A rotary drive driven by a memory alloy driving wire

Abstract

The utility model relates to memory alloy driver technical field, especially a kind of memory alloy driving wire driven rotary driver, it is applicable to without steering engine and gear rotary drive equipment.Provide a kind of fast rotary response, drive rotary angle is big, the rotary response of memory alloy driving wire driven rotary driver of multiple stage rotation response.The rotary driver includes bottom plate, rotating assembly and memory alloy wire, rotating assembly includes driving disc and reversing disc, driving disc and reversing disc are inserted on bottom plate, driving disc is rotatably connected with bottom plate by center shaft, memory alloy wire one end is wound on driving disc, and its memory alloy wire one end head is fixedly connected on driving disc;Memory alloy wire is coiled on reversing disc, and its memory alloy wire other end head is fixedly connected on bottom plate, and memory alloy wire is contracted to drive driving disc to rotate by electrification.

Description

Technical Field

[0001] This utility model relates to the field of shape memory alloy actuator technology, and in particular to a rotary actuator driven by a shape memory alloy drive wire, which is suitable for servo-less and gear-driven rotary drive equipment. Background Technology

[0002] Shape memory alloys (SMAs) are metallic materials with unique thermoelastic martensitic phase transformation properties. They can recover their initial preset shape after undergoing low-temperature plastic deformation through thermal excitation; this property is known as the shape memory effect (SME). Taking the nickel-titanium-based shape memory alloy drive wire involved in this patent as an example, among existing smart materials, shape memory alloy drive wires have high energy density, high driving frequency, large output strain and stress, light weight, and small size. Therefore, they have significant potential for lightweight design requirements. Compared with actuators such as small motors, magnetic helices, wax actuators, and bimetallic strips, shape memory alloy drive wires have obvious advantages.

[0003] To make the use of shape memory alloy drive wires more convenient and efficient, they can be combined with other mechanical structures and electronic circuits to form actuators for performing certain specific tasks, adapting to different application scenarios, such as bionic robotic hands, movable joints, smart lock cylinders for express delivery lockers, release latches for drone vehicles, release latches for underwater robot vehicles, luggage locks, and storage box locks.

[0004] Defects and shortcomings of existing technology: Currently, most existing shape memory alloy (MMA) actuators use linear drive, with few integrated rotary actuators. If rotary drive is required, a separate servo motor or other rotating mechanical mechanism must be designed to convert linear motion into rotary motion, resulting in system complexity and high failure rates. Furthermore, servo motors or other rotating mechanical mechanisms require motors and gears, which are almost impossible to install in small spaces. In particular, the deformation of shape memory alloy wires is limited when energized, typically only 3% to 4%, and this deformation translates to a driving rotation angle of only a few degrees, making it ineffective for MMA-driven rotation. In addition, the high cost of shape memory alloy wires, coupled with the need for servo motors or other rotating mechanical mechanisms during rotation, further increases the operating cost. Utility Model Content

[0005] This invention addresses the shortcomings of existing technologies by providing a rotary actuator driven by a memory alloy drive wire, characterized by fast rotational response, large driving rotation angle, and multi-level rotational response.

[0006] The present invention solves the existing technical problems by adopting the following technical solution: A rotary actuator driven by a shape memory alloy drive wire is characterized by comprising a base plate, a rotating assembly, and a shape memory alloy wire. The rotating assembly includes a drive turntable and a reversing turntable. The drive turntable and the reversing turntable are inserted into the base plate. The drive turntable is rotatably connected to the base plate via a central shaft. One end of the shape memory alloy wire is wound around the drive turntable, and one end of the shape memory alloy wire is fixedly connected to the drive turntable. The shape memory alloy wire is coiled around the reversing turntable, and the other end of the shape memory alloy wire is fixedly connected to the base plate. When the shape memory alloy wire is energized, it contracts and drives the drive turntable to rotate.

