CN117863209A - Linear motion actuator, multi-mode miniature brake and robot - Google Patents

Abstract

The invention discloses a linear motion actuator, a multi-mode miniature brake and a robot. The linear motion actuator comprises a plurality of motion actuating bodies and a plurality of actuating bodies, wherein the plurality of motion actuating bodies are sequentially stacked along a first direction, each motion actuating body is provided with a first end part and a second end part which are oppositely arranged along a second direction, and the first end part of one of the two adjacent motion actuating bodies is connected with the second end part of the other one of the two adjacent motion actuating bodies through the actuating bodies; the actuator body can generate recoverable deformation under external stimulus, and the motion actuator body connected with the actuator body can move along the second direction under the driving of the deformation generated by the actuator body. The multi-mode miniature brake provided by the invention can replace a plurality of groups of series connection link mechanisms and executing mechanisms of the electrically-variable intelligent material combination, and solves the problems of small output stroke, poor maintenance and expansibility, single function, difficult control and the like of the intelligent material brake.

Description

Linear motion actuator, multi-mode miniature brake and robot

Technical Field

The invention particularly relates to a linear motion actuator, a multi-mode miniature brake and a robot, and belongs to the technical field of miniature brakes, rotators and aircraft actuators.

Background

The miniature brake is mainly used in the field of miniature robots, is a terminal executing mechanism of the robot, and the performance quality of the miniature brake directly determines the capacity of a miniature robot system. The traditional motor brake and pneumatic brake have complex structures due to the actuation principle, and are difficult to realize miniaturization and light weight due to the fact that corresponding control circuits or modules are matched.

In recent years, in order to solve the light-weight and heavy-load micro driving capability of an intelligent micro robot, a batch of novel intelligent materials satisfying the electro-deformation, such as electro-expansion deformation, electro-thermal deformation, electro-piezoelectric deformation, electro-magnetic deformation, and the like, are gradually applied, wherein the electro-expansion deformation materials: mainly comprises electric expansion ceramics (PZT), electric contraction composite materials (SMA) and the like, and an electric thermal deformation material: mainly comprises a thermally controllable potentiometer (TEC), a thermally controllable resistor (TR), a thermally controllable insulator (TIR) and the like; piezoelectric deformable material: mainly comprises an electro-piezoelectric deformation material (EDM), an electro-piezoelectric composite material (ECM) and the like; electromagnetic deformation material: the electromagnetic controllable magnetic resonance device mainly comprises an electromagnetic controllable insulator (EMIR), an electromagnetic controllable ferrite (EMM) and an electromagnetic controllable composite material (EMC), and finally generates driving force in an electro-deformation mode, so that the driving mechanism realizes the braking, rotating and other capacities.

However, in practical use, it is found that, although the actuator in the prior art is greatly advanced in terms of volume and mass compared with the conventional motor and pneumatic brake, the actuator still has difficulty in meeting the requirements of miniaturization, light weight, large driving and quick response of the micro-robot in terms of travel, driving capability, response time and the like, and has a single driving function. Therefore, the existing intelligent material miniature brakes still face a plurality of challenges in miniature bionic robot (especially bionic ornithopter and the like) application.

For example, pulley disc pulling mode: the memory alloy wire is adopted to drive the gear disc to drive the multi-stage gear, so that a motor/steering engine is replaced by a small space to obtain a larger rotation angle. There are problems: the laminated structure is complex, the maintenance difficulty is high, and the output load capacity is weak; the actual rotation angle is difficult to ensure due to the length of the memory alloy wire. The multi-strand intelligent material serial-parallel traction mode comprises the following steps: the intelligent materials such as the memory alloy wires are singly adopted for combined connection, and larger driving force and driving stroke are realized through multi-strand deformation conduction. There are problems: the brake response time is long, and the scheme is to exchange the quantity of intelligent materials for driving force and driving stroke, so that the required power consumption is large.

In summary, most of the existing lightweight micro-drivers are designed by adopting a motor braking scheme, are driven by gears, have complex structures, large energy loss and difficult microminiaturization treatment, can increase the rotation angle through a speed change mechanism, but have small rotation moment, low output torque and weak load capacity, and require an additional mechanism to realize the rotation function; the scheme of adopting the memory alloy wire as a power source has the advantages that the response speed of the actuator is low, the variation range is single, the carrying capacity is weak, and the high-frequency multi-point or multi-angle use is difficult to meet due to the thermal deformation mechanism.

Disclosure of Invention

The invention mainly aims to provide a linear motion actuator, a multi-mode miniature brake and a robot, so that the defects in the prior art are overcome.

