KR102063730B1 - Actuator using shape memory alloy with active cooling module - Google Patents

Abstract

Disclosed is a shape memory alloy actuator with an active cooling module. According to the present invention, the shape memory alloy actuator with an active cooling module comprises: a shape memory body having a coil unit which contracts when resistance-heated by application of control power through a lead wire, and is freely transformed by shutting off the control power; a flexible tube of a tubular shape forming a flow path between the coil unit and the same and enclosing the edge of the coil unit; and a cooling driving unit communicating with both ends of the tube while forming a circulation loop to selectively supply any one between cooling water and gas to the flow path. According to the present invention, an active cooling module including a flexible tube of a tubular shape forming a flow path between a coil unit contacting depending on whether control power through a lead wire is applied and the same and enclosing the edge of the coil unit, and a cooling driving unit communicating with both ends of the tube while forming a circulation loop to selectively supply any one between cooling water and gas to the flow path is optimized in a module form reduced in size to be structurally compact to be integrated with a coil-shaped shape memory body to quickly supply the cooling water to the flow path for cooling the shape memory body and quickly discharge the cooling water to the outside.

Description

Shape memory alloy actuator with active cooling module {ACTUATOR USING SHAPE MEMORY ALLOY WITH ACTIVE COOLING MODULE}

The present invention relates to a shape memory alloy actuator with an active cooling module, and more particularly, to an actuator for converting electrical energy into linear mechanical energy using a shape memory alloy that is elongated and deformed according to heating and cooling. It is about.

Surgical robots used for minimally invasive surgery, such as brain tumor surgery or laparoscopic surgery, have a technical feature that, unlike their robots for large-scale manufacturing facilities, they do not require high power driving force or rapid operation due to their use characteristics.

However, these surgical robots do not require high power, but can be made small enough to be used for minimally invasive surgery, but can be operated freely, and do not require fast operation. Instead, they operate at a proper speed under precise control. It should be possible.

In order to implement a neurosurgery surgical robot capable of precise operation of multiple degrees of freedom, various driving forces and operating mechanisms have been applied, and as a result, the development of surgical robot technology has been actively made in recent years.

In particular, the actuator-related technology for providing a driving force to the surgical robot, using a piezoelectric element to move the biopsy probe at a speed of 2mm / s, or using a piezoelectric motor to move the operating point of the device 0.5 ~ 5mm / Shape memory alloys (SMA) that can move at speeds of s, use hydraulic power to provide uniform force transmission and large forces at wide displacements, or miniaturization, large force to weight, low noise, low cost, and low driving force Actuators using pneumatic or safe and easy to operate.

Among these methods, the piezoelectric element is advantageous for miniaturizing a surgical robot with high precision and reliability, and can be used without interference in an MRI environment. However, a large number of expensive piezoelectric motors can be used for the surgical robot. There is a problem in that excessive manufacturing costs to produce. In addition, the method using the hydraulic pressure may cause cavitation and fluid leakage due to the pressure change, and the method using the pneumatic pressure may have an unstable operation displacement depending on the ambient conditions such as the operating temperature. In addition, the shape memory alloy (SMA) method is characterized by the nonlinear property of the phase change (austenitic, martensite Pase change) due to heating and cooling, the synthetic stress and strain, and the low cooling rate depending on the thermomechanical cycle. There are disadvantages such as slow operation speed.

However, considering the feasibility, economic feasibility, and performance as an actuator in the technical aspects of the surgical robot, it is recognized that the method of increasing the operation speed by improving the low cooling rate, which is a disadvantage of the shape memory alloy (SMA), is considered to be the most efficient. R & D is being concentrated on this.

Among the cooling technologies currently proposed for shape memory alloys (SMA), ① the cooling method using the blower fan is contrary to the miniaturization, and ② the water cooling method using the coolant is not modular, and it is not structurally complicated. There is a technical problem with the treatment, ③ Mobile heat sink method is less efficient cooling, ④ Cooling method using refrigerants such as air, silicon grease, mineral oil, thermal grease, cooling efficiency, surgical robot Due to its use characteristics, there was a limit to the application.

An object of the present invention, while adopting a water cooling method using a cooling water relatively cooler than a refrigerant such as air, while structurally presenting a cooling module optimized to be compact and compact, while the shape memory alloy (SMA) of The present invention provides a shape memory alloy actuator equipped with an active cooling module capable of rapid mechanical operation required as a driving device of a surgical robot by quickly providing and discharging the cooling water used for cooling.