[0007] The drive turntable includes a central shaft, a first Teflon tube, a second Teflon tube, and a third Teflon tube. The central shaft is inserted into the first, second, and third Teflon tubes with an interference fit. The central shaft passes through a base plate, with one end of the central shaft connected to the second and first Teflon tubes and the other end connected to the third Teflon tube. The first and second Teflon tubes are located inside the base plate, and the third Teflon tube is located outside the base plate. A torsion spring is mounted on the first Teflon tube, with one end fixed to the first Teflon tube and the other end fixed to the base plate. The shape memory alloy wire is a primary shape memory alloy drive wire, with one end wound around the second Teflon tube of the drive turntable and the other end fixedly connected to the base plate. When the primary shape memory alloy drive wire is energized, it contracts, causing the second Teflon tube to rotate. When the primary shape memory alloy drive wire is de-energized, it returns to its original shape, and the torsion spring causes the first Teflon tube to reset and rotate.

[0008] The reversing turntable is provided in two sets. The two sets of reversing turntables are respectively connected to the base plate by a primary copper pin. The primary shape memory alloy drive wires are wound around the two sets of reversing turntables in a spiral shape.

[0009] It also includes a secondary rotating mechanism, which comprises a partition, a secondary shape memory alloy drive wire, a reversing turntable, and a support bar. The reversing turntable is inserted into the base plate via a secondary copper pin. The partition has through holes and insertion holes. The insertion holes of the partition are fixedly connected to the base plate via partition fixing rods. The reversing turntable and the driving turntable pass through the through holes at corresponding positions. The base plate has a sliding groove, and the support bar is inserted into the sliding groove. The support bar moves along the sliding groove. One end of the secondary shape memory alloy drive wire is fixed to the sliding groove, and the other end is fixed to the partition. The partition separates the secondary shape memory alloy drive wire from the primary shape memory alloy drive wire. The secondary shape memory alloy drive wire is located above the primary shape memory alloy drive wire. One end of the shape memory alloy wire is wound around the driving turntable, and one end of the shape memory alloy wire is fixedly connected to the driving turntable. The shape memory alloy wire is wound around the reversing turntable, and the other end of the shape memory alloy wire is fixedly connected to the support bar and inserted into the sliding groove of the base plate via the support bar.

[0010] One end of the primary shape memory alloy drive wire is connected to the central shaft of the drive turntable. A limiting pin is provided at the connection between the primary shape memory alloy drive wire and the central shaft. The limiting pin is arranged radially along the central shaft, and the outer end of the limiting pin extends out of two Teflon tubes. A limiting post is provided on the bottom plate. The limiting post is located outside the two Teflon tubes. The limiting pin rotates with the central shaft and contacts the limiting post. The other end of the primary shape memory alloy drive wire is connected to the support bar through a copper terminal. One end of the secondary shape memory alloy drive wire is fixed to the sliding groove through a copper terminal, and the other end of the secondary shape memory alloy drive wire is fixed to the partition plate through a copper terminal.

[0011] The reversing turntable, which is connected to the base plate by a secondary copper pin, has a locking stop on its upper part. The locking stop is disc-shaped and its diameter is larger than that of the reversing turntable. The locking stop fits the locking secondary memory alloy drive wire.

[0012] It also includes a top cover, which, together with the bottom plate, forms a shell structure. The shell structure contains a rotating component and a shape memory alloy wire.