In order to achieve the purpose of the invention, the technical scheme adopted by the invention comprises the following steps:

in one aspect, the present invention provides a linear motion actuator comprising a plurality of motion actuators and a plurality of actuators,

the plurality of the motion execution bodies are sequentially stacked along a first direction, each motion execution body is provided with a first end part and a second end part which are oppositely arranged along a second direction, and the first end part of one of the two adjacent motion execution bodies is connected with the second end part of the other one of the two adjacent motion execution bodies through the actuating bodies;

the actuator body can generate recoverable deformation under external stimulus, and the motion actuator body connected with the actuator body can move along a second direction under the driving of the deformation generated by the actuator body, wherein the second direction is intersected with the first direction.

In another aspect, the present invention provides a multi-modal micro-brake comprising: the linear motion actuator is in transmission connection with the linear output mechanism and the rotary output mechanism through the transmission mechanism, and when the linear motion actuator moves along the second direction, the linear output mechanism can be driven to do linear motion, and meanwhile, the rotary output mechanism is driven to do rotary motion.

The invention further provides a robot, and a terminal execution mechanism of the robot comprises the linear motion actuator or the multi-mode miniature brake.

Compared with the prior art, the invention has the advantages that:

the multi-mode miniature brake provided by the invention overcomes the contradiction between the low energy efficiency ratio, the output force and the repeated response frequency of the electrically-induced intelligent material through ingenious structural design, and drives a plurality of actuating bodies formed by the electrically-induced intelligent material to shrink together under the power supply of the low voltage (5V-12V) at the rear end, thereby increasing the rotation angle and the linear displacement distance and having excellent output torque.

The multimode miniature brake provided by the invention uses the actuating bodies formed by a plurality of adjustable and controllable electrically-variable intelligent materials to replace a motor and other braking devices in the traditional rotator, the acting force output by the linear motion actuator is directly transmitted to the output shaft, the energy loss caused by a transmission system such as a gear is avoided, and the physical space and the weight are greatly saved.

The multi-mode miniature brake provided by the invention is simple and convenient to control, the actuating body is contracted when the brake is electrified, the rotary motion output mechanism rotates positively, the coil spring does work when the brake is powered off, the rotary motion output mechanism rotates reversely, and when the brake is actually used, pulse width modulation signals are input, the electronic circuit is switched on and off through the driving circuit board, and the brake is driven to execute rotary and linear actions.

Drawings

FIG. 1 is a schematic illustration of a multi-modal micro-brake provided in an exemplary embodiment of the present invention;

FIG. 2 is a schematic illustration of the internal structure of a multi-modal micro-brake in accordance with an exemplary embodiment of the present invention;

FIG. 3 is a schematic exploded view of a multi-modal micro-brake in accordance with an exemplary embodiment of the present invention;

FIG. 4 is a schematic view of a rotor in a multi-modal micro-brake according to an exemplary embodiment of the present invention;

FIG. 5 is a schematic illustration of the transmission mechanism of a multi-modal micro-brake in accordance with an exemplary embodiment of the present invention;

FIG. 6 is a schematic view of the rotational output shaft of a multi-modal micro-brake in accordance with an exemplary embodiment of the present invention;

FIG. 7 is a side view of a linear motion actuator core structure provided in an exemplary embodiment of the present invention;

FIG. 8 is a schematic cross-sectional view of A-A of FIG. 7;

fig. 9a and 9b are bottom and top views, respectively, of a core structure of a linear actuator according to an exemplary embodiment of the present invention.

Detailed Description

In view of the shortcomings in the prior art, the inventor of the present invention has long studied and practiced in a large number of ways to propose the technical scheme of the present invention. The technical scheme, the implementation process, the principle and the like are further explained as follows.

In one aspect, the present invention provides a linear motion actuator comprising a plurality of motion actuators and a plurality of actuators,

the plurality of the motion execution bodies are sequentially stacked along a first direction, each motion execution body is provided with a first end part and a second end part which are oppositely arranged along a second direction, and the first end part of one of the two adjacent motion execution bodies is connected with the second end part of the other one of the two adjacent motion execution bodies through the actuating bodies;

the actuator body can generate recoverable deformation under external stimulus, and the motion actuator body connected with the actuator body can move along a second direction under the driving of the deformation generated by the actuator body, wherein the second direction is intersected with the first direction.

Further, the directions of the deformations generated by the actuating bodies between any two of the motion-executing bodies are the same.

Further, a plurality of the actuating bodies are arranged in parallel.

Further, adjacent two of the motion actuators are connected via one of the actuators.

Further, the first end portion or the second end portion of each of the movement actuating bodies is connected to only one of the actuating bodies.

Further, the plurality of motion execution bodies and the plurality of actuating bodies are alternately arranged in sequence along the first direction, and the plurality of motion execution bodies are connected in sequence end to end through the plurality of actuating bodies to form a folding structure.

