A continuous rotary driver driven by a memory alloy driving wire

Abstract

The utility model relates to rotary driver technical field, especially a kind of memory alloy drive wire driven continuous rotary driver, including shaft, crawling mechanism, rotary disc, ratchet pawl seat and memory alloy wire group, combine ratchet mechanism with memory alloy drive wire, using three groups of memory alloy drive wire cooperation crawling mechanism and rotary disc are alternately rotated and reset cyclic action, to drive center shaft to carry out step-by-step continuous rotation, reach the purpose of continuous rotation. Since not using the mode of traditional electromagnetic drive, so there is no heavy magnet and coil, both reduce weight, reduce volume, also avoid generating electromagnetic field, can be applied to some electromagnetic sensitive need to conceal occasion.

Description

Technical Field

[0001] This utility model relates to the field of rotary actuator technology, and in particular to a continuous rotary actuator driven by a shape memory alloy drive wire. Background Technology

[0002] Shape memory alloys (SMAs) are a class of smart materials with thermally induced phase transformation properties, the core characteristic of which is the shape memory effect (SME). When SMA materials undergo plastic deformation in the low-temperature phase (martensitic phase), they can recover their initial preset shape by heating to above the critical phase transformation temperature, while simultaneously outputting significant mechanical work. This characteristic gives them unique advantages in fields such as micro-actuators and silent actuators. Shape memory alloy actuators are typically prime movers composed of shape memory alloy drive wires combined with other mechanical structures and electronic circuits to perform specific tasks. Shape memory alloy actuators are characterized by low energy consumption, high efficiency, small size, light weight, silent operation, and ease of digital control, and have been widely used in aerospace, micro-robotics, bionic machinery, minimally invasive surgery, rehabilitation equipment, and micro-locks in recent years.

[0003] The shortcomings and deficiencies of existing technologies: Currently available shape memory alloy actuators, whether linear or rotary, all use reciprocating drive, which can only achieve single reciprocating motion and cannot achieve step-by-step continuous rotation. If continuous rotation is required, it is necessary to design and adapt other mechanical mechanisms separately, resulting in system complexity and high failure rate. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by providing a continuous rotary actuator driven by a shape memory alloy drive wire that offers rapid response, precise rotation, and sustainable operation.

[0005] The technical problem solved by this utility model is addressed by the following technical solution: A continuous rotary actuator driven by a shape memory alloy drive wire includes a shaft, a crawling mechanism, a rotating disk, a pawl seat, and a shape memory alloy wire assembly. A connecting disk is mounted on the shaft and is fixedly connected to the crawling mechanism via a connecting pin. The crawling mechanism rotates along the shaft via the connecting disk. The crawling mechanism has multiple crawling arms radiating outwards from the shaft axis. Each crawling arm has a spring pin socket at its end, with a spring pin on the socket. The spring pin engages with the ratchet gear ring of the pawl seat. Keyways are provided at both ends of the shaft. One end of the shaft is connected to the rotating disk via the keyway, while the other end is a free end. The rotating disk has multiple rotating connecting claws radiating outwards from the shaft axis. Each rotating connecting claw has a spring pin socket at its end, with a spring pin on the socket. The spring pin engages with the ratchet gear ring of the pawl seat. The rotating disk and the crawling mechanism are stacked. The rotating disk's rotating connecting claws... The number of claws is the same as the number of crawling arms in the crawling mechanism, and the rotating connecting claws and crawling arms are staggered to form an interlaced angle. The rotating connecting claws and crawling arms are connected by shape memory alloy wires and restoring springs. The number of shape memory alloy wires and restoring springs is the same as the number of rotating connecting claws and crawling arms. In the initial state where the shape memory alloy wires are not energized, the restoring springs are hooked between the rotating connecting claws and crawling arms and are in a state of no force. When the shape memory alloy wires are energized, they contract and pull the rotating disk to rotate. The rotating disk jumps along the ratchet gear ring of the pawl seat one tooth at a time, and the rotating disk drives the shaft to rotate at a certain angle. The rotation of the rotating disk pulls the restoring springs to a state of stored force. When the shape memory alloy wires are not energized, the restoring springs recover their deformation and drive the crawling mechanism to jump along the ratchet gear ring of the pawl seat one tooth at a time through the stored force. The restoring springs return to a state of no force. Multiple shape memory alloy wires are alternately energized to drive the shaft to rotate.