[0013] The base has a positive terminal A, a negative terminal B, a ground terminal C, and a second positive terminal D. Printed circuit boards (PCBs) are mounted on the base, support bars, and partitions. The positive terminal A and the central shaft of the base form the positive terminal of a primary circuit. The negative terminal B, the sliding groove, and the support bar form the negative terminal of a primary circuit. The positive terminal of the primary circuit is connected to the negative terminal of the primary circuit via a memory alloy drive wire, forming a primary positive and negative circuit. The second positive terminal D, the sliding groove, and the support bar form the positive terminal of a secondary circuit. The base's printed circuit board is connected to... The negative terminal B, the partition fixing rod, and the partition constitute the negative terminal of the secondary circuit. The positive terminal of the secondary circuit is connected to the negative terminal of the secondary circuit through the secondary shape memory alloy driving wire, forming a secondary positive and negative circuit. The primary positive and negative circuits and the secondary positive and negative circuits are energized separately to control the deformation of the shape memory alloy wire. The printed circuit board of the base is connected to the ground terminal C and the limiting post to form the ground terminal of the primary circuit. The limiting pin rotates and makes a limiting contact with the limiting post to ground. The printed circuit board of the base is connected to the ground terminal C, the sliding groove, and the support bar to form the ground terminal of the secondary circuit. The support bar slides to the end of the sliding groove and makes a limiting contact with the ground. The shape memory alloy wire recovers its deformation after the grounding power is cut off and is reset by the torsion spring.

[0014] The sliding groove is equipped with an electrode spring, the electrode spring model is FDX0033C2, the electrode spring is set in the sliding groove body or end, and the electrode spring is in close contact with the support strip.

[0015] The limiting pin, partition fixing rod, limiting post, and central shaft are high-nickel white copper sheet metal parts.

[0016] The beneficial effects of this utility model are: 1. This utility model is an angle rotation actuator driven by a shape memory alloy wire. It utilizes the characteristic of the shape memory alloy driving wire to shrink when heated by electricity, thereby driving the internal actuator to rotate the shaft at a certain angle. This design employs a combination of double-layer stacking and reciprocating winding, effectively utilizing space in the height direction and increasing the total length of the shape memory alloy driving wire. With the same shrinkage rate, the shape memory alloy driving wire can shrink to a larger size, thus driving the rotating shaft to rotate at a larger angle.

[0017] 2. This design directly converts the linear drive of the shape memory alloy drive wire into the angular rotational motion of the output shaft, resulting in a small driver size, a large drive angle, and high integration without the need for an additional conversion mechanism. The final product dimensions are 35mm*9mm*5mm, with a rotation angle of 90°. It can be applied to bionic robotic hands, rotary joints, and other parts to achieve grasping actions. Due to its small size, it can be embedded inside each finger of the robotic hand to achieve bending movements of each finger.

[0018] 3. This invention enables two-stage rotational drive, providing a wider rotation angle, while eliminating the need for servo motors and gear assemblies, significantly reducing the overall size of the drive unit. This allows for installation in smaller cavities, particularly in the joints of robotic arms. Furthermore, the shape memory alloy wire drive method greatly reduces noise. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure. Figure 2 This is a three-dimensional schematic diagram of the combined state; Figure 3 This is a top view of the combined state; Figure 4 This is a three-dimensional schematic diagram of the assembled state without partitions; Figure 5 Schematic diagram of shape memory alloy wire arrangement Figure I ; Figure 6 Schematic diagram of shape memory alloy wire arrangement Figure II ; Figure 7 This is a schematic diagram of the printed circuit board layout of this utility model; Figure 8 This is a schematic diagram of the first-stage rotation of this utility model; Figure 9 This is a schematic diagram of the two-stage rotation of this utility model; Figure 10 This is a schematic diagram of the combined application of this utility model and a robotic arm.

[0020] The components in the diagram are labeled as follows: 1. Primary shape memory alloy drive wire; 2. Torsion spring; 3. Top cover; 4. 1*2 first Teflon tube; 5. Limiting pin; 6. Partition plate; 7. 2*4 second Teflon tube; 8. Primary copper pin; 9. Locking stop; 10. Secondary copper pin; 11. Partition plate fixing rod; 12. Base plate; 13. Secondary shape memory alloy drive wire; 14. Support bar; 15. Copper terminal; 16. Limiting post; 17. 1*2 third Teflon tube; 18. Central shaft; 19. Sliding groove; 20. Drive turntable; 21. Reversing turntable. Detailed Implementation

