the moving elements in the diagram; Figure 20 for Figure 11 A schematic diagram of the actuator in the second perspective; Figure 21 for Figure 11 A schematic diagram of the actuator in the image from a third-person perspective; Figure 22 for Figure 11 A first-person view of a group of execution components in a powered-on and retracted state. Figure 23 for Figure 11 A partial structural diagram of a group of actuators in a energized and retracted state; Figure 24 for Figure 11 A second-view diagram of a group of execution components in a powered-down contraction state; Figure 25 for Figure 11 A first-person view of a group of execution components in a power failure recovery state; Figure 26 for Figure 11A partial structural diagram of a group of execution components in the power-on recovery state; Figure 27 for Figure 11 A second-view diagram showing a group of execution components in a power-on recovery state; Figure 28 This is a schematic diagram of the structure of the fourth actuator provided in this embodiment; Figure 29 for Figure 28 An exploded view of the actuator in the diagram; Figure 30 for Figure 28 A schematic diagram of the actuator from another perspective; Figure 31 This is a schematic diagram of the structure of the fifth actuator provided in this embodiment; Figure 32 for Figure 31 A first-view structural diagram of the actuator in a de-energized state; Figure 33 for Figure 31 A second-view structural diagram showing the actuator in a de-energized state. Figure 34 for Figure 31 A first-view structural diagram of the actuator in the energized state; Figure 35 for Figure 31 A second-view structural diagram of the actuator in the energized state; Figure 36 This is a schematic diagram of the sixth actuator provided in this embodiment; Figure 37 for Figure 36 A first-view structural diagram of the actuator in a de-energized state; Figure 38 for Figure 36 A second-view structural diagram showing the actuator in a de-energized state. Figure 39 for Figure 36 A first-view structural diagram of the actuator in the energized state; Figure 40 for Figure 36 A second-view structural diagram of the actuator in the energized state.
[0019] Icons: 10-Actuator; 100-Housing; 101-Upper Housing; 103-Body; 105-Lower Housing; 111-First Shaft Hole; 112-Second Shaft Hole; 113-First Mounting Hole; 114-Slide Groove; 115-Torsion Spring Mounting Post; 190-Fixing Member; 191-Terminal Support Surface; 300-Actuating Assembly; 310-Memory Alloy Wire; 311-Arc-Shaped Section; 313-Extension Section; 315-Segment; 3151-First Segment; 3152-Second Segment; 3153-Third Segment; 3154-Fourth Segment; 3155-Fifth Segment; 320-Connecting Terminal; 330-Support Arm; 3301-Third Shaft Hole; 3303-Guide Groove; 3 31-First support arm; 332-Second support arm; 333-Third support arm; 334-Fourth support arm; 350-Limiting component; 391-First rotating shaft; 392-Second rotating shaft; 400-Elastic element; 410-Tension spring; 430-Torsion spring; 500-Moving component; 510-Second mounting hole; 530-Memory alloy wire mounting groove; 531-Support surface; 551-Sliding surface; 553-Allowing groove; 570-Keyway; 600-Transmission element; 610-Key shaft part; 620-Rotating shaft part; 630-Gear part; 631-Arc groove; 700-Output element; 710-Output gear; 711-Spline groove; 713-Output shaft; 730-Output rack. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0023] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0024] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.
[0025] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.
[0026] The overall structure, working principle, and technical effects of the actuator provided by this utility model are described in detail below with reference to the embodiments and accompanying drawings.
[0027] Please see Figures 1 to 5 This utility model provides an actuator 10, which includes a movable part 500, a housing 100, and an actuation assembly 300. The actuation assembly 300 includes a shape memory alloy wire 310 and at least one support arm 330. Each support arm 330 has a guide surface (not shown) at one end.
[0028] like Figure 4 As shown, the shape memory alloy wire 310 is connected to the movable member 500 via a guide surface, and two segments 315 are formed at an angle on both sides of the guide surface. It can be understood that by bending the shape memory alloy wire 310, which would otherwise extend in a straight line, at an angle via the guide surface, the compactness of the shape memory alloy wire 310 layout can be improved, reducing the overall area occupied by the actuator 10. Furthermore, the movable member 500 is used to maintain a tendency to move in the opposite direction to a preset direction under external force, so that each segment 315 of the shape memory alloy wire 310 remains taut.