Further, the actuating body is formed of an electrically, thermally, optically or force-variable smart material.

Further, the linear motion actuator further includes an excitation source for applying a stimulus to the actuating body that causes the deformation of the actuating body, the excitation source being an electrical source, for example, when the actuating body is formed of an electrically-variable smart material.

In a more specific embodiment, the actuating body is made of electrically variable intelligent material, the motion actuating body is of a conductive structure, the motion actuating body is electrically connected with the actuating body, at least one side surface of the motion actuating body is further provided with an insulator, and two adjacent motion actuating bodies are electrically isolated through the insulator.

Further, in the first direction, the first and last of the motion actuators are electrically connected with a driving circuit board, which is electrically connected with an external power source. More specifically, in the first direction, the first motion executing body and the last motion executing body are respectively connected to a driving circuit board through flexible wires and then connected with an external power supply, and the driving circuit board can configure different driving circuits according to the number of the motion executing bodies and the electric properties of the actuating bodies so as to realize the conversion of the external power supply and signals to the power required by the actuating bodies.

Further, the linear motion actuator further includes: the base plate, be provided with the locating pin on the base plate, be provided with on the motion executor along the guiding hole that the second direction extends, the locating pin sets up the motion executor in the guiding hole, the diameter of locating pin is less than the width of guiding hole, and the locating pin still with the drive circuit board electricity is connected, when the locating pin with the motion executor is followed the second direction takes place relative motion, the locating pin can with the first lateral wall of guiding hole, second lateral wall electric contact, first lateral wall with the second lateral wall is followed the second direction is relative to be set up.

Further, the second direction is a longitudinal direction of the motion executing body.

In another aspect, the present invention provides a multi-modal micro-brake comprising: the linear motion actuator is in transmission connection with the linear output mechanism and the rotary output mechanism through the transmission mechanism, and when the linear motion actuator moves along the second direction, the linear output mechanism can be driven to do linear motion, and meanwhile, the rotary output mechanism is driven to do rotary motion.

Further, the transmission mechanism comprises a linear connecting part and a rotary connecting part, one end of the linear connecting part is connected with the linear motion actuator, the other end of the linear connecting part is connected with the linear output mechanism, one end of the rotary connecting part is connected with the linear motion actuator, the other end of the rotary connecting part is connected with the rotary output mechanism, and the rotary output mechanism can rotate around the axis of the rotary output mechanism.

Further, the rotary connecting component is fixedly connected with the linear connecting component, and the linear connecting component is fixedly connected with at least one motion executing body.

Further, the linear connection member is fixedly connected with the first motion executing body or the last motion executing body.

Further, the rotary output mechanism comprises a rotary output shaft and a reset mechanism, the rotary connecting part and the reset mechanism are respectively connected with the rotary output shaft, and the rotary output shaft can rotate around an axis of the rotary output shaft, wherein the rotary connecting part and the linear motion actuator are used for providing a first acting force for enabling the rotary output shaft to rotate towards a first rotary direction, and the reset mechanism is used for providing a second acting force for enabling the rotary output shaft to rotate towards a second rotary direction, and the first rotary direction is opposite to the second rotary direction.

Further, the reset mechanism is an elastic mechanism, and the second acting force is elastic force provided by the reset mechanism.

Further, the return mechanism includes a coil spring.

Further, the rotary connecting component is a flexible connecting component.

Further, the straight connecting component is a rigid connecting component.

Further, the linear output mechanism comprises a linear output shaft.

Further, the multi-mode micro brake further comprises a housing, the transmission mechanism and the linear motion actuator are packaged in the housing, and at least part of the linear output mechanism and the rotary output mechanism extend out of the housing.

Further, a baffle is further arranged in the shell, and the linear output mechanism and the rotary output mechanism are isolated in two different spaces through the baffle.

Further, one end of the reset mechanism is fixedly connected with the shell, and the other end of the reset mechanism is fixedly connected with the rotary output shaft.

The invention further provides a robot, and a terminal execution mechanism of the robot comprises the linear motion actuator or the multi-mode miniature brake.

Further, the terminal actuating mechanism comprises a plurality of multimode miniature brakes, and the multimode miniature brakes are connected in series and/or in parallel and/or in cascade.

Further, the terminal actuator has a single degree of freedom or multiple degrees of freedom.

Further, the robot comprises a bionic robot, and the terminal executing mechanism is any one of a hand, a foot, a wing and a wing of the bionic robot.

Further, the linear motion actuator or the multi-mode micro-actuator serves as a joint structure of the terminal actuator.

Further, the robot is a bionic ornithopter.

Further, the robot is a microminiature robot.