The object is a shape memory having a coil portion that is deformed when the resistance is heated by the application of the control power through the lead wire, and the coil portion is deformed freely when cooled by the disconnection of the control power; A tubular flexible tube forming a flow path between the coil portion and surrounding the outer portion of the coil portion; And a cooling drive unit communicating with both ends of the tube in a circulating ring to selectively provide any one of cooling water and gas to the flow path.

The tube and the cooling drive unit, one end is in communication with the tube in the state penetrated by the end of the shape memory, the other end is sealed by a sealing member, the coolant or gas through the inlet and outlet formed on one side It may be coupled by a pair of connecting brackets received and delivered to the flow path.

The shape memory alloy actuator may further include a control unit for controlling each operation by separately applying a control power in a state electrically connected to the shape memory body and the cooling driving unit.

The cooling drive unit may include: a first circulation device configured to cool the coil unit by providing cooling water to the flow path through a pair of connection brackets; And a second circulation device configured to provide a high pressure gas to the flow path through the pair of connecting brackets to discharge the cooling water in the flow path.

The first circulation device, the storage tank for receiving the cooling water; A first pipe having a first inflow line and a first outflow line communicating with each other between the water storage tank and the pair of outflow pipes and configured to circulate cooling water; And it may include a pump provided in the first pipe in order to force the cooling water is drawn out from the reservoir tank is provided in the flow path.

The second circulation device may include a compressor for generating a high pressure gas and supplying the gas to the flow path; And a second inlet line configured to communicate between the compressor and the first inlet line, and a second pipe configured to include the first outlet line so that the coolant provided in the flow path is returned to the water storage tank.

The shape memory alloy actuator further includes a temperature sensor provided at one side of the coil part to measure a temperature of the coil part and to transmit temperature information measured through a lead wire to the controller. Operation of the shape memory and the cooling driver may be controlled based on temperature information.

The tube may be a heat radiation foil of bellows type in which aluminum is deposited on a synthetic resin film.

Another object of the present invention is a pair of first and second shape memory having a coil portion that is deformed when the resistance is heated by the application of the control power through the lead wire, the coil portion is deformed freely when cooled by the disconnection of the control power; A tubular flexible tube forming a flow path between the coil portion and surrounding the outer portion of the coil portion; A cooling drive unit communicating with both ends of the tube in a circulation ring to selectively provide any one of cooling water and gas to the flow path; And a control unit for controlling each operation by separately applying control power in a state electrically connected to the first and second shape memory bodies and the cooling driving unit, wherein the control unit is bidirectional bending of the robot about one plane. For operation, it is achieved by the actuator unit coupling module characterized in that the length deformation of the first and second shape memory connected to the robot and the two wires are controlled in opposite directions.

The cooling drive unit may include: a first circulation device configured to cool the coil unit by circulating cooling water to any one of a flow path provided in the first shape memory and a flow path provided in the second shape memory; And discharging the coolant in the flow path by providing a high-pressure gas to another one of the flow path provided in the first shape memory and the flow path provided in the second shape memory for rapid heating of the coil unit. It may include two circulation devices.

According to the present invention, a flexible tube having a tubular shape surrounding a periphery of a tubular flexible tube is formed between the coil part that is stretched and contracted according to whether a control power source is applied through the lead wire, and is formed in communication with both ends of the tube. The active cooling module, which consists of a cooling drive unit which selectively provides either coolant or gas to the flow path, is optimized in a compact, structurally compact form, so that the cooling of the shape memory is integrated with the coil shape memory. Cooling water is quickly provided to the flow path for the discharge and can be quickly discharged to the outside.

As a result, as well as the rapid mechanical operation required as a driving device of the surgical robot, the driving force of high power to weight can be realized through the shape memory at low noise and low cost without loss.

1 is a view schematically showing the overall configuration of a shape memory alloy actuator with an active cooling module according to an embodiment of the present invention.
2 is an exploded view of the shape memory, the tube, and the connecting bracket of FIG. 1.
3 is a cross-sectional view (a) along the AA cutting line of FIG. 1 and a cross-sectional view (b) according to a modification.
4 is a view schematically showing the overall configuration of the actuator unit coupling module according to an embodiment of the present invention.
Figure 5a is an operating state diagram of the actuator unit coupling module for the one-way bending operation of the robot shown in FIG.
Figure 5b is an operating state diagram of the actuator unit coupling module for the other direction bending operation of the robot shown in FIG.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, in describing the present invention, descriptions of already known functions or configurations will be omitted to clarify the gist of the present invention.