[0021] A rotary actuator driven by a shape memory alloy drive wire includes a base plate 12, a rotating assembly, and a shape memory alloy wire. The rotating assembly includes a drive turntable 20 and a reversing turntable 21. The drive turntable 20 and the reversing turntable 21 are inserted into the base plate 12. The drive turntable 20 is rotatably connected to the base plate 12 via a central shaft 18. One end of the shape memory alloy wire is wound around the drive turntable 20, and one end of the shape memory alloy wire is fixedly connected to the drive turntable 20. The shape memory alloy wire is wound around the reversing turntable 21, and the other end of the shape memory alloy wire is fixedly connected to the base plate 12. When the shape memory alloy wire is energized, it contracts and drives the drive turntable 20 to rotate.

[0022] The drive turntable 20 includes a central shaft 18, a first Teflon tube 4, a second Teflon tube 7, and a third Teflon tube 17. The central shaft 18 is inserted into the first Teflon tube 4, the second Teflon tube 7, and the third Teflon tube 17 with an interference fit. The central shaft 18 passes through the base plate 12. One end of the central shaft 18 is inserted into the second Teflon tube 7 and the first Teflon tube 4, and the other end is inserted into the third Teflon tube 17. The first Teflon tube 4 and the second Teflon tube 7 are located inside the base plate 12, and the third Teflon tube 17 is located outside the base plate 12. A torsion spring 2 is fitted on the first Teflon tube 4. One end of the torsion spring 2 is fixed to the first Teflon tube 4, and the other end of the torsion spring 2 is fixed to the base plate 12. The memory alloy wire is a first-stage memory alloy drive wire 1, and one end of the first-stage memory alloy drive wire 1 is wound around the drive turntable 20. On the second Teflon tube 7, the other end of the primary shape memory alloy drive wire 1 is fixedly connected to the base plate 12. When the primary shape memory alloy drive wire 1 is energized, it contracts, causing the second Teflon tube 7 to rotate. When the primary shape memory alloy drive wire 1 is de-energized, it recovers its deformation, and the torsion spring 2 causes the first Teflon tube 4 to reset and rotate. The reversing turntable 21 has two sets, and the two sets of reversing turntables 21 are respectively inserted into the base plate 12 through primary copper pins 8. The primary shape memory alloy drive wire 1 passes around the two sets of reversing turntables 21 in a spiraling shape. The outer diameter of the second Teflon tube 7 is larger than the outer diameter of the first Teflon tube 4 and the third Teflon tube 17, forming a stepped assembly, which facilitates the fitting of the first Teflon tube 4 with the torsion spring 2, the fitting of the second Teflon tube 7 with the primary shape memory alloy drive wire 1, and the third Teflon tube 17 extending out of the base plate 12 to be spliced ​​with the part to be rotated. The second Teflon tube 7 has a ring of locking cavity for inserting the limiting pin 5.

[0023] The system also includes a secondary rotating mechanism, which comprises a partition 6, a secondary shape memory alloy drive wire 13, a reversing turntable 21, and a support bar 14. The reversing turntable 21 is inserted into the base plate 12 via a secondary copper pin 10. The partition 6 has through holes and insertion holes. The insertion holes of the partition 6 are fixedly connected to the base plate 12 via a partition fixing rod 11. The reversing turntable 21 and the drive turntable 20 pass through the through holes at corresponding positions. The base plate 12 has a sliding groove 19. The support bar 14 is inserted into the sliding groove 19 and moves along the sliding groove 19. One end of the secondary shape memory alloy drive wire 13 is fixed to the sliding groove 19, and the other end of the secondary shape memory alloy drive wire 13 is fixed to the partition 6. The partition 6 separates the secondary shape memory alloy drive wire 13 from the primary shape memory alloy drive wire 1. The secondary shape memory alloy drive wire 13 is located above the primary shape memory alloy drive wire 1, and one end of the shape memory alloy wire is wound around the drive turntable 20. On the upper part, one end of the shape memory alloy wire is fixedly connected to the drive turntable 20; the shape memory alloy wire is coiled on the reversing turntable 21, and the other end of the shape memory alloy wire is fixedly connected to the support bar 14, and is inserted into the sliding groove 19 of the base plate 12 through the support bar 14.