[0029] The support arm 330 is rotatably connected to the housing 100, with one end rotatably connected to the housing 100 and the other end having a guide surface, allowing it to swing within the housing 100. Thus, when the shape memory alloy wire 310 is energized and contracts, tension is generated around the two segments 315 passing through the guide surface, causing the movable member 500 to move in the predetermined direction. Furthermore, the resultant force of the tension in the two segments 315 causes the support arm 330 to rotate relative to the housing 100. During this process, the contact between the shape memory alloy wire 310 and the guide surface remains stable at the same pressing point, preventing repeated slippage, bending, and straightening on the guide surface, thereby effectively alleviating material fatigue and improving the reliability and service life of the actuator 10.
[0030] In practical applications, the number of support arms 330 can be one, two, or more than three. Correspondingly, the shape memory alloy wire 310 is also bent to form two, three, or four or more segments 315. This embodiment does not impose a specific limitation.
[0031] To improve the compactness of the shape memory alloy wire 310 layout, please refer again. Figure 2 and Figure 4 The shape memory alloy wire 310 is U-shaped, including an arc-shaped portion 311 and two extension portions 313 extending from both ends of the arc-shaped portion 311. Each extension portion 313 is wound around a guide surface and bent under the action of the guide surface to form a segment 315. Therefore, each segment 315 is composed of the two extension portions 313 of the U-shaped shape memory alloy wire 310. That is, each segment 315 includes two extension portions 313.
[0032] Furthermore, such as Figure 2 As shown, the actuation component 300 also includes two connection terminals 320, each of which is fixedly connected to the housing 100 and connected to the end of the extension 313 away from the arcuate portion 311. It can be understood that the connection terminals 320 are used for electrical connection with external circuitry to stably guide current into the shape memory alloy wire 310, so that it is uniformly heated and reliably contracted, thereby improving the stability of the actuation response.
[0033] Optionally, the two extensions 313 have the same extension length, and the two connecting terminals 320 are aligned to ensure reliable electrical connection to an external circuit simultaneously. Figure 3 As shown, the housing 100 is provided with a fixing member 190 or a fixing groove, which is used to install and fix the connecting terminal 320.
[0034] It should be emphasized that in embodiments where the actuator 300 includes two connecting terminals 320, if the two connecting terminals 320 are not in the same position, both the connecting terminal 320 fixed to the housing 100 and the connecting terminal 320 connected to the movable member 500 must be energized simultaneously to form a complete circuit. Since one end is fixed, the shape memory alloy wire 310 retracts towards that fixed end, still reliably driving the movable member 500 to move in a preset direction.
[0035] To further reduce localized fatigue caused by bending and straightening, and effectively ensure the service life of shape memory alloy wire 310, please refer again. Figure 1 The shape memory alloy wire 310 is pressed at the pressing point on the guide surface, and is connected in a straight line to the rotation center of the support arm 330 to form a line. This line is located on the angle bisector of the angle between the two segments 315 formed by the shape memory alloy wire 310 on both sides of the pressing point.
[0036] For example, the angle between the line and one of the segments 315 is defined as α1, and the angle between the line and the other segment 315 is defined as α2, then α1 = α2.
[0037] Based on the above configuration, the pressure exerted by the taut shape memory alloy wire 310 on the support arm 330 passes through the rotation center of the support arm 330. When the shape memory alloy wire 310 is energized and contracts, the frictional force generated by this pressure drives the support arm 330 to rotate synchronously, ensuring no relative slippage between the support arm 330 and the shape memory alloy wire 310. That is, the position of the pressing point of the shape memory alloy wire 310 against the guide surface remains unchanged. Furthermore, after the support arm 330 swings into position, the included angles α1 and α2 formed by it and the two side segments 315 are approximately equal.
[0038] Optionally, the guide surface is a smooth arc-shaped surface to reduce stress concentration and prevent damage or breakage of the shape memory alloy wire 310. Furthermore, it should be noted that, within permissible limits, the larger α1 and α2 are, the more favorable the torque component exerted by the shape memory alloy wire 310 on the support arm 330, and the more beneficial it is to drive the support arm 330 to rotate synchronously. Optionally, α1 = α2 = 45°.
[0039] Understandably, when the shape memory alloy wire 310 is energized and contracts, the movable part 500 moves along a preset direction under its action; after the power is turned off, the movable part 500 is released. Since the movable part 500 maintains a tendency to move in the opposite direction to the preset direction under the action of external force, the movable part 500 returns to its initial position.