1 is a view schematically showing the overall configuration of a shape memory alloy actuator with an active cooling module according to an embodiment of the present invention, Figure 2 is an exploded view of the shape memory, tube and connecting bracket of Figure 1, 3 is a cross-sectional view (a) according to the AA cutting line of Figure 1 and a cross-sectional view (b) according to a modification, Figure 4 is a view showing the overall configuration of the actuator unit coupling module according to an embodiment of the present invention, Figure 5a is an operating state diagram of the actuator unit coupling module for one-way bending operation of the robot shown in Figure 4, Figure 5b is an operating state diagram of the actuator unit coupling module for the other direction bending operation of the robot shown in FIG.

Top (top), bottom (bottom), left and right (side or side), front (front, front), back (fold, back), etc., which refer to directions in the description of the invention and claims, etc., are not intended to limit the right. For convenience of explanation, the relative positions between the drawings and the configurations are set as a reference, and each direction described below is based on this, except where specifically defined otherwise.

Shape memory alloy actuator 100 equipped with an active cooling module according to the present invention, by effectively improving the slow operating speed according to the low cooling rate of the shape memory body 110 that expands and contracts according to heating and cooling surgical robot ( 10) is a invention devised in a structurally designed to implement a high mechanical force as a driving device, as well as a high power-to-weight driving force at low noise and low cost without loss.

In order to concretely implement the functions or functions as described above, the shape memory alloy actuator 100 with an active cooling module according to an embodiment of the present invention, as shown in Figures 1 to 3, the shape memory Basically, 110, the tube 120 and the cooling drive unit 130, but may further comprise a connection bracket 140, the controller 150 and the temperature sensor 160, and the like.

Hereinafter, each configuration described above will be described in detail.

First, the shape memory 110 is a shape memory alloy having the property of shrinking when the resistance is heated by the application of the control power through the lead wire 111, and freely deformed when cooled by the power cut of the control power ( SMA, a metal alloy material, etc.), and may be configured to include a coil portion 112 in the center portion and a straight portion 113 at both ends.

At this time, the coil portion 112 is formed in a coil shape to further increase the length deformation displacement of the shape memory 110, the straight portion 113 is a straight shape for easy installation of the connection bracket 140 to be described later It can be formed as.

The shape memory 110 as described above, the one-way shape memory effect, that is, the length is forcibly contracted at a high temperature (at the time of heating) in the austenite state, so that the free deformation (length elongation) at the low temperature (at cooling) in the martensite state. Can be made.

As shown in FIGS. 1 and 3, the shape memory 110 has a pair of lead wires 111 bonded to each end by silver paste, which is a shape memory 110 that is a resistor in itself. A predetermined control power supply (approximately 2V to 5V) is selectively applied from the controller 150 to be described later to allow resistance heating (forced contraction operation) by energization or cooling (free deformable) by power failure.

That is, when a predetermined control power supply (approximately 2V to 5V) is applied to the shape memory 110 through the lead wire 111 from the controller 150 through the pair of lead wires 111 described above, the shape memory 110 ) May be forced to contract the length of the coil part 112 as it generates heat (austenite state) as a resistor.

On the contrary, when a predetermined control power supply (approximately 2V to 5V) is disconnected by the controller 150 to be described later, the shape memory 110 stops heating as a resistor and cools down (martensite state), so that the coil part 112 is externally driven. Can be deformed freely.

Therefore, the shape memory 110 is contracted as necessary through the control of the control unit 150, which appropriately combines the interruption, increase and decrease of the control power supply through the lead wire 111, and is extended freely, It is possible to perform the role of the electrically controlled actuator 100.

On the other hand, unlike the above-described shape memory 110, the length is forced to shrink at a high temperature (on heating) in the two-way shape memory effect, that is, austenite state, so that accurate stretching and contraction operation can be made by electrical control Of course, the martensite may be manufactured to be forcibly elongated at low temperatures (when cooling).

Tube 120 is a component provided to provide a space in which the coolant (W) for cooling the above-described shape memory 110 can flow in direct contact with the shape memory 110, the coil portion 112 It forms a flow path (FP) between and can be manufactured from a tubular flexible material surrounding the outer portion of the coil portion (112).

The tube 120 has a structure capable of forming a flow path FP through which the coolant W and the gas G can flow, which will be described later in relation to the coil part 112, and a shape memory body whose length is deformed. Any structure may be used as long as it is made of a structure and a material that can be stretched and contracted with the 110.