[0024] One end of the primary memory alloy drive wire 1 is connected to the central shaft 18 of the drive turntable 20. A limiting pin 5 is provided at the connection between the primary memory alloy drive wire 1 and the central shaft 18. The limiting pin 5 is arranged radially along the central shaft 18, and the outer end of the limiting pin 5 extends out of the two Teflon tubes 7. A limiting post 16 is provided on the base plate 12. The limiting post 16 is located outside the two Teflon tubes 7. The limiting pin 5 rotates with the central shaft 18 and makes a limiting contact with the limiting post 16. The other end of the primary memory alloy drive wire 1 is connected to the support bar 14 through a copper terminal 15. One end of the secondary memory alloy drive wire 13 is fixed to the sliding groove 19 through a copper terminal 15, and the other end of the secondary memory alloy drive wire 13 is fixed to the partition plate 6 through a copper terminal 15. The reversing turntable 21, which is connected to the base plate 12 via a secondary copper pin 10, has a locking stop 9 on its upper part. The locking stop 9 is disc-shaped, and its diameter is larger than that of the reversing turntable 21. The locking stop 9 is attached to the locking secondary shape memory alloy drive wire 13. Teflon material has high temperature resistance, corrosion resistance, and non-stick properties, and is suitable for chemical, mechanical, electronic, medical and other fields.

[0025] It also includes a top cover 3, which, together with the bottom plate 12, forms a shell structure. The shell structure contains a rotating component and a shape memory alloy wire.

[0026] The base 12 is provided with a positive terminal A, a negative terminal B, a ground terminal C, and a second positive terminal D. Printed circuit boards (PCBs) are mounted on the base 12, support bar 14, and partition 6. The PCB of the base 12 connects the positive terminal A and the central shaft 18 to form the positive terminal of a primary circuit. The PCB of the base 12 connects the negative terminal B, the sliding groove 19, and the support bar 14 to form the negative terminal of a primary circuit. The positive terminal of the primary circuit is connected to the negative terminal of the primary circuit via a primary shape memory alloy drive wire 1, forming a primary positive and negative circuit. The PCB of the base 12 connects the second positive terminal D, the sliding groove 19, and the support bar 14 to form the positive terminal of a secondary circuit. The PCB of the base 12 connects to... The negative terminal B, the partition fixing rod 11, and the partition 6 form the negative terminal of the secondary circuit. The positive terminal of the secondary circuit is connected to the negative terminal of the secondary circuit through the secondary shape memory alloy driving wire 13, thus connecting the secondary positive and negative circuits. The primary and secondary positive and negative circuits are individually energized to control the deformation of the shape memory alloy wire. The printed circuit board of the base 12 is connected to the ground terminal C and the limiting post 16 to form the ground terminal of the primary circuit. The limiting pin 5 rotates and makes a limiting contact with the limiting post 16 to ground. The printed circuit board of the base 12 is connected to the ground terminal C, the sliding groove 19, and the support bar 14 to form the ground terminal of the secondary circuit. The support bar 14 slides to the end of the sliding groove 19 and makes a limiting contact with the ground. The shape memory alloy wire recovers its deformation after the grounding power is cut off and is reset by the torsion spring 2. The sliding groove 19 is equipped with an electrode spring, model FDX0033C2, which is located in the groove body or end of the sliding groove and is in close contact with the support bar 14. The limiting pin 5, partition fixing rod 11, limiting post 16, and central shaft 18 are high-nickel white copper sheet metal parts. Figure 7 The solid line indicates the connection of the primary circuit, the dotted line indicates the connection of the secondary circuit, and the dashed line indicates the grounding of the primary and secondary circuits. The primary memory alloy drive wire 1 and the secondary memory alloy drive wire 13 are not shown in the figure. This case only provides an implementable application scheme. The optimization of the printed circuit board traces can be flexibly adjusted according to the needs of the component layout, which will not be elaborated here.