[0040] like Figures 1 to 5 As shown, the preset direction is Figure 5 The clockwise rotation direction (or counterclockwise in other embodiments) is indicated by the middle arrow. In this embodiment, the movable member 500 is rotatably connected to the housing 100, outputting rotation; as... Figures 6 to 10 As shown, the preset direction is a straight line. In this embodiment, the movable part 500 is slidably connected to the housing 100, outputting linear motion.
[0041] Furthermore, such as Figure 3 and Figure 8 As shown, the actuating component 300 also includes a limiting member 350. The limiting member 350 is disposed on the housing 100 and located on the support arm 330 in a preset direction and / or the opposite direction of the preset direction, for supporting the support arm 330, thereby limiting the rotation range of the support arm 330 and preventing excessive rotation. The phrase "and / or" indicates that the limiting member 350 may be disposed only in the preset direction of the support arm 330, or only in the opposite direction of the preset direction, or one may be disposed in both the preset direction and its opposite direction.
[0042] A specific embodiment in which the movable component 500 maintains a tendency to move in the opposite direction to a preset direction under the action of an external force includes: the actuator 10 includes two actuation components 300, both of which have shape memory alloy wires 310 connected to the same movable component 500. One actuation component 300 is used to drive the movable component 500 to move in the preset direction, and the other actuation component 300 is used to drive the movable component 500 to move in the opposite direction to the preset direction.
[0043] Specifically, such as Figure 11 and Figure 12 As shown, two actuators 300 can be stacked inside the housing 100. The lower actuator 300 drives the movable part 500 to move in a preset direction, and the upper actuator 300 drives it to move in the opposite direction in the preset direction. In other embodiments, the two actuators 300 can also be arranged in the same plane and have a symmetrical structure.
[0044] In another alternative embodiment, such as Figure 1 As shown, the actuator 10 also includes an elastic element 400 connected to the movable member 500. The elastic element 400 is used to drive the movable member 500 to move in the opposite direction along a preset direction. Specifically, when the shape memory alloy wire 310 is energized and contracts, driving the movable member 500 to move in the preset direction, the elastic element 400 simultaneously deforms and stores energy; after the power is turned off, the shape memory alloy wire 310 gradually cools and elongates, and the elastic element 400 releases its elastic potential energy, driving the movable member 500 to reset in the opposite direction along the preset direction.
[0045] It is understood that the two embodiments described above achieve reliable reset of the moving part 500 by adding a reverse actuation component 300 or configuring an elastic element 400, thereby effectively overcoming the inherent defect of slow reset due to natural cooling of the shape memory alloy wire 310, and enabling the actuator 10 provided by this utility model to have the ability to perform continuous reciprocating motion within a short cycle.
[0046] Specifically, in Figures 1 to 5 In the embodiments, such as Figure 2 As shown, the support arm 330 is sleeved on the first rotating shaft 391, and the movable part 500 is provided with a second rotating shaft 392. Figure 3 As shown, the housing 100 is provided with a first shaft hole 111 and a second shaft hole 112 respectively, which mate with the first rotating shaft 391 and the second rotating shaft 392, to achieve rotational support. The fixing member 190 is provided with a terminal support surface 191 for positioning and firmly supporting the connecting terminal 320. The movable member 500 is provided with a support surface 531 that contacts the shape memory alloy wire 310. Optionally, the support surface 531 is the groove wall of the shape memory alloy wire mounting groove 530 opened on the movable member 500.
[0047] Furthermore, in this embodiment, such as Figure 2 and Figure 3As shown, the elastic element 400 is a tension spring 410. The housing 100 and the movable part 500 are respectively provided with a first mounting hole 113 and a second mounting hole 510 for fixing the two ends of the tension spring 410.
[0048] Figure 4 This is a schematic diagram of the actuator 300 for output rotation in its initial state. Figure 5 This is a schematic diagram of its state after being energized and contracted. When the actuator 300 is energized, the shape memory alloy wire 310 contracts due to heat, causing the support arm 330 to rotate clockwise around the first pivot 391; simultaneously, the movable part 500, under the tension of the shape memory alloy wire 310, also rotates clockwise around the second pivot 392. During this process, the tension spring 410 is compressed and deformed. After the power is turned off, the shape memory alloy wire 310 gradually cools and elongates, while the tension spring 410 releases its elastic potential energy, driving the movable part 500 to rotate counterclockwise, reliably resetting it to its original position. Figure 4 The initial position is shown.