However, the tube 120 according to the embodiment of the present invention, as shown in FIGS. 1 to 3A, has an inner diameter of the tube body approximately two times to three times the thickness (for example, 0.75 mm) of the coil part 112. It is manufactured so that the flow path FP can be formed in the free space therebetween by forming the double amount large. And the tube 120 is made of flexible silicone having a hardness of Shore A 50, the tube thickness of the tube 120 is formed to be 0.5 times to 1 times the thickness of the coil portion 112.

The reason why the size of the tube 120 is specifically limited as described above is that, when the tube 120 satisfies the above-described range and conditions, the shape memory 110 is operating or the shape memory 110 and the shape memory 110. Even when partially contacted, smooth and resistanceless flow of coolant (W) can be ensured, and since unnecessary stress (resistance) is not applied to the operation of the shape memory 110, smooth contraction operation and free deformation are possible. to be.

The flexible tube 120 made of a straight tubular body is penetrated by the shape memory 110 in a state in which it is extended by a tensile force applied to both ends thereof, so that the flexible tube 120 may be installed in the shape memory 110.

On the other hand, the tube 120 according to a modification of the present invention, as shown in Figure 3b, may be implemented as a heat dissipation foil 122 of bellows type deposited aluminum on a synthetic resin film.

As described above, since the heat radiation foil 122 is made of an aluminum material, heat generated from the shape memory 110 (coil part 112) may be quickly transferred to the outside through the heat radiation foil 122. Since the heat dissipation foil 122 has a bellows-shaped structure, the heat dissipation foil 122 may be freely stretched and contracted together with the shape memory 110, and the cooling efficiency is increased due to the large surface area and the formation of a wider flow path FP is achieved. You lose.

The connection bracket 140 is a tubular component that is installed in pairs at both ends of the tube 120 to couple the tube 120 and the cooling drive unit 130 to be described later in communication. One end of the end portion 110, that is, the straight portion 113 penetrates and communicates with the tube 120 in a sealed state, and the other end is sealed by the sealing member 142, and one side has an outflow pipe ( 144 may be branched to form an overall T shape.

The pair of inflow and outflow pipes 144 communicate with the cooling driving unit 130 and the flow path FP in a sealed state, respectively, and pass the cooling water W or the gas G provided through the cooling driving unit 130 to the flow path FP. The coolant W and the gas G are delivered to the cooling driver 130 again.

The cooling drive unit 130 is a component that communicates with both ends of the tube 120 in a circulating ring to selectively provide any one of the cooling water W and the gas G to the above-described flow path FP. And a first circulation device 130a for circulation of (W), a second circulation device 130b for circulation of gas (G), and the like.

 Here, the first circulation device 130a is a component that circulates the cooling water W to the flow path FP through a pair of connecting brackets 140 to cool the coil part 112, and as shown in FIG. 1. As shown, it may be configured to include a storage tank 131, the first pipe 132 and the pump 133.

The storage tank 131 accommodates the cooling water W that flows through the flow path FP and absorbs heat from the shape memory 110, and then discharges the absorbed heat to surround the cooling water W. As a component that cools to temperature, it may be made into a sealable container shape.

The water storage tank 131 may be made of synthetic resin or the like, but a plurality of heat dissipation fins may be formed on the outer circumferential surface of copper or aluminum having excellent heat dissipation performance in order to increase the cooling efficiency of the stored coolant (W). Not shown) may be formed densely.

The first pipe 132 is a tubular component that allows the above-described storage tank 131 and the flow path FP to communicate with each other to circulate the cooling water W. The first pipe 132 is a pair of the storage tank 131. It may be composed of a first inlet line 132a and a first outlet line 132b for communicating between the outlet inlet pipe 144, respectively.

At this time, the first inflow line 132a is a flexible thin tube provided on the side where the cooling water W flows into the flow path FP, and the first outflow line 132b flows out the cooling water W from the flow path FP. It may be a flexible thin tube provided on the side.

The pump 133 is provided in the first pipe 132 to exert the driving force for forcibly drawing out the cooling water W from the water storage tank 131 and providing the cooling water W drawn out to the above-described flow path FP. As a component, it is connected to the controller 150 to be described later, the necessary operation control is made.

The pump 133 may be installed in any one of the first inflow line 132a and the first outflow line 132b, but the first inflow adjacent to the water storage tank 131 for smooth circulation of the cooling water W is provided. It is preferable to be installed in the line 132a side.