[0027] like Figure 10 The diagram shows the installation of the simulated application in a bionic robotic hand. The actuator is fixed to the finger's mounting slot using screws. The upper joint of the finger is connected to the actuator's central shaft 18 or the third Teflon tube 17. When the actuator rotates, it drives the finger joint to rotate via the central shaft 18 or the third Teflon tube 17, enabling the robotic hand to grasp. Traditional joint drives mostly use electromagnetic motors or rope traction drives, which are bulky, heavy, and noisy. This design uses shape memory alloy wire drives, achieving silent operation. It is also small in size and weight, and can be installed at each joint, allowing control of each joint. This reduces the overall system size while improving the robotic hand's flexibility. Furthermore, it is easy to install, allows for modular assembly, and facilitates maintenance and replacement.

[0028] This utility model is further described below in conjunction with the embodiments: In normal operation, the first Teflon tube 4 is in its initial state under the action of the torsion spring. At this time, inside the overall driver, the limiting pin 5 leads out the primary shape memory alloy drive wire 1, which then winds clockwise around the outer wall of the second Teflon tube 7 twice. The primary shape memory alloy drive wire 1 then passes around the two sets of reversing turntables 21 in a spiral pattern. This spiral pattern increases the overall size of the primary shape memory alloy drive wire 1, allowing for a larger rotation angle in the retracted state. Simultaneously, the spiral pattern helps to reduce the overall size of the driver, facilitating installation and use in confined spaces. When the primary shape memory alloy drive wire 1 is taut, it fits snugly against the reversing turntable 21, leaving no gaps to facilitate rapid torque transmission during the retracted state. The secondary shape memory alloy drive wire 13 and the primary shape memory alloy drive wire 1 are separated by a partition 6. The secondary shape memory alloy drive wire 13 is located above the primary shape memory alloy drive wire 1, and the two layers of shape memory alloy drive wires operate independently without affecting each other. The secondary shape memory alloy drive wire 13 is led out from the upper left corner pad of the support bar through the copper terminal, tightly wound on the reversing turntable 21 and blocked by the upper locking edge 9.

[0029] pass Figure 8 As shown, when the primary positive and negative circuits are connected, the primary shape memory alloy driving wire 1 is energized and contracts. Due to the contraction of the primary shape memory alloy driving wire 1, the support bar 14 slides to the left end of the sliding groove 19, and the contraction torque is transmitted through the reversing turntable 21 to generate rotation on the second Teflon tube 7. Figure 9 As shown, when the secondary positive and negative circuits are connected, the secondary memory alloy drive wire 13 is energized and retracts. The secondary memory alloy drive wire 13 moves the support bar 14 to the right along the sliding groove 19. The support bar 14 drives the primary memory alloy drive wire 1 to move to the far right end in its retracted state, pulling the primary memory alloy drive wire 1 to continue driving the second Teflon tube 7 to rotate, thereby transmitting the rotational torque through the central shaft 18. When the support bar 14 moves to the rightmost side of the sliding groove 19, the support bar 14 touches the right end of the sliding groove 19. At the same time, the limit pin 5 rotates to the maximum position and touches the limit post 16, grounding both the primary and secondary positive and negative circuits. The primary and secondary memory alloy drive wires 1 and 13 recover their deformation in the de-energized state and are reset to their initial state through the torsion spring 2, ensuring the next drive rotation.