[0006] The ratchet gear ring of the ratchet seat is composed of 60, 72, 90, 120, 180 or 360 teeth of ratchet pawls evenly distributed. The ratchet pawls are engaged with the spring pins at the ends of the crawling arm and the rotating connecting claw, so that the crawling mechanism and the rotating disk rotate in the same direction of rotation of the ratchet gear ring.

[0007] The crawling arm, connecting plate, and connecting pin are interference-fitted, and the crawling arm and connecting plate are connected at a fixed angle.

[0008] The number of shape memory alloy wires, restoring springs, rotary connecting claws, and crawling arms is three. The three rotary connecting claws are evenly spaced along the circumference of the rotating disk to form a three-claw type rotating disk. The three crawling arms are fixedly connected to the connecting disk and are evenly spaced along the circumference of the connecting disk to form a three-arm type crawling mechanism. The included angle between the rotary connecting claws and the crawling arms is 60 degrees. The three restoring springs are designated as a first restoring spring, a second restoring spring, and a third restoring spring. The first, second, and third restoring springs are located between adjacent rotary connecting claws and crawling arms, and the first, second, and third restoring springs are... The second and third restoring springs are arranged alternately; the three memory alloy wires are the first memory alloy drive wire, the second memory alloy drive wire, and the third memory alloy drive wire; one end of the first memory alloy drive wire, the second memory alloy drive wire, and the third memory alloy drive wire are respectively connected to three different rotary connecting claws, and the other end of the first memory alloy drive wire, the second memory alloy drive wire, and the third memory alloy drive wire are respectively connected to three different crawling arms, and the rotary connecting claws and crawling arms connected to the first memory alloy drive wire, the second memory alloy drive wire, and the third memory alloy drive wire are not adjacent.

[0009] The first, second, or third memory alloy drive wires are each provided with terminals at both ends, and the terminals are fixedly connected to the rotating connecting claw and the crawling arm. The rotating connecting claw is provided with a guide shaft, and the first, second, or third memory alloy drive wires are wound around the guide shafts on the adjacent rotating connecting claws. The two ends of the first, second, or third memory alloy drive wires and the winding joints are arranged in a triangular layout.

[0010] The beneficial effects of this utility model are as follows: 1. This utility model employs a special structure, combining a ratchet mechanism with shape memory alloy drive wires. Three sets of shape memory alloy drive wires, in conjunction with a crawling mechanism and a rotating disk, perform alternating rotation and reset cycles, thereby driving the central shaft to rotate continuously in a step-like manner, achieving continuous rotation. Because it does not use traditional electromagnetic drive methods, it eliminates the need for heavy magnets and coils, reducing weight and size, and avoiding the generation of electromagnetic fields. This makes it suitable for applications in electromagnetically sensitive and concealed environments.

[0011] 2. This utility model overcomes the drawback of existing technologies where shape memory alloy drive wires can only be driven linearly. It achieves rotational drive through shape memory alloy drive wires, and multiple shape memory alloy drive wires work together with a crawling mechanism and a rotating disk to achieve continuous rotation. In existing technologies, shape memory alloy wires need to be energized to deform, and the deformation of shape memory alloy wires is generally only 3-5%. After power is cut off, a certain amount of time needs to be waited for the shape memory alloy wires to recover their deformation before they can work again. This utility model significantly reduces the deformation recovery time of shape memory alloy wires by having multiple alternating drive wires, rotating components, rotating disks, and deformation recovery components, crawling mechanisms, act independently, thus meeting the needs of continuous rotational operation.