The technical solution, implementation process and principle, etc. will be further explained below with reference to the accompanying drawings, and unless otherwise indicated, the electrically, thermally, optically or mechanically induced smart materials used in the present invention are known to those skilled in the art and are commercially available without limitation to their specific product model.

Referring to fig. 1-3, a multimode miniature brake includes a housing, and a linear output mechanism 8, a rotary output mechanism, a transmission mechanism 5 and a linear motion actuator 6 encapsulated in the housing, wherein a part of the linear output mechanism 8 and a part of the rotary output mechanism are exposed outside the housing or extend out from the housing, the linear motion actuator 6 is simultaneously connected with the linear output mechanism 8 and the rotary output mechanism through the transmission mechanism 5 in a transmission manner, and when the linear motion actuator 6 outputs linear motion driving, the linear output mechanism 8 and the rotary output mechanism can be simultaneously driven by the linear motion actuator 6, wherein the linear output mechanism 8 is driven to perform linear motion, and the rotary output mechanism is driven to perform rotary motion.

Specifically, the linear output mechanism 8, the rotary output mechanism and the housing are movably matched, specifically, the linear output mechanism 8 can perform linear motion relative to the housing along the axis direction (i.e. the axial direction) of the linear output mechanism, the rotary output mechanism can perform rotary motion relative to the housing around the axis of the linear output mechanism, more specifically, the direction of the linear motion of the linear output mechanism 8 is parallel to the direction of the linear motion drive output by the linear motion actuator 6, the direction of the rotary axis of the rotary motion of the rotary output mechanism is intersected with the direction of the linear motion drive output by the linear motion actuator 6, and particularly, the direction of the rotary axis of the rotary motion of the rotary output mechanism is perpendicular to the direction of the linear motion drive output by the linear motion actuator 6.

Specifically, the linear output mechanism 8 includes a linear output shaft, a part of which extends out from the housing, and another part of which is connected to the linear actuator 6 via the transmission mechanism 5.

Specifically, the rotary output mechanism comprises a rotary body 3, a rotary output shaft 4 and a reset mechanism 7, wherein the rotary body 3 is fixedly matched with the rotary output shaft 4, the rotary output shaft 4 is in running fit with the shell, the rotary body 3 is not directly connected with the shell, the rotary body 3 can rotate by taking the rotary output shaft 4 as an axis, the reset mechanism 7 is fixedly connected with the shell and the rotary body 3 respectively, the rotary body 3 is also in transmission connection with the linear motion actuator 6 through a transmission mechanism 5, and the rotary body 3 can rotate under the combined action of the reset mechanism 7 and the linear motion actuator 6; more specifically, the linear actuator 6 is configured to provide a first force for rotating the rotary body 3 in a first rotational direction via the rotary connecting member 501, and the return mechanism 7 is configured to provide a second force for rotating the rotary body 3 in a second rotational direction, the first rotational direction being opposite to the second rotational direction, and the rotary body 3 and the rotary output shaft 4 are fixedly connected to each other and are synchronously movable, so that the force applied to the rotary body 3 is equivalent to the force applied to the rotary output shaft 4.

Specifically, the reset mechanism is an elastic mechanism, the second acting force is elastic force provided by the reset mechanism, and the reset mechanism comprises a coil spring, the coil spring can be sleeved on the rotary output shaft 4, and the rotary body 3 is provided with a positioning hole 302 for the coil spring to be connected with.

Specifically, the rotary output shaft 7 and the rotary body 3 may be integrally formed, or may be combined in a manner of being fixedly connected, more specifically, taking the manner of combining the rotary output shaft 7 and the rotary body 3 in a manner of being fixedly connected as an example, a mounting hole matched with the rotary output shaft 7 is formed in the rotary body 3, a part of the rotary output shaft 7 is arranged in the mounting hole of the rotary body 3, a plurality of bosses distributed at intervals are formed on the circumferential side surface of the rotary output shaft 7, a plurality of clamping grooves 303 distributed at intervals are formed in the wall of the mounting hole, and the bosses on the rotary output shaft 7 can be correspondingly embedded in the clamping grooves 303 in the wall of the mounting hole, so that the rotary output shaft 7 and the rotary body 3 can synchronously rotate. Of course, the boss may be provided on the wall of the mounting hole, and the engaging groove may be provided on the circumferential side surface of the rotary output shaft 7.

Specifically, the shell is further provided with a shaft hole, two ends of the rotary output shaft 7 are correspondingly arranged in the shaft hole of the shell and are in running fit with the shaft hole, the shaft hole can position/limit the rotary output shaft 7, the rotary output shaft 7 is prevented from being offset or inclined in the rotation process, and the like, and in order to better enable the rotary output shaft 7 to be in running fit with the shell, a bearing and other structures can be further arranged between the rotary output shaft 7 and the shaft hole, so that friction between the rotary output shaft 7 and the shell is reduced.