Claims

1. A rotary actuator driven by a shape memory alloy drive wire, characterized in that... The device includes a base plate (12), a rotating assembly, and a shape memory alloy wire. The rotating assembly includes a drive turntable (20) and a reversing turntable (21). The drive turntable (20) and the reversing turntable (21) are inserted into the base plate (12). The drive turntable (20) is rotatably connected to the base plate (12) through a central shaft (18). One end of the shape memory alloy wire is wound around the drive turntable (20), and one end of the shape memory alloy wire is fixedly connected to the drive turntable (20). The shape memory alloy wire is coiled around the reversing turntable (21), and the other end of the shape memory alloy wire is fixedly connected to the base plate (12). When the shape memory alloy wire is energized, it contracts and drives the drive turntable (20) to rotate.

2. A rotary actuator driven by a shape memory alloy driving wire according to claim 1, characterized in that... The drive turntable (20) includes a central shaft (18), a first Teflon tube (4), a second Teflon tube (7), and a third Teflon tube (17). The central shaft (18) is inserted into the first Teflon tube (4), the second Teflon tube (7), and the third Teflon tube (17) in an interference fit manner. The central shaft (18) passes through the base plate (12). One end of the central shaft (18) is inserted into the second Teflon tube (7) and the first Teflon tube (4), and the other end of the central shaft (18) is inserted into the third Teflon tube (17). The first Teflon tube (4) and the second Teflon tube (7) are located inside the base plate (12), and the third Teflon tube (17) is located inside the base plate (12). On the outside, a torsion spring (2) is fitted on the first Teflon tube (4). One end of the torsion spring (2) is fixed to the first Teflon tube (4), and the other end of the torsion spring (2) is fixed to the base plate (12). The memory alloy wire is a first-level memory alloy drive wire (1). One end of the first-level memory alloy drive wire (1) is wound around the second Teflon tube (7) of the drive turntable (20), and the other end of the first-level memory alloy drive wire (1) is fixedly connected to the base plate (12). When the first-level memory alloy drive wire (1) is energized, it contracts and drives the second Teflon tube (7) to rotate. When the first-level memory alloy drive wire (1) is not energized, it recovers its deformation, and the torsion spring (2) drives the first Teflon tube (4) to reset and rotate.

3. A rotary actuator driven by a shape memory alloy driving wire according to claim 2, characterized in that... The reversing turntable (21) is provided in two sets. The two sets of reversing turntables (21) are respectively connected to the base plate (12) by primary copper pins (8). The primary memory alloy drive wire (1) passes around the two sets of reversing turntables (21) in sequence in a spiral shape.

4. A rotary actuator driven by a shape memory alloy driving wire according to claim 1, characterized in that... It also includes a secondary rotating mechanism, which includes a partition (6), a secondary shape memory alloy drive wire (13), a reversing turntable (21), and a support bar (14); the reversing turntable (21) is inserted into the base plate (12) through a secondary copper pin (10); the partition (6) is provided with a through hole and a plug hole, and the plug hole of the partition (6) is fixedly connected to the base plate (12) through a partition fixing rod (11), and the reversing turntable (21) and the drive turntable (20) pass through the through holes at corresponding positions; the base plate (12) is provided with a sliding groove (14). 9) A support bar (14) is inserted into the sliding groove (19). The support bar (14) moves along the sliding groove (19). One end of the secondary memory alloy drive wire (13) is fixed to the sliding groove (19), and the other end of the secondary memory alloy drive wire (13) is fixed to the partition (6). The partition (6) separates the secondary memory alloy drive wire (13) and the primary memory alloy drive wire (1). The secondary memory alloy drive wire (13) is located above the primary memory alloy drive wire (1). One end of the memory alloy wire is wound around the drive turntable (20), and one end of the memory alloy wire is fixedly connected to the drive turntable (20). The memory alloy wire is wound around the reversing turntable (21), and the other end of the memory alloy wire is fixedly connected to the support bar (14). It is inserted into the sliding groove (19) of the base plate (12) through the support bar (14).