[0049] exist Figures 6 to 10 In the embodiments, such as Figure 7 As shown, the support arm 330 is sleeved on the first rotating shaft 391, and the housing 100 is provided with a first shaft hole 111 that mates with the first rotating shaft 391 to achieve the rotatable connection of the support arm 330. Meanwhile, as... Figure 8 As shown, the housing 100 is also provided with a sliding groove 114, which slides in conjunction with the movable part 500. The movable part 500 is correspondingly provided with a sliding surface 551, and has a clearance groove 553 for the shape memory alloy wire 310 to pass through and be locked. The fixing part 190 is provided with a terminal support surface 191, which is used to position and securely support the connecting terminal 320.
[0050] In this embodiment, such as Figure 7 and Figure 8 As shown, the elastic element 400 is a torsion spring 430, the housing 100 is provided with a torsion spring mounting post 115, and the movable part 500 is provided with a contact surface that contacts the torsion spring 430 to realize the reliable transmission of the reset force.
[0051] Figure 9 This is a schematic diagram of the execution component 300 for outputting linear motion in its initial state. Figure 10 This is a schematic diagram of its state after being energized and contracted. When the actuator 300 is energized, the shape memory alloy wire 310 contracts due to heat, causing the support arm 330 to rotate clockwise around the first rotating shaft 391; simultaneously, the movable part 500 slides linearly along the slide groove 114 under the tension of the shape memory alloy wire 310. During this process, the torsion spring 430 is compressed and deformed, specifically as shown... Figure 10 As shown. After power is cut off, the shape memory alloy wire 310 gradually cools and elongates, while the torsion spring 430 releases its elastic potential energy, driving the movable part 500 to slide in the opposite direction, thus reliably resetting it to its original position. Figure 9 The initial position is shown.
[0052] like Figure 4 and Figure 5 As shown, or as Figure 9 and Figure 10 As shown, in an embodiment employing a single support arm 330, the two segments 315 formed on both sides of the guide surface of the shape memory alloy wire 310 before energization are denoted as L1′ and L2′, respectively; the two segments 315 formed on both sides of the guide surface of the shape memory alloy wire 310 after energization are denoted as L1 and L2, respectively. If the axial contraction rate of the shape memory alloy wire 310 is a, then L1 = L1′ × (1-a); L2 = L2′ × (1-a).
[0053] As mentioned above, the number of support arms 330 can be two or more, and correspondingly, the shape memory alloy wire 310 forms three or four or more segments 315 after winding around. It is understandable that the more support arms 330 there are and the more segments 315 there are, the more advantageous it is to arrange longer shape memory alloy wires 310 in a limited space, thereby further improving the total contraction force or stroke output capability.
[0054] Therefore, this utility model also provides a method such as Figures 11 to 15 The illustrated embodiment shows an actuator 300 comprising four arms 330. In this embodiment, each arm 330 is rotatably connected to the housing 100, i.e., each arm is arranged within the housing 100 with a certain degree of freedom of movement. Figure 14 As shown, the four arms 330 are defined as the first arm 331, the second arm 332, the third arm 333, and the fourth arm 334, respectively.
[0055] Based on the above, one end of the shape memory alloy wire 310 is fixed to the housing 100, and the other end is sequentially wound around the guide surfaces of the first support arm 331, the second support arm 332, the third support arm 333 and the fourth support arm 334, and finally connected to the movable part 500, thereby forming the first segment 3151, the second segment 3152, the third segment 3153, the fourth segment 3154 and the fifth segment 3155 arranged along the spiral path.
[0056] In the spiral arrangement shown in this embodiment, the arc-shaped portion 311 of the shape memory alloy wire 310 is hung on the movable part 500 and is located in the geometric center region of the actuator 10 as a whole.
[0057] When the shape memory alloy wire 310 is energized and contracts, its total length is shortened uniformly and proportionally. The free angle of swing allowed for each arm 330 is proportional to the path length of its corresponding shape memory alloy wire 310 from the connecting terminal 320 to the pressing point on the guide surface of the arm 330.