More specifically, the housing may include a first housing 1 and a second housing 2, where the first housing 1 and the second housing 2 are connected by a detachable structure, and the linear output mechanism 8, the rotary output mechanism, the transmission mechanism 5, and the linear motion actuator 6 are enclosed between the first housing 1 and the second housing 2, and in order to avoid motion interference between the linear output mechanism 8 and the rotary output mechanism, a baffle is further disposed on the first housing 1 and/or the second housing 2, where the baffle isolates the linear output mechanism 8 and the rotary output mechanism in two independent spaces; more specifically, the baffle forms a first driving space and a second driving space which are isolated from each other with the first shell 1 and the second shell 2, and the linear output mechanism 8 and the rotary output mechanism are respectively and correspondingly packaged in the first driving space and the second driving space, so that external sundries can be prevented from entering the device to interfere with movement.

Specifically, referring to fig. 4-6 together, the transmission mechanism 5 is mainly configured to transmit the drive provided by the linear motion actuator 6 to the linear output mechanism 8 and the rotary output mechanism, and accordingly, the transmission mechanism 5 includes a rotary connection member 501 and a linear connection member 502, where one end of the linear connection member 502 is connected to the linear motion actuator 6, the other end is fixedly connected to the linear output shaft of the linear output mechanism 8, one end of the rotary connection member 501 is connected to the linear motion actuator 6, and the other end is fixedly connected to the rotary body 3 of the rotary output mechanism.

It should be understood that the rotary connection member 501 and the linear connection member 502 may be connected to the linear actuator 6 independently of each other, and of course, the rotary connection member 501 and the linear connection member 502 may also be fixedly connected, and the rotary connection member 501 and the linear connection member 502 may correspond to a rotary connection portion and a linear connection portion, respectively, as a transmission mechanism, that is, it may be understood that the rotary connection member 501 and the linear connection member 502 are fixedly connected, and fixedly connected portions thereof are directly fixedly connected to the linear actuator 6.

Specifically, the rotary connecting member 501 is provided with a connecting through hole, and the circumferential rotation surface of the rotating body 3 is provided with a stand column 301 opposite to the connecting through hole, the stand column 301 is disposed in the connecting through hole, and at least the radial dimension of one end of the stand column 301 away from the rotating body 3 is larger than the aperture of the first connecting through hole, so as to ensure that the stand column 301 cannot deviate from the connecting through hole to separate the rotary connecting member 501 from the rotating body 3; of course, the rotary connection part 501 may also be fixedly connected to the rotary body 3 by other connection structures. Specifically, the connection structure/manner of the linear connecting member 502 and the linear motion output shaft may be the same as the connection structure/manner of the rotary connecting member 501 and the rotary body 3.

Specifically, the rotary connection member 501 is a flexible connection member made of a soft material, so as to achieve the purpose of driving the rotary body 3 to rotate, and the linear connection member 502 is a rigid connection member made of a hard material, so as to directly drive the linear output shaft to move.

Specifically, referring to fig. 7, 8, 9a, and 9b together, the linear motion actuator 6 includes a driving circuit board (i.e. the aforementioned substrate) 604, a fixing plate 605, a plurality of motion actuators 606, and a plurality of actuators 601, wherein the substrate 605 is fixedly disposed on the driving circuit board 604, the plurality of motion actuators 606 and the plurality of actuators 601 are sequentially and alternately disposed on the driving circuit board 604 along a first direction, each motion actuator 606 has a first end and a second end disposed opposite to each other along a second direction, the first end of one of the two adjacent motion actuators 606 and the second end of the other are connected by the actuator 601, i.e. the plurality of motion actuators 606 and the plurality of actuators 601 are sequentially and alternately stacked along the first direction and connected end to form a folded structure, the actuators 601 can generate recoverable deformation under external stimulus, the motion actuators 606 connected thereto can drive the motion actuators 606 to move along the second direction under the deformation generated by the actuators 601, wherein, the last/most top layer of the motion actuators of the principle driving circuit board are fixedly connected with the transmission mechanism 5 along the first direction and the first direction, and the second direction are perpendicular to the first direction of the motion actuators 606, and the first direction and the second direction are perpendicular to the first direction of the motion actuators 606.

It should be noted that, since the driving circuit board 604 is provided with electronic components, the electronic components have a certain height, and the fixing plate 605 is mainly used for electrically isolating the driving circuit board 604 and the motion executing body, and is in flat contact with the motion executing body and the insulator, so that the stacked motion executing bodies can realize parallel motion during shrinkage, and in addition, the fixing plate 605 is also sleeved on the positioning pin 602, so that the structural strength of the positioning pin 602 can be increased to a certain extent, and inertia force during overshoot actuation is buffered, and the like.