[0012] 3. Existing shape memory alloy wires often deform rapidly after being energized, and the deformation amount is related to both the wire length and the amount of electricity applied, making it difficult to precisely control the rotation angle. Furthermore, after a period of use, the shape memory alloy wires experience tensile loss and dimensional changes, further increasing the difficulty of controlling the rotation angle. This invention uses a ratchet gear ring in the ratchet pawl seat 15 for control, and controls the angle of jumping to a single tooth by the number of teeth in the entire ring. This significantly reduces the requirements for shape memory alloy wire deformation control, requiring only that the shape memory alloy wire deforms and jumps to a single tooth when energized. Combined with a ratchet locking mechanism, it controls the tooth-by-tooth jump, and with multiple wires operating continuously, the rotation angle is determined by accumulating the number of rotating teeth. Attached Figure Description

[0013] Figure 1 This is an exploded perspective view of the utility model. Figure 2 This is a top view of the utility model; Figure 3 This is a bottom view of the utility model; Figure 4 A schematic diagram of the combination of the crawling mechanism and the three-jaw rotary disk; Figure 5 This is a schematic diagram of the initial state of rotation; Figure 6 Schematic diagram of a three-jaw rotary disk driven by an electric current through a shape memory alloy wire; Figure 7 A schematic diagram showing the reset and rotation of a crawling mechanism driven by a non-energized shape memory alloy wire. Figure 8 This is a schematic diagram of the circuit connection for the anode contact plate; Figure 9 This is a schematic diagram of the cathode contact plate circuit connection; Figure 10 This is a schematic diagram of the circuit connection for the crawling mechanism; Figure 11 This is a schematic diagram of the circuit connection for a three-jaw rotary disk.

[0014] The diagram shows the following components: 1. Spring pin, 2. Shaft, 3. Crawling mechanism, 4. Upper and lower plate connecting pin, 5. Anode contact plate, 6. Connecting pin, 7. Terminal, 8. Third recovery spring, 9. Second shape memory alloy drive wire, 10. Sliding pin, 11. Rotary disk, 12. Side bearing, 13. Cathode contact plate, 14. Guide shaft, 15. Pawl seat, 16. Spring pin female seat, 17. First shape memory alloy drive wire, 18. Third shape memory alloy drive wire, 19. Second recovery spring, 20. First crawling arm 3-1, 3-2, 3-3. Detailed Implementation

[0015] A continuous rotary actuator driven by a shape memory alloy drive wire includes a shaft 2, a crawling mechanism 3, a rotating disk 11, a pawl seat 15, and a shape memory alloy wire assembly. A connecting disk is mounted on the shaft 2, and the connecting disk is fixedly connected to the crawling mechanism 3 via a connecting pin 6. The crawling mechanism 3 rotates along the shaft 2 via the connecting disk. The crawling mechanism 3 has multiple crawling arms, which are radially distributed outward along the axis of the shaft 2. Each crawling arm has a spring needle socket 16 at its end, and a spring needle 1 is mounted on the spring needle socket 16. The pin 1 contacts and engages with the ratchet gear ring of the pawl seat 15; keyways are provided at both ends of the shaft 2, one end of the shaft 2 is connected to the rotating disk 11 through the keyway, and the other end of the shaft 2 is a free end; the rotating disk 11 is provided with multiple rotating connecting claws, which are radially distributed outward along the axis of the shaft 2, and the ends of the rotating connecting claws are provided with spring pin female seats 16, on which spring pins 1 are provided. The spring pins 1 contact and engage with the ratchet gear ring of the pawl seat 15. The rotating disk 11 and the crawling mechanism 3 are stacked. The rotating disk 11 has the same number of rotating connecting claws as the crawling mechanism 3, and the rotating connecting claws and crawling arms are staggered to form an interlaced angle. The rotating connecting claws and crawling arms are connected by shape memory alloy wires and restoring springs, and the number of shape memory alloy wires and restoring springs is the same as the number of rotating connecting claws and crawling arms. In the initial state where the shape memory alloy wires are not energized, the restoring springs are hooked between the rotating connecting claws and crawling arms and are in a state of no force. When the shape memory alloy wires are energized, they contract and pull the rotating disk 11 to rotate. The rotating disk 11 rotates one tooth at a time along the ratchet gear ring of the pawl seat 15, and the rotating disk 11 drives the shaft 2 to rotate at a certain angle. The rotation of the rotating disk 11 pulls the restoring springs to a state of stored force. When the shape memory alloy wires are not energized, they recover their deformation and drive the crawling mechanism 3 to rotate one tooth at a time along the ratchet gear ring of the pawl seat 15 through the stored force. The restoring springs return to a state of no force. Multiple shape memory alloy wires are alternately energized to drive the shaft 2 to rotate. By using multiple shape memory alloy wires for driving, the power recovery time of the shape memory alloy wires is reduced, and continuous rotation performance can be improved by driving each wire individually. The stacked arrangement of the rotating disk 11 and the crawling mechanism 3 separates the driving component and the recovery component for independent use, thereby improving reliability.