5. A rotary actuator driven by a shape memory alloy driving wire according to claim 4, characterized in that... One end of the primary memory alloy drive wire (1) is connected to the central shaft (18) of the drive turntable (20). A limiting pin (5) is provided at the connection between the primary memory alloy drive wire (1) and the central shaft (18). The limiting pin (5) is arranged radially along the central shaft (18). The outer end of the limiting pin (5) extends out of the second Teflon tube (7). A limiting post (16) is provided on the bottom plate (12). The limiting post (16) is located outside the second Teflon tube (7). The limiting pin (5) rotates with the central shaft (18) and is limited to contact with the limiting post (16). The other end of the primary memory alloy drive wire (1) is connected to the support bar (14) through a copper terminal (15). One end of the secondary memory alloy drive wire (13) is fixed to the sliding groove (19) through a copper terminal (15). The other end of the secondary memory alloy drive wire (13) is fixed to the partition plate (6) through a copper terminal (15).

6. A rotary actuator driven by a shape memory alloy driving wire according to claim 5, characterized in that... The reversing turntable (21) connected to the base plate (12) by the secondary copper pin (10) is provided with a locking stop (9) on the upper part. The locking stop (9) is disc-shaped and the diameter of the locking stop (9) is larger than the diameter of the reversing turntable (21). The locking stop (9) fits the locking secondary memory alloy drive wire (13).

7. A rotary actuator driven by a shape memory alloy driving wire according to claim 1, characterized in that... It also includes a top cover (3), which is connected to the bottom plate (12) to form a shell structure. A rotating component and a memory alloy wire are installed inside the shell structure.

8. A rotary actuator driven by a shape memory alloy driving wire according to claim 1, characterized in that... The base plate (12) is provided with a positive terminal A, a negative terminal B, a ground terminal C, and a second positive terminal D. The base plate (12), the support bar (14), and the partition plate (6) are provided with printed circuit boards, which are PCB printed circuit boards. The printed circuit board of the base plate (12) is connected to the positive terminal A and the central shaft (18) to form the positive terminal of the first-stage circuit. The printed circuit board of the base plate (12) is connected to the negative terminal B, the sliding groove (19), and the support bar (14) to form the negative terminal of the first-stage circuit. The positive terminal of the first-stage circuit is connected to the negative terminal of the first-stage circuit through the first-stage memory alloy drive wire (1) to form the first-stage positive and negative circuit. The printed circuit board of the base plate (12) is connected to the second positive terminal D, the sliding groove (19), and the support bar (14) to form the positive terminal of the second-stage circuit. The printed circuit board of the base plate (12) is connected to the second positive terminal D, the sliding groove (19), and the support bar (14) to form the positive terminal of the second-stage circuit. The negative terminal B, the partition fixing rod (11) and the partition (6) form the negative terminal of the secondary circuit. The positive terminal of the secondary circuit is connected to the negative terminal of the secondary circuit through the secondary memory alloy driving wire (13). The primary positive and negative circuit and the secondary positive and negative circuit are energized separately to control the deformation of the memory alloy wire. The printed circuit board of the base plate (12) is connected to the ground terminal C and the limiting post (16) to form the ground terminal of the primary circuit. The limiting pin (5) rotates and touches the limiting post (16) to ground. The printed circuit board of the base plate (12) is connected to the ground terminal C, the sliding groove (19) and the support bar (14) to form the ground terminal of the secondary circuit. The support bar (14) slides to the end of the sliding groove (19) to touch the ground. The memory alloy wire is de-energized and its deformation is restored by the torsion spring (2).

9. A rotary actuator driven by a shape memory alloy driving wire according to claim 8, characterized in that... The sliding groove (19) is provided with an electrode spring, the electrode spring model is FDX0033C2, the electrode spring is set in the groove or end of the sliding groove (19), and the electrode spring is in close contact with the support bar (14).

10. A rotary actuator driven by a shape memory alloy driving wire according to claim 8, characterized in that... The limiting pin (5), partition fixing rod (11), limiting post (16), and central shaft (18) are high-nickel white copper sheet metal parts.

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