Specifically, the directions of the deformations generated by the actuating bodies 601 between any two of the motion actuators 606 are the same, and the plurality of actuating bodies 601 are preferably arranged in parallel; more specifically, two adjacent motion actuators 606 are connected via one actuator 601, that is, the first end or the second end of each motion actuator 606 is connected to only one actuator 601, it is understood that any two adjacent motion actuators 606 and an actuator 601 located between the two motion actuators 606 are connected to form a Z-shaped structure, when the actuator 601 is stimulated to deform, the motion actuators 606 can be pulled to translate along the length direction thereof, and when a plurality of actuators 601 are stimulated to deform, a plurality of motion actuators 606 can be pulled to translate along the length direction thereof, and displacement of each motion actuator 606 along the second direction is small, but the displacement of the plurality of motion actuators 606 is overlapped, so that the linear motion actuator 6 outputs a required displacement output.

Specifically, the linear motion actuator 6 is disposed in the housing along the first direction, positioning holes are disposed at four corners of the driving circuit board 604, studs are disposed in the positioning holes, the driving circuit board 604 is fixedly connected to the housing via the studs to limit the movement of the driving circuit board in the parallel direction, and a folded structure formed by the plurality of motion actuators 606 and the plurality of actuating bodies 601 is limited between the housings in the first direction.

Specifically, the actuating body 601 is formed of an electrically variable smart material, the actuating body 606 is of an electrically conductive structure, the actuating body 601 is electrically connected to the actuating body 606, wherein a first one of the plurality of actuating bodies 606, one of the intermediate regions, and a last/topmost one of the plurality of actuating bodies 606 are electrically connected to the driving circuit board 604 via a flexible electrical connection (e.g., copper wire) 603, the driving circuit board 604 is electrically connected to a power supply, specifically, the first one of the plurality of actuating bodies is electrically connected to an anode connection terminal on the driving circuit board 604, the last one of the plurality of actuating bodies is electrically connected to a cathode connection terminal on the driving circuit board 604, one of the intermediate regions is electrically connected to a detection terminal on the driving circuit board 604, the power supply can apply an electrical excitation to the plurality of actuating bodies 601 via the driving circuit board 604, and the detection terminal on the driving circuit board 604 can detect whether the actuating body 601 is contracted into place.

It should be noted that, the motion actuator 606 and the actuator 601 are sheet-shaped members, the first motion actuator is the one closest to the driving circuit board, the last motion actuator is the one farthest from the driving circuit board, and the actuator may be formed of a thermally-induced, optically-induced or force-induced smart material.

Specifically, at least one side surface of the motion executing body 606 is further provided with an insulator 607, and two adjacent motion executing bodies 606 are electrically isolated by the insulator 607, and it should be noted that the insulator 607 may be regarded as an insulating layer fixedly combined with the surface of the motion executing body 606.

Specifically, the base plate 605 or the driving circuit board 604 is provided with a positioning pin 602, the motion executing body 606 and the actuating body 601 are provided with guide holes extending along the second direction, the positioning pin 602 is disposed in the guide holes, the diameter of the positioning pin 602 is smaller than the width of the guide holes, and the positioning pin is further electrically connected with the driving circuit board 604, when the positioning pin and the motion executing body 606 perform relative motion along the second direction, the positioning pin 602 can be electrically contacted with a first side wall and a second side wall of the guide holes, the first side wall and the second side wall are oppositely disposed along the second direction, and when the motion executing bodies 606 are retracted in place, the positioning pin 602 is electrically contacted with the first side wall or the second side wall of the guide holes of the actuating body 601 and the motion executing body 606, so that the motion executing body 606, the actuating body 601 are communicated with a detection resistor/circuit on the driving circuit board 604, and a received in-place prompt is triggered (the detection point on the circuit outputs a voltage signal to the outside, and a patch led diode can also be disposed).

The working process of the multimode miniature brake provided by the invention at least comprises the following steps:

at the initial moment (without power on), the actuating bodies 601 are in an extension state, after power on, the actuating bodies 601 shrink simultaneously, the shrinkage displacement of each actuating body 601 is very short, so the response speed is very high, the actuating bodies 601 formed by the electrically-induced intelligent materials shrink to drive each layer of moving actuating bodies 606 and insulators 607 to move, and as a plurality of actuating bodies 601 can be arranged, the displacement of the actuating bodies 601 is overlapped, the rotation angle is further increased, the rotating body 3 is driven to rotate and the linear output shaft is driven to move through the transmission mechanism 5, and the coil spring 7 is tightened;

when the actuating body 601 is powered off in the reverse rotation, the coil spring 7 is loosened to drive the rotating body 3 and the rotating output shaft 4 to reversely rotate, and the transmission mechanism 5 pushes the linear output shaft to move until the coil spring 7 is completely loosened.