[0016] The ratchet gear ring of the ratchet seat 15 is composed of 60, 72, 90, 120, 180, or 360 teeth evenly distributed. Each tooth corresponds to a rotation angle of 6°, 5°, 4°, 3°, 2°, or 1° for each of these different tooth counts. The ratchet engages with the spring pin 1 at the end of the crawling arm and the rotating connecting claw, causing the crawling mechanism 3 and the rotating disk 11 to rotate in the same direction of rotation of the ratchet gear ring. The rotation angle per step is adjusted by the number of teeth on the ratchet gear ring. The crawling arm, connecting disk, and connecting pin 6 are interference-fitted, and the crawling arm and connecting disk are connected at a fixed angle. During rotation, the relative position of the crawling arm and connecting disk remains unchanged, ensuring the transmission of rotational torque. The crawling mechanism 3 and the rotating disk 11 rotate in the same direction of rotation of the ratchet gear ring; this design is a key innovation of this utility model. Figure 5-7 The specific explanation is as follows: Figure 5 When the shape memory alloy drive wire is not energized, the recovery spring is hooked between the rotating connecting claw and the crawler arm, and the recovery spring is in a state of no force. Figure 6 When the first memory alloy drive wire 17 is energized and retracts, it tightens the opposing rotating connecting claw and the crawling arm. The crawling arm cannot rotate counterclockwise due to the ratchet ring lock. The first memory alloy drive wire 17 is tightened and can only pull the rotating connecting claw to rotate clockwise step by step. At this time, the crawling mechanism 3 and the rotating disk 11 rotate at an angle, and the three recovery springs are pulled and the recovery springs are in a stored state. Figure 7 When the shape memory alloy wire is de-energized, it recovers its deformation and drives the crawling mechanism 3 to jump along the ratchet gear ring of the pawl seat 15 tooth by tooth through the stored recovery spring. At this time, the rotating connecting pawl cannot rotate counterclockwise due to the lock of the ratchet gear ring. Under the pulling action of the recovery spring, the crawling arm rotates clockwise step by step to reset, and the recovery spring returns to the state of no force. The first recovery spring 20, the second recovery spring 19 and the third recovery spring 8 are energized in sequence to drive the first crawling arm 3-1, the second crawling arm 3-2 and the third crawling arm 3-3 to rotate alternately to achieve continuous rotation.