The second circulation device 130b is a component for discharging the cooling water W in the flow path FP by providing a high-pressure gas G to the flow path FP through the pair of connecting brackets 140. As shown in FIG. 1, the compressor 135 and the second pipe 136 may be configured.

As described above, the compressor 135 is a component provided to promptly remove the cooling water W provided to the flow path FP on the flow path FP so that the shape memory 110 is immediately heated. According to the operation control by the controller 150 to generate a high-pressure gas (G) to provide to the flow path (FP).

The second pipe 136 has a tubular configuration in which the cooling water W provided to the flow path FP is returned to the water storage tank 131 for cooling the shape memory 110 (coil 112). As an element, a second inflow line 136a communicating between the compressor 135 and the first inflow line 132a and a first outflow line 132b for discharging or circulating the cooling water W from the flow path FP. Can be configured.

That is, the second pipe 136 shares the first outlet line 132b of the first circulation device 130a which is used for the circulation of the cooling water W, thereby storing the cooling water W in the flow path FP. 131).

In this case, the second inflow line 136a may be made of a flexible thin tube to be communicated with the first inflow line 132a by the three-way connecting pipe 3WC between the compressor 135 and the first inflow line 132a. have.

The controller 150 controls the respective operations by separately applying the control power in the state of being electrically connected to the shape memory 110, the cooling driver 130, and the temperature sensor 160 to be described later, and transmits the measurement information. As a component that receives and performs control based on this, it may be implemented as a modular unit such as a micro controller unit (MCU), a microcomputer, an Arduino, or the like.

At this time, a series of processes of the controller 150 for applying a control power to each connected device, controlling its operation, and processing data transmitted and received, such as C, C ++, JAVA, machine language, etc. that can be read through a modular unit This is accomplished by coding in a programming language, which is possible in various ways and forms at the level of those skilled in the art, and thus, a detailed description thereof will be omitted.

However, the controller 150 will be briefly described with reference to FIG. 1 and the like with respect to which operation method or algorithm operates the shape memory alloy actuator 100 according to an embodiment of the present invention.

First, when a contraction command of a user is transmitted to the shape memory alloy actuator 100 according to the present invention, the controller 150 controls to operate the compressor 135 to control the compressed gas G (for example, air). Is supplied to the flow path FP via the first inflow line 132a to force the remaining cooling water W in the flow path FP to the water storage tank 131 through the first outflow line 132b.

Next, the control unit 150 at the same time or a time difference with the above operation, so that the contraction operation of the level corresponding to the contraction command of the user is made by the shape memory alloy actuator 100 of the present invention, the shape memory body 110 The predetermined control power corresponding to the lead wire 111 of FIG.

When a predetermined control power is applied to the lead wire 111 of the shape memory 110 in this way, the shape memory 110 is quickly heated without interruption by the cooling water (W) to perform a quick shrinkage operation corresponding to the corresponding shrink command. Done. On the other hand, the operation of the compressor 135 by the control unit 150 may be changed as necessary, such as being made for a predetermined time or while the contracting operation is continued.

Next, when the contraction command of the user to the shape memory alloy actuator 100 in accordance with the present invention is terminated or otherwise the stretching command is transmitted, the control unit 150, along with the disconnection of the control power to the lead wire 111, The pump 133 is immediately operated to control the cooling water W from the water storage tank 131 to be continuously provided to the flow path FP through the first inflow line 132a.

At this time, the cooling water (W) is circulated in the order of the flow path (FP), the first outlet line (132b), the reservoir tank 131 and the first inlet line (132a) and the heat absorbed from the heated shape memory 110 As it continues to be discharged to the outside, the shape memory 110 is cooled much more quickly than natural cooling and is freely deformed (or forcedly stretched) by external force.

As described above, the shape memory alloy actuator 100 according to the present invention through the individual control of the control unit 150 for the cooling drive unit 130 and the shape memory 110, even though the drive device using the shape memory alloy Unlike the conventional method, as well as rapid mechanical operation, high power-to-weight driving force can be realized at low noise and low cost without loss.

The temperature sensor 160 is installed at one side of the coil part 112 to precisely control the strain of the shape memory 110 (coil part 112) according to the thermomechanical cycle or the thermal relationship based on the temperature. As a component to be applied, a small commercialized product is applied to measure the temperature of the coil unit 112, and the measured temperature information may be transmitted to the controller 150 through the lead wire 161.

In this case, the controller 150 controls the operations of the shape memory 110 and the cooling driver 130 in detail based on the transmitted temperature information and the user's operation command.