[0058] exist Figures 11 to 15In the embodiment shown, the fourth arm 334 has the longest path, so its rotation angle is the largest, and the corresponding distance between the limiting member 350 and the fourth arm 334 is also larger to ensure that it swings fully; the first arm 331 has the shortest path, and the corresponding distance between the limiting member 350 and the first arm 331 is smaller.
[0059] In addition, it should be noted that Figures 11 to 15 The embodiment shown includes two sets of execution components 300, upper and lower, which are arranged in a mirror-symmetrical manner with the transverse central plane of the housing 100 as the axis of symmetry.
[0060] Please refer to it again. Figure 12 The housing 100 includes a main body 103 and an upper shell 101 and a lower shell 105 that respectively cooperate with the upper and lower sides of the main body 103. The shaft hole, fixing member 190 and limiting member 350 provided on the housing 100 mentioned above are all provided on the main body 103.
[0061] Please see Figure 16 In this embodiment, the movable component 500 is provided with a support surface 531 that contacts the shape memory alloy wire 310. Specifically, the support surface 531 is the groove wall of the shape memory alloy wire mounting groove 530 opened on the movable component 500. When the actuator 10... Figure 11 and Figure 12 As shown, when the actuator 500 includes two sets of upper and lower actuator components 300, a shape memory alloy wire mounting groove 530 is provided on each of the upper and lower sides of the movable component 500 to facilitate the passing of shape memory alloy wires 310 in the two sets of actuator components 300. Alternatively, each set of actuator components 300 may be equipped with an independent movable component 500.
[0062] Figure 17 and Figure 18 Two types of support arm 330 structures, extending in a straight line and an arc shape, are shown respectively. The support arm 330 has a third shaft hole 3301 that mates with the first rotating shaft 391, through which it is sleeved onto the first rotating shaft 391. When the actuator 10... Figure 11 and Figure 12 As shown, when the upper and lower sets of actuators 300 are included, the first rotating shaft 391 can be shared and passes through the third shaft hole 3301 of both the upper and lower arms 330. In addition, the arms 330 are also provided with guide grooves 3303, the bottom wall of which is the guide surface.
[0063] like Figure 19 and Figure 20 As shown, the actuator 10 also includes a transmission element 600 and an output element 700. Wherein, as... Figure 19As shown, the transmission element 600 includes a key shaft portion 610 and a gear portion 630 connected to the key shaft portion 610. The key shaft portion 610 is connected to the movable member 500, and the gear portion 630 meshes with the output element 700, thereby transmitting the motion of the movable member 500 to the output element 700, and then outputting it from the output element 700 to the external driven member.
[0064] The gear section 630 may be a complete gear, including an external gear, an internal gear, or a partial tooth structure similar to a sector gear.
[0065] Figure 16 The movable part 500 shown is provided with a keyway 570 that mates with the key shaft part 610; such as Figure 19 As shown, the transmission element 600 also has a rotating shaft portion 620 between the key shaft portion 610 and the gear portion 630. At this time, the support surface 531 of the movable member 500 can maintain a constant distance (i.e., lever arm) between the arc-shaped portion 311 of the shape memory alloy wire 310 and the rotating shaft portion 620 as the movable member 500 rotates to different angles.
[0066] In practical applications, the arc-shaped portion 311 of the shape memory alloy wire 310 passes through the shape memory alloy wire mounting groove 530 on the movable part 500 and overlaps on the support surface 531. When the shape memory alloy wire 310 is energized and contracts, its own axial contraction force, combined with the guiding effect of the support arm 330, pulls the movable part 500 to rotate, thereby driving the transmission element 600 to rotate synchronously.
[0067] exist Figure 20 and Figure 21 In the illustrated embodiment, the output element 700 includes an output gear 710. Optionally, the gear portion 630 may also be provided with an arcuate groove 631 extending from the pivot portion 620, and the output gear 710 slides along the arcuate groove 631 during engagement with the gear portion 630. Furthermore, a spline groove 711 may be provided at the center of the output gear 710. Figure 12 As shown, the output element 700 may also include an output shaft 713 that mates with the spline groove 711.
[0068] Optionally, the transmission element 600 transmits rotation to the output element 700 at a specific gear ratio via a gear portion 630 located at a larger radius, thereby amplifying or reducing the rotational stroke of the output element 700.