[0017] The number of shape memory alloy wires, restoring springs, rotary connecting claws, and crawling arms is three. The three rotary connecting claws are evenly spaced along the circumference of the rotating disk 11 to form a three-claw type rotating disk. The three crawling arms are fixedly connected to the connecting disk and are evenly spaced along the circumference of the connecting disk to form a three-arm type crawling mechanism. The included angle between the rotary connecting claws and the crawling arms is 60 degrees. The three restoring springs are a first restoring spring 20, a second restoring spring 19, and a third restoring spring 8. The first restoring spring 20, the second restoring spring 19, and the third restoring spring 8 are located between adjacent rotary connecting claws and crawling arms, and the first restoring spring 20 and the second restoring spring 19 are located between adjacent rotary connecting claws and crawling arms. Springs 19 and 8 are spaced apart; three shape memory alloy wires are designated as first shape memory alloy drive wire 17, second shape memory alloy drive wire 9, and third shape memory alloy drive wire 18; one end of each of these wires is connected to one of three different rotating connecting claws, and the other end is connected to one of three different crawling arms. The rotating connecting claws and crawling arms connected to each wire are not adjacent. The three shape memory alloy drive wires can rotate continuously when alternately energized. Each of the first shape memory alloy drive wire 17, the second shape memory alloy drive wire 9, or the third shape memory alloy drive wire 18 has a terminal 7 at both ends, which is fixedly connected to the rotating connecting claw and the crawling arm. The rotating connecting claw has a guide shaft 14, and the first shape memory alloy drive wire 17, the second shape memory alloy drive wire 9, or the third shape memory alloy drive wire 18 is wound around the guide shaft 14 on the adjacent rotating connecting claw. The two ends of the first shape memory alloy drive wire 17, the second shape memory alloy drive wire 9, or the third shape memory alloy drive wire 18 and the winding joint form a triangular arrangement. This facilitates the shape memory alloy drive wires applying force to pull the rotating connecting claw to rotate.

[0018] It also includes an anode contact plate 5 and a cathode contact plate 13, which are located on the upper and lower parts of the ratchet seat 15, respectively, and are connected by upper and lower plate connecting pins 4. The anode contact plate 5 is provided with a first positive terminal V+1, a second positive terminal V+2, a third positive terminal V+3, and a negative terminal V-. The anode contact plate 5 and the cathode contact plate 13 are provided with printed circuit boards, which are PCB printed circuit boards. The anode contact plate 5 is provided with 4 rings of printed circuit boards, which are respectively connected to the first positive terminal V+1, the second positive terminal V+2, the third positive terminal V+3, and the negative terminal V-, forming a three-stage positive terminal and a first-stage secondary terminal. The cathode contact plate 13 is provided with 1 ring of printed circuit board, which is electrically connected to the negative terminal V- through the upper and lower plate connecting pins 4. The upper part of the crawling arm of the crawling mechanism 3 is provided with a sliding pin 10 and a printed circuit board. The sliding pin 10 is connected to the terminal 7 and the memory alloy wire through the printed circuit board. The lower part of the rotating connecting claw of the rotating disk 11 is provided with a sliding pin 10 and a printed circuit board. The sliding pins 10 of the three crawling arms are respectively in contact with the first positive terminal V+1, the second positive terminal V+2, and the third positive terminal V+3 through three rings of printed circuit. The sliding pin 10 of the rotating connecting claw is in contact with the negative terminal V- through one ring of printed circuit.

[0019] Through holes are formed at the center of the anode contact plate 5 and the cathode contact plate 13, and a side bearing 12 is connected inside the through holes. The side bearing 12 is fitted onto the shaft 2. The sliding pins 10 on the three crawling arms of the crawling mechanism 3 are at different distances from the axis of shaft 2, and the three sliding pins 10 respectively contact and slide with the three rings of printed circuit boards at the three positive terminals. The sliding pins 10, terminals 7 and upper and lower plate connecting pins 4 are high-nickel white copper sheet metal parts.