The detection end can detect the stretching state of the actuating body 601 in a reciprocating mode, when the detection end detects that the actuating body 601 contracts to the limit, the circuit is disconnected, the actuating body 601 is loosened, when the actuating body 601 is loosened to the limit, the circuit is connected, so that reciprocating motion is achieved, and the detection end can be disconnected to close the reciprocating motion.

The multi-mode miniature brake provided by the invention can be independently used as a miniature rotary steering engine (brake) and a miniature linear steering engine (brake) respectively, and is suitable for the application of drivers, brakes, rotators and the like of various electrically-driven novel intelligent materials such as thermal-induced changes, photo-induced changes, force-induced changes and the like, wherein the electrically-induced intelligent materials can be replaced by any functional material with controllable and measurable shrinkage deformation. In addition, the multi-mode miniature brake provided by the invention can be used as a single-degree or multi-degree of freedom joint mechanism such as a limb wing of a bionic robot by replacing a brake shell through multi-level serial connection, parallel connection and cascading to form a multi-degree of freedom brake with points, lines and planes (including curved surfaces).

The multi-mode miniature brake provided by the invention can replace a motor part in a traditional steering engine and a rotator, can realize miniature light weight, has functions of rotation driving and linear driving, can be independently used as a miniature rotary steering engine and a miniature linear steering engine respectively, can be applied to drivers, brakes, rotators and the like of various novel intelligent materials such as electric driven thermal deformation, photo-induced deformation and force-induced deformation, and the like, and can be replaced by any functional material with controllable and measurable contraction deformation for forming an actuating body.

The multi-mode miniature brake based on the intelligent material can replace a plurality of groups of series connection link mechanisms and executing mechanisms combined by the electrically-induced intelligent material, solves the problems of small output stroke, poor maintenance and expansibility, single function (linear/rotary), difficult control and the like of the intelligent material brake, and has shape memory effect, super elasticity and high damping property.

The multi-mode miniature brake provided by the invention overcomes the contradiction between the low energy efficiency ratio, the output force and the repeated response frequency of the electrically-induced intelligent material through ingenious structural design, and drives a plurality of actuating bodies formed by the electrically-induced intelligent material to shrink together under the power supply of the low voltage (5V-12V) at the rear end, thereby increasing the rotation angle and the linear displacement distance and having excellent output torque.

The multimode miniature brake provided by the invention uses the actuating bodies formed by a plurality of adjustable and controllable electrically-variable intelligent materials to replace a motor and other braking devices in the traditional rotator, the acting force output by the linear motion actuator is directly transmitted to the output shaft, the energy loss caused by a transmission system such as a gear is avoided, and the physical space and the weight are greatly saved. Meanwhile, the multimode miniature brake provided by the invention is simple and convenient to control, the actuating body is contracted when the brake is electrified, the rotary motion output mechanism rotates positively, the coil spring does work when the brake is powered off, and the rotary motion output mechanism rotates reversely, so that two braking output modes of rotation and straight line can be realized only by controlling the on-off of a circuit.

It should be understood that the above embodiments are merely for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the present invention and implement the same according to the present invention without limiting the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.

Claims (10)

1. A linear motion actuator, comprising: a plurality of motion executors and a plurality of actuators,

the plurality of the motion execution bodies are sequentially stacked along a first direction, each motion execution body is provided with a first end part and a second end part which are oppositely arranged along a second direction, and the first end part of one of the two adjacent motion execution bodies is connected with the second end part of the other one of the two adjacent motion execution bodies through the actuating bodies;

the actuator body can generate recoverable deformation under external stimulus, and the motion actuator body connected with the actuator body can move along a second direction under the driving of the deformation generated by the actuator body, wherein the second direction is intersected with the first direction.

2. The linear motion actuator of claim 1, wherein: the deformation directions of the actuating bodies between any two motion actuating bodies are the same;

and/or a plurality of the actuating bodies are arranged in parallel.

3. The linear motion actuator according to claim 1 or 2, wherein: two adjacent motion actuating bodies are connected through one actuating body; and/or the first end or the second end of each of the motion actuators is connected to only one of the actuators;

and/or the plurality of motion execution bodies and the plurality of actuating bodies are sequentially and alternately arranged along the first direction, and the plurality of motion execution bodies are sequentially connected end to end through the plurality of actuating bodies to form a folding structure.