On the other hand, the actuator unit coupling module 200 according to the present invention, in order to implement the left and right (or up and down) bidirectional bending operation with respect to one plane of the robot 10 fixed to the base, the shape memory alloy actuator described above (100) Actuator coupling module of the basic unit incorporating two compactly, the bending operation as described above, the two wires (20, 30) coupled to both ends of the end of the robot 10, the first and second shape memory ( 110a and 110b are achieved by pulling (contracting) or releasing (free deformation) complementarily.

That is, the length deformation of the first and second shape memory bodies 110a and 110b connected to the robot 10 and the two wires 20 and 30, respectively, is made in opposite directions to each other, thereby Bidirectional bending operation is implemented.

Thus complementary actuating actuator unit coupling module 200 in parallel arranged in a plurality (for example six) after each shape memory 110 (for example 12) and between each joint of the robot 10 When the drive control by connecting a plurality of wires (for example 12), it is possible to implement a multi-degree of freedom robot 10 capable of freely implementing a variety of complex operations.

In order to configure the basic module for driving the robot 10 as described above, the actuator unit coupling module 200 according to the embodiment of the present invention, as shown in Figures 4 and 5, a pair of first and second shapes The memory 110a, 110b, the tube 120, the cooling drive unit 130 and the controller 150 may be configured to include.

Here, the pair of first and second shape memory bodies 110a and 110b includes a pair of shape memory bodies 110 that operate as described above in parallel with each other, and then each of the lead wires 111a and 111b controls the controller ( 150 may be individually complementary to each other. Since the first and second shape memory bodies 110a and 110b are the same as the shape memory body 110 described above, description thereof will be omitted.

The tube 120 forms a flow path FP between the coil portions 112 of the first and second shape memory bodies 110a and 110b and surrounds an outer portion thereof. It is provided in the 1, 2 shape memory bodies 110a and 110b, respectively.

The cooling drive unit 130 is a component that communicates with both ends of the tube 120 in a circulating ring to selectively provide any one of the cooling water W and the gas G to the flow path FP. As shown, it may include a first circulation device 130a for the circulation of the cooling water (W), a second circulation device (130b) for the circulation of the gas (G) and the like.

Here, the first circulation device 130a includes the cooling water W in any one of the flow path FP provided in the first shape memory body 110a and the flow path FP provided in the second shape memory body 110b. It is a component that circulates and cools the coil part 112, and is complementary to the first circulation device 130a (see FIG. 1) for the one shape memory 110 (see FIG. 1). In order to supply W), a three-way connecting pipe (3WC) and three-way control valve (3WCV) and the like is added and reconfigured.

In this case, the second circulation device 130b includes a gas of high pressure in the other of the flow path FP provided in the first shape memory body 110a and the flow path FP provided in the second shape memory body 110b. By providing (G) to discharge the cooling water (W) in the flow path (FP) is a component that allows the rapid heating of the coil portion 112 can be made.

The second circulation device 130b is also similar to the second circulation device 130b (see FIG. 1) as described above for one shape memory 110. The directional connector 3WC, the three-way control valve 3WCV, and the like are added and reconfigured.

Specifically, as shown in FIG. 4, the first circulation device 130a basically includes a water storage tank 131, a first pipe 132, a pump 133, and the like. 130b) basically includes a compressor 135, a second pipe 136 and the like.

However, the first inflow line 132a (cooling water (W) charge) and the second inflow line 136a (high pressure gas (G) charge) select any one of the first and second shape memory (110a, 110b). Thus, it is coupled to each other by a pair of three-way control valve (3WCV) and three-way connecting pipe (3WC) so as to be complementary to each of the flow path (FP).

At this time, the control unit 150 for individually controlling a pair of three-way control valve (3WCV), respectively, the first inflow line 132a is provided in the second shape memory body (110b) through the three-way connecting pipe (3WC). When controlling the three-way control valve (3WCV) on the first inlet line (132a) side so as to communicate with the flow path (FP), the controller 150 controls the three-way control valve (3WCV) on the second inlet line (136a) side. Simultaneously with the operation control, the second inflow line 136a communicates with the flow path FP provided in the first shape memory 110a through the three-way connecting pipe 3WC (see FIG. 5A).

Unlike the above, the controller 150 allows the first inflow line 132a to communicate with the flow path FP provided in the first shape memory 110a through the three-way connecting pipe 3WC. When controlling the side three-way control valve (3WCV), the controller 150 operates and simultaneously controls the side three-way control valve (3WCV) of the second inflow line (136a) so that the second inflow line (136a) is a three-way connecting pipe It communicates with the flow path FP provided in the 2nd shape memory body 110b through 3WC (refer FIG. 5B).