[0069] Figures 22 to 24The example illustrates the operation of the actuator 300 during energized retraction: Since the shape memory alloy wire 310 is divided into multiple continuous segments 315 by the guide surface, each segment 315 retracts synchronously and proportionally after heating. The connecting terminal 320 remains stationary, and each segment 315 pulls the next segment 315, simultaneously driving the support arm 330 to rotate clockwise. Ultimately, the combined retraction displacement of all segments 315 is converted into the clockwise rotation of the movable component 500. The movable component 500 then drives the transmission element 600 to rotate synchronously, transmitting the motion to the output element 700 according to a preset gear ratio.
[0070] Figures 25 to 27 The example illustrates the operation of component 300 during power failure and reset. Its working principle is the same as the contraction process, only the direction of movement is reversed. Further details are omitted here.
[0071] In addition, it should be noted that, in Figures 11 to 27 In the illustrated embodiment, the initial lengths of the first segment 3151, the second segment 3152, the third segment 3153, the fourth segment 3154, and the fifth segment 3155 are denoted as L1′, L2′, L3′, L4′, and L5′, respectively (e.g., ...). Figure 26 As shown), the lengths after energization are denoted as L1, L2, L3, L4, and L5 respectively (as shown). Figure 23 (As shown).
[0072] In this embodiment, taking the second segment 3152 as an example, its initial length is L2′, and its length is shortened to L2 after being energized and contracted. If the axial contraction rate of the shape memory alloy wire 310 is a, then L2 = L2′ × (1-a); the other segments 315 are similar, and they all contract synchronously at the same ratio a.
[0073] like Figures 28 to 30 As shown, this utility model also provides another embodiment of the execution component 300, which includes four support arms 330, and is consistent with... Figures 11 to 27 The difference in the embodiment shown is that this embodiment uses a torsion spring 430 as an elastic element 400 to achieve reset, thereby omitting a set of execution components 300.
[0074] like Figures 31 to 35 As shown, this utility model also provides another embodiment of the execution component 300, which includes four support arms 330, and is consistent with... Figures 28 to 30 The difference in the illustrated embodiment is that, in the spiral arrangement shown in this embodiment, the connecting terminal 320 of the shape memory alloy wire 310 is located in the geometric center region of the actuator 10 as a whole. The moving part 500 is slidably connected to the housing 100.
[0075] In this embodiment, such as Figure 32As shown, the arms 330 are arranged in opposite directions to ensure that the first arm 331 is closest to the connecting terminal 320 and the fourth arm 334 is farthest from the connecting terminal 320. Similar to the aforementioned, one end of the shape memory alloy wire 310 is fixed to the housing 100, and the other end sequentially winds around the guide surfaces of the first arm 331, the second arm 332, the third arm 333, and the fourth arm 334, ultimately connecting to the movable part 500, thereby forming the first segment 3151, the second segment 3152, the third segment 3153, the fourth segment 3154, and the fifth segment 3155 arranged along a spiral path. In this embodiment, the spiral path unfolds from the inside out.
[0076] in, Figure 32 and Figure 33 The structure of the actuator 10 in the unpowered state is shown; Figure 34 and Figure 35 This shows its structure in the electrically contracted state.
[0077] like Figures 36 to 40 As shown, this utility model also provides another embodiment of the execution component 300, which includes four support arms 330, and is consistent with... Figures 28 to 30 The difference in the illustrated embodiment is that the output element 700 is an output rack 730.
[0078] in, Figure 37 and Figure 38 The structure of the actuator 10 in the unpowered state is shown; Figure 39 and Figure 40 This shows its structure in the electrically contracted state.
[0079] Furthermore, it should be noted that the actuator 10 provided by this utility model can be applied to automobiles, such as air vent adjustment mechanisms, functional component locking devices, and small-stroke push-pull actuators. Similarly, the actuator 10 can also be applied to other fields, such as miniature electronic locks, smart furniture, robots, and small cameras. Further details are omitted in this embodiment.