[0020] In summary, this invention is particularly effective in the field of micro-flow injection, enabling precise control of the injected medication, such as in portable patch insulin pumps. By controlling the stepping rotation angle of the driver, micro-flow injection is stably completed. This structure can be combined with a portable patch insulin pump, resulting in a smaller, lower-energy-consumption, quieter, and more stable pump. It can be easily attached to the skin of diabetic patients via a patch, achieving continuous subcutaneous insulin infusion instead of multiple injections, reducing patient discomfort. The driver of this invention is fixed to the pump's reservoir base via two screw holes. The stepping rotation of the driver pushes the piston inside the reservoir containing the medication, squeezing the medication out of the injection port. By controlling the stepping rotation angle of the driver, micro-flow injection is stably completed. This structure can be combined with a portable patch insulin pump, resulting in a smaller, lower-energy-consumption, quieter, and more stable pump. It can be easily attached to the skin of diabetic patients via a patch, achieving continuous subcutaneous insulin infusion instead of multiple injections, reducing patient discomfort. The above application scheme is only to illustrate one application environment. The drive device can be connected to the free end of shaft 2 according to actual needs.

Claims

1. A continuously rotating driver driven by a memory alloy driving wire, characterized by The utility model relates to a kind of memory alloy wire group, including shaft (2), crawling mechanism (3), rotary disc (11), pawl seat (15) and the shaft (2) is equipped with key groove, and the shaft (2) one end is connected with rotary disc (11) by key groove, and the other end of shaft (2) is free end;Rotary disc (11) is equipped with multiple rotary connecting claws, and multiple rotary connecting claws are radially distributed along the axis of shaft (2) outward, and the end of rotary connecting claw is equipped with spring needle female seat (16), and spring needle female seat (16) is equipped with spring needle (1), and spring needle (1) is touched and buckled with the ratchet gear ring of pawl seat (15), and rotary disc (11) and crawling mechanism (3) are stacked and laid out, and the number of rotary connecting claw of rotary disc (11) and the number of crawling arm of crawling mechanism (3) are identical, and rotary connecting claw and crawling arm are staggered and arranged to form staggered angle, and rotary connecting claw and crawling arm are connected by memory alloy wire and recovery spring, and the number of memory alloy wire and recovery spring is identical with the number of rotary connecting claw and crawling arm;In initial state of memory alloy wire without power, recovery spring is hooked between rotary connecting claw and crawling arm, and recovery spring is in stress-free state, and memory alloy wire is contracted and rotates rotary disc (11) in power state, and rotary disc (11) is rotated along the ratchet gear ring of pawl seat (15) and is jumped by tooth, and shaft (2) is rotated by rotary disc (11) a certain angle, and recovery spring is pulled by rotary disc (11) and is in force storage state, and memory alloy wire is deformed in non-power state, and crawling mechanism (3) is driven along the ratchet gear ring of pawl seat (15) by force storage state recovery spring and is jumped by tooth, and recovery spring is in stress-free state;Multiple memory alloy wires are driven shaft (2) to rotate by being powered alternately.

2. The continuous rotary actuator driven by memory alloy driving wires according to claim 1, characterized in that The ratchet gear ring of pawl seat (15) is composed of 60, 72, 90, 120, 180 or 360 teeth pawls, and the pawl is clamped with the spring needle (1) at the end of crawling arm and rotary connecting claw, so that crawling mechanism (3) and rotary disc (11) rotate in the same direction along the ratchet gear ring.

3. The continuous rotary actuator driven by memory alloy driving wires according to claim 1, characterized in that The crawling arm, connecting disc and connecting pin (6) adopt interference fit, and the crawling arm is connected with the connecting disc at a fixed angle.

4. The continuous rotary actuator driven by memory alloy driving wires according to claim 1, characterized in that The number of the memory alloy wire, the restoring spring, the rotating connecting claw and the crawling arm is three, the three rotating connecting claws are arranged equidistantly along the circumferential direction of the rotating disc (11) to form a three-claw rotating disc, the three crawling arms are fixedly connected with the connecting disc and arranged equidistantly along the circumferential direction of the connecting disc to form a three-arm crawling mechanism, the rotating connecting claw and the crawling arm are staggered at an angle of 60 degrees, the three restoring springs are respectively a first restoring spring (20), a second restoring spring (19) and a third restoring spring (8), the first restoring spring (20), the second restoring spring (19) and the third restoring spring (8) are respectively arranged between the adjacent rotating connecting claw and the crawling arm, and the first restoring spring (20), the second restoring spring (19) and the third restoring spring (8) are arranged at intervals, the three memory alloy wires are respectively a first memory alloy driving wire (17), a second memory alloy driving wire (9) and a third memory alloy driving wire (18), one end of the first memory alloy driving wire (17), the second memory alloy driving wire (9) and the third memory alloy driving wire (18) is respectively connected with three different rotating connecting claws, the other end of the first memory alloy driving wire (17), the second memory alloy driving wire (9) and the third memory alloy driving wire (18) is respectively connected with three different crawling arms, and the rotating connecting claw and the crawling arm connected by the first memory alloy driving wire (17), the second memory alloy driving wire (9) and the third memory alloy driving wire (18) are not adjacent.