4. The linear motion actuator of claim 1, wherein: the actuating body is formed by intelligent materials of electric, thermal, photo or force;

and/or the linear motion actuator further comprises an excitation source for applying a stimulus to the actuating body that causes the deformation of the actuating body.

5. The linear motion actuator of claim 1, wherein: the actuating body is made of electrically-variable intelligent materials, the motion actuating body is of a conductive structure, the motion actuating body is electrically connected with the actuating body, an insulator is further arranged on at least one side surface of the motion actuating body, and two adjacent motion actuating bodies are electrically isolated through the insulator;

and/or, in the first direction, the first and last motion executors are electrically connected with a driving circuit board, and the driving circuit board is electrically connected with an external power supply.

6. The linear motion actuator of claim 5, further comprising: the base plate is provided with a positioning pin, the motion execution body is provided with a guide hole extending along the second direction, the positioning pin is arranged in the guide hole of the motion execution body, the diameter of the positioning pin is smaller than the width of the guide hole, the positioning pin is also electrically connected with the driving circuit board, and when the positioning pin and the motion execution body relatively move along the second direction, the positioning pin can be electrically contacted with a first side wall and a second side wall of the guide hole, and the first side wall and the second side wall are relatively arranged along the second direction;

preferably, the current output structure and the current input structure are disposed on the substrate;

preferably, the second direction is a longitudinal direction of the movement executing body.

7. A multi-modal micro-brake, comprising: a linear output mechanism, a rotary output mechanism, a transmission mechanism and the linear motion actuator according to any one of claims 1 to 6, wherein the linear motion actuator is in transmission connection with the linear output mechanism and the rotary output mechanism simultaneously through the transmission mechanism, and when the linear motion actuator moves along a second direction, the linear output mechanism can be driven to perform linear motion, and meanwhile, the rotary output mechanism is driven to perform rotary motion.

8. The multi-modal micro-brake of claim 7, wherein: the transmission mechanism comprises a linear connecting part and a rotary connecting part, one end of the linear connecting part is connected with the linear motion actuator, the other end of the linear connecting part is connected with the linear output mechanism, one end of the rotary connecting part is connected with the linear motion actuator, the other end of the rotary connecting part is connected with the rotary output mechanism, and the rotary output mechanism can rotate around the axis of the rotary output mechanism;

and/or the rotary connecting component is fixedly connected with the linear connecting component, and the linear connecting component is fixedly connected with at least one motion executing body;

and/or the linear connecting component is fixedly connected with the first motion executing body or the last motion executing body.

9. The multi-modal micro-brake of claim 8, wherein: the rotary output mechanism comprises a rotary output shaft and a reset mechanism, the rotary connecting part and the reset mechanism are respectively connected with the rotary output shaft, and the rotary output shaft can rotate around the axis of the rotary output shaft, wherein the rotary connecting part and the linear motion actuator are used for providing a first acting force for enabling the rotary output shaft to rotate towards a first rotary direction, and the reset mechanism is used for providing a second acting force for enabling the rotary output shaft to rotate towards a second rotary direction, and the first rotary direction is opposite to the second rotary direction;

and/or, the reset mechanism is an elastic mechanism, and the second acting force is the elastic force provided by the reset mechanism;

and/or, the reset mechanism comprises a coil spring;

and/or the rotary connecting part is a flexible connecting part;

and/or the linear connecting component is a rigid connecting component;

and/or the linear output mechanism comprises a linear output shaft;

and/or, the multimode miniature brake further comprises a shell, the transmission mechanism and the linear motion actuator are packaged in the shell, and at least part of the linear output mechanism and the rotary output mechanism extend out of the shell;

and/or a baffle is further arranged in the shell, and the linear output mechanism and the rotary output mechanism are isolated in two different spaces through the baffle;

and/or, one end of the reset mechanism is fixedly connected with the shell, and the other end of the reset mechanism is fixedly connected with the rotary output shaft.

10. A robot, characterized in that: the end effector of the robot comprising a linear motion actuator as claimed in any one of claims 1 to 6 or a multi-modal micro-brake as claimed in any one of claims 7 to 9;

preferably, the terminal actuating mechanism comprises a plurality of multimode miniature brakes, and the multimode miniature brakes are connected in series and/or in parallel and/or in cascade;

preferably, the terminal actuating mechanism has single degree of freedom or multiple degrees of freedom;

preferably, the robot comprises a bionic robot, and the terminal executing mechanism is any one of a hand, a foot, a wing and a wing of the bionic robot;

preferably, the linear motion actuator or the multi-mode miniature brake is used as a joint structure of the terminal executing mechanism;

preferably, the robot is a bionic ornithopter;

preferably, the robot is a microminiature robot.