[0080] In summary, this utility model provides an actuator 10, which includes a housing 100 and an actuation component 300. The actuation component 300 includes a shape memory alloy wire 310 and at least one support arm 330. Each support arm 330 has a guide surface at one end. A movable member 500 is used to maintain a tendency to move in the opposite direction to a preset direction under the action of an external force. The shape memory alloy wire 310 is connected to the movable member 500 via the guide surface, and two segments 315 are formed at an angle on both sides of the guide surface. It can be understood that by bending the shape memory alloy wire 310, which originally needed to extend in a straight line, at an angle through the guide surface, the compactness of the shape memory alloy wire 310 layout can be improved, and the overall area occupied by the actuator 10 can be reduced. Meanwhile, the support arm 330 is rotatably connected to the housing 100. When the shape memory alloy wire 310 is energized and contracts, the movable part 500 moves in a preset direction, and the shape memory alloy wire 310 generates tension around the two segments 315 passing through the guide surface. The resultant force of the tension of the two segments 315 causes the support arm 330 to rotate relative to the housing 100. As a result, the contact between the shape memory alloy wire 310 and the guide surface is always stable at the same pressing point, avoiding repeated slippage, bending and straightening on the guide surface, thereby effectively alleviating material fatigue and improving the reliability and service life of the actuator 10.
[0081] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.
Claims
1. An actuator, characterized in that, It includes a movable component (500), a housing (100), and an actuation assembly (300); wherein, the actuation assembly (300) includes a shape memory alloy wire (310) and at least one support arm (330), each of the support arms (330) being rotatably connected to the housing (100) and having a guide surface at one end; the movable component (500) is used to maintain a tendency to move in the opposite direction towards a preset direction under the action of an external force; The shape memory alloy wire (310) is wound around the guide surface and connected to the movable part (500), and the shape memory alloy wire (310) forms two segments (315) arranged at an angle on both sides of the guide surface. When the shape memory alloy wire (310) is energized and contracts, the movable part (500) moves along the preset direction, and the shape memory alloy wire (310) generates tension around the two segments (315) passing through the guide surface. The resultant force of the tension of the two segments (315) causes the support arm (330) to rotate relative to the housing (100).
2. The actuator according to claim 1, characterized in that, The shape memory alloy wire (310) is U-shaped, including an arc portion (311) and two extension portions (313) extending from both ends of the arc portion (311); each of the extension portions (313) is wrapped around the guide surface; each of the segments (315) includes two of the extension portions (313).
3. The actuator according to claim 2, characterized in that, The execution component (300) further includes two connection terminals (320), each of which is fixedly connected to the housing (100) and connected to the end of the extension (313) away from the arcuate portion (311).
4. The actuator according to claim 1, characterized in that, The shape memory alloy wire (310) is pressed against the pressing point of the guide surface and is connected in a straight line to the rotation center of the support arm (330). The line is located on the angle bisector of the angle between the two segments (315) formed by the shape memory alloy wire (310) on both sides of the pressing point.
5. The actuator according to claim 1, characterized in that, The execution component (300) further includes a limiting member (350), which is disposed on the housing (100) and located on the support arm (330) in the preset direction and / or the opposite direction of the preset direction, for abutting the support arm (330).
6. The actuator according to claim 1, characterized in that, The movable part (500) is rotatably or slidably connected to the housing (100).
7. The actuator according to claim 1, characterized in that, The actuator (10) further includes a transmission element (600) and an output element (700); wherein the transmission element (600) includes a key shaft portion (610) and a gear portion (630) connected to the key shaft portion (610); the key shaft portion (610) is connected to the movable member (500); the gear portion (630) meshes with the output element (700).
8. The actuator according to claim 7, characterized in that, The output element (700) includes an output gear (710) or an output rack (730).
9. The actuator according to claim 1, characterized in that, The actuator (10) further includes an elastic element (400) connected to the movable member (500), the elastic element (400) being used to drive the movable member (500) to move in the opposite direction along the preset direction; or, The actuator (10) includes two actuator components (300), and the shape memory alloy wires (310) in the two actuator components (300) are connected to the same movable part (500). One actuator component (300) is used to drive the movable part (500) to move in a preset direction, and the other actuator component (300) is used to drive the movable part (500) to move in the opposite direction of the preset direction.
10. The actuator according to claim 1, characterized in that, The actuating component (300) includes four arms (330), which are defined as a first arm (331), a second arm (332), a third arm (333), and a fourth arm (334). One end of the shape memory alloy wire (310) is fixed to the housing (100), and the other end passes sequentially around the guide surfaces of the first arm (331), the second arm (332), the third arm (333), and the fourth arm (334) and is connected to the movable part (500), thereby forming a first segment (3151), a second segment (3152), a third segment (3153), a fourth segment (3154), and a fifth segment (3155) arranged along a spiral path.