As described above, the flow path FP and the second shape memory 110b provided in the first shape memory 110a through complementary control of the controller 150 with respect to the pair of three-way control valves 3WCV. In the flow path (FP) provided in the high-pressure gas (G) or the cooling water (W) is to be provided complementary to each other simultaneously.

Herein, the controller 150 controls the respective operations by separately applying control power in a state of being electrically connected to the first and second shape memories 110a and 110b, the cooling driving unit 130, and the temperature sensor 160, and the like. After receiving the measurement information, the control is performed.

With respect to whether the control unit 150 implements the one-way and the other-direction bending operation of the robot 10 by operating the actuator unit coupling module 200 according to the embodiment of the present invention in what manner or algorithm. And briefly described with reference to Figure 5b as follows.

First, as shown in FIG. 5A with respect to the actuator unit coupling module 200 according to the present invention, when a user's one direction, that is, a left bending operation command is transmitted to the control unit 150, the control unit 150 includes a compressor 135. And the high pressure gas G is sent out through the second inflow line 136a and the cooling water W is flowed through the first inflow line 132a by controlling the pump 133 to operate (①, ① '). To be sent.

At the same time, the controller 150 simultaneously controls a pair of three-way control valves 3WCV so that the second inflow line 136a communicates with the flow path FP provided in the first shape memory 110a. The inflow line 132a is in communication with the flow path FP provided in the second shape memory body 110b.

Accordingly, the high pressure gas G sent from the compressor 135 passes through the second inflow line 136a, the flow path FP on the side of the first shape memory 110a, and the second outflow line 136b. The coolant (W), which is recovered (②) at 131 and is discharged from the pump 133, includes the first inflow line 132a, the flow path FP on the side of the second shape memory 110b, and the first outflow line ( Each of the circulation (② ') is recovered to the water storage tank 131 through 132b.

As a result of the above circulation, the first shape memory 110a can be heated quickly without interference by the remaining coolant W, and the second shape memory 110b is cooled much faster than natural cooling. It becomes the state which can be deformed (or forcibly extended) by an external force freely.

Finally, the controller 150 applies a predetermined control power corresponding to the lead wire 111a of the first shape memory 110a so as to bend the level corresponding to the left bending operation command of the user (③). do. At the same time, the controller 150 performs control (disconnection, ③ ') not applying control power to the lead wire 111b of the second shape memory 110b.

As a result, the first shape memory 110a is quickly contracted (④) and pulls the left driving wire 20 of the robot 10 to force the left bend (⑤) of the robot 10, and the second shape memory body 110b is naturally extended (④ ') complementary to the operation of the first shape memory 110a by the right drive wire 30 that naturally moves according to the left bend (⑤) of the robot 10, and the robot 10 Guides the left bend (⑤).

On the other hand, as shown in Figure 5b for the actuator unit coupling module 200 according to the present invention, when the user's other direction, that is, the right bending operation command is transmitted to the control unit 150, the control unit 150 is a compressor 135 ) And the high pressure gas (G) is sent out through the second inflow line (136a) and the cooling water (W) through the first inflow line (132a) by controlling the operation (①, ① ') of the pump 133. Let each be sent out.

At the same time, the controller 150 simultaneously controls a pair of three-way control valves 3WCV so that the second inflow line 136a communicates with the flow path FP provided in the second shape memory 110b. The inflow line 132a is in communication with the flow path FP provided in the first shape memory 110a. (Unlike FIG. 5A, the inflow and outflow lines are changed by the three-way control valve 3WCV.)

As a result, the high pressure gas G sent from the compressor 135 passes through the second inflow line 136a, the flow path FP on the side of the second shape memory 110b, and the second outflow line 136b. The coolant W, which is recovered (② ') at 131 and is discharged from the pump 133, includes a first inflow line 132a, a flow path FP on the first shape memory 110a side, and a first outflow line. Each cycle is recovered (②) to the reservoir tank 131 via 132b.

As a result of the above circulation, the second shape memory 110b can be heated quickly without interference by the remaining coolant W, and the first shape memory 110a is cooled by the coolant W. It cools much faster than natural cooling, so it can be freely deformed (or forcedly stretched) by external forces.

Finally, the control unit 150 applies a predetermined control power corresponding to the lead wire 111b of the second shape memory 110b so as to be bent in a level corresponding to the user's right bending operation command (③). do. At the same time, the controller 150 performs control (disconnection, ③ ') not applying control power to the lead wire 111a of the first shape memory 110a.