5. The continuous rotary actuator driven by memory alloy driving wires according to claim 4, characterized in that The first memory alloy driving wire (17), the second memory alloy driving wire (9) or the third memory alloy driving wire (18) is respectively provided with a terminal (7) at both ends, the terminal (7) is fixedly connected with the rotating connecting claw and the crawling arm, the rotating connecting claw is provided with a guide shaft (14), the first memory alloy driving wire (17), the second memory alloy driving wire (9) or the third memory alloy driving wire (18) is wound on the guide shaft (14) of the adjacent rotating connecting claw, and the both ends of the first memory alloy driving wire (17), the second memory alloy driving wire (9) or the third memory alloy driving wire (18) and the winding position are arranged in a triangular shape.

6. The continuous rotary actuator driven by memory alloy driving wires according to claim 5, characterized in that The anode contact plate (5) and the cathode contact plate (13) are arranged on the upper and lower parts of the pawl seat (15) and are inserted by the upper and lower plate connecting pins (4), the anode contact plate (5) is provided with a first positive terminal V+1, a second positive terminal V+2, a third positive terminal V+3 and a negative terminal V-, the anode contact plate (5) and the cathode contact plate (13) are provided with printed circuit boards, the printed circuit boards are PCB printed circuit boards, the anode contact plate (5) is provided with four rings of printed circuit boards, the four rings of printed circuit boards are connected with the first positive terminal V+1, the second positive terminal V+2, the third positive terminal V+3 and the negative terminal V- respectively to form a three-stage positive terminal and a one-stage auxiliary terminal, the cathode contact plate (13) is provided with one ring of printed circuit board, and the one ring of printed circuit board of the cathode contact plate (13) is electrically connected with the negative terminal V- through the upper and lower plate connecting pins (4). The upper part of the crawling arm of the crawling mechanism (3) is provided with a slide pin (10) and a printed circuit board, the slide pin (10) is connected with the terminal (7) and the memory alloy wire through the printed circuit board, the lower part of the rotating connecting claw of the rotating disc (11) is provided with a slide pin (10) and a printed circuit board, the slide pins (10) of the three crawling arms are respectively contacted and slid with the first positive terminal V+1, the second positive terminal V+2 and the third positive terminal V+3 through three rings of printed circuit, and the slide pin (10) of the rotating connecting claw is contacted and slid with the negative terminal V- through one ring of printed circuit.

7. The continuous rotary actuator driven by memory alloy driving wires according to claim 6, characterized in that The anode contact plate (5) and the cathode contact plate (13) are provided with a through hole in the center, a retaining shoulder bearing (12) is connected in the through hole, and the retaining shoulder bearing (12) is sleeved on the shaft (2).

8. The continuous rotary actuator driven by memory alloy driving wires according to claim 6, characterized in that The slide pins (10) on the three crawling arms of the crawling mechanism (3) are different from the shaft center distance of the shaft (2), and the three slide pins (10) are respectively contacted and slid with three rings of printed circuit boards of the three positive terminals.

9. The continuous rotary actuator driven by memory alloy driving wires according to claim 6, characterized in that The slide pin (10), the terminal (7) and the upper and lower plate connecting pin (4) are high-nickel white copper sheet metal parts.

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