As a result, the second shape memory 110b is quickly contracted (④) while pulling the right drive wire 30 of the robot 10 to force the right bend (⑤) of the robot 10, and the first shape memory 110a is naturally extended (④ ') complementary to the contraction operation of the second shape memory body 110b by the left drive wire 20 that moves naturally according to the right bend (⑤) of the robot 10. 10) guides the right bend (⑤).

As described above, the actuator unit coupling module 200 according to the present invention, which is optimized in the form of a compactly structured compact structure, is a driving device using a shape memory alloy, among the coolant (W) and the gas (G). By implementing the complementary and rapid mechanical operation of each of the first and second shape memory (110a, 110b) through the cooling drive unit 130 to select any one of the high power-to-weight robot 10 operation without loss of driving force It can achieve low noise and low cost.

While specific embodiments of the invention have been described and illustrated above, it is to be understood that the invention is not limited to the described embodiments, and that various modifications and changes can be made without departing from the spirit and scope of the invention. It is self-evident to those who have. Therefore, such modifications or variations are not to be understood individually from the technical spirit or point of view of the present invention, the modified embodiments will belong to the claims of the present invention.

FP: Euro W: Coolant
G: Gas 3WC: Three Way Connector
3WCV: 3-way control valve 10: Robot
20: left drive wire 30: right drive wire
100: Shape memory alloy actuator with active cooling module.
110: shape memory 110a, 110b: first and second shape memory
111, 111a, 111b, 161: lead wire 112: coil portion
113: straight portion 120: tube
122: heat dissipation foil 130: cooling drive unit
130a: first circulation device 130b: second circulation device
131: water storage tank 132: first pipe
132a: first inflow line 132b: first outflow line
133: pump 135: compressor
136: second pipe 136a: second inlet line
136b: second outlet line 140: connecting bracket
142: sealing member 144: outflow pipe
150: control unit 160: temperature sensor
200: actuator unit coupling module

Claims (10)

A shape memory body having a coil part which contracts when resistance is heated by application of a control power supply through a lead wire, and which is freely deformed when cooled by power failure of the control power supply; A tubular flexible tube forming a flow path between the coil portion and surrounding the outer portion of the coil portion; And a cooling drive unit communicating with both ends of the tube in a circulation ring to selectively provide any one of cooling water and gas to the flow path.
The tube and the cooling drive unit,
As long as one end is in communication with the tube and the other end is sealed by a sealing member while being penetrated by an end of the shape memory, and receives coolant or gas through an inflow pipe formed at one side and delivers it to the flow path. Coupled by a pair of connecting brackets,
Further comprising a control unit for controlling each operation by separately applying a control power in the state electrically connected to the shape memory and the cooling driving unit,
The cooling drive unit,
A first circulation device configured to cyclically provide cooling water to the flow path through the pair of connection brackets for cooling the coil unit; And a second circulation device for discharging the coolant in the flow path by supplying a high pressure gas to the flow path through the pair of connecting brackets for rapid heating of the coil part.
The first circulation device,
A reservoir tank for receiving cooling water; A first pipe having a first inflow line and a first outflow line communicating with each other between the water storage tank and the pair of outflow pipes and configured to circulate cooling water; And a pump provided in the first pipe to force cooling water from the water storage tank to be provided to the flow path.
The second circulation device,
A compressor for generating a high pressure gas and providing the same to the flow path; And a second inlet line configured to communicate between the compressor and the first inlet line, and a second pipe configured to allow the coolant provided in the flow path to be returned to the water storage tank.
The control unit,
The control unit is operated to operate the second circulation device when the user contracts the command and to apply the control power to the shape memory, and the control power applied to the shape memory when the user commands the user to operate the first circulation device. Shape memory alloy actuator equipped with an active cooling module, characterized in that the operation control to be disconnected. delete delete delete delete delete The method of claim 1,
The shape memory alloy actuator,
A temperature sensor provided at one side of the coil part to measure the temperature of the coil part and to transmit temperature information measured through a lead wire to the controller;
The control unit, the shape memory alloy actuator with an active cooling module, characterized in that for controlling the operation of the shape memory and the cooling drive unit based on the transmitted temperature information. The method of claim 1,
The tube,
Shape memory alloy actuator equipped with an active cooling module, characterized in that the bellows-type heat-radiating foil deposited aluminum on the synthetic film.
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