KR20230136393A - Linear Actuator Module Using A Shape Memory Alloy Wire And Actuator System Using It - Google Patents

Abstract

It relates to an actuator module that can maximize the amount of linear displacement and increase the power of the actuator by integrating it into a bundle, and an actuator system using the same.
To this end, the linear drive actuator module using the shape memory alloy wire according to the present invention includes a first moving guide shaft in the shape of a rod formed at a certain length; A 1-1 fixing part fixed to one end of the first moving guide axis and having one or more 1-1 pulleys mounted on the side thereof; A moving part slidably mounted on the other end of the first moving guide shaft and having a moving pulley disposed on a side alternating with the 1-1 pulley in the direction of the first moving guide axis; and one strand of shape memory alloy wire disposed parallel to the first moving guide axis so as to span all of the 1-1 pulleys and the moving pulleys and continuously connecting the 1-1 pulleys and the moving pulleys.

Description

Linear actuator module using a shape memory alloy wire and an actuator system using the same {Linear Actuator Module Using A Shape Memory Alloy Wire And Actuator System Using It}

The present invention relates to a linear drive actuator module using shape memory alloy wire and an actuator system using the same. More specifically, an actuator module that can maximize the amount of linear displacement and increase the power of the actuator by integrating it in a bundle, and This relates to an actuator system using this.

Shape memory alloy refers to an alloy that has the property of returning to its original shape when heated even if it is deformed into a different shape. For example, if a straight shape memory alloy rod is bent into a coil shape and heat is applied after a while, it straightens as if it had remembered its previous shape.

In other words, shape memory alloy remembers the shape in the high-temperature austenite phase, then deforms it in the low-temperature martensite phase and when the temperature is raised, it changes to the original austenite phase, generating a large stress and at the same time restoring the original memorized shape. It shows unidirectionality (memory only at high temperatures) and bidirectionality (memory at high and low temperatures) depending on the characteristics of the shape being memorized.

Therefore, when applying unidirectional shape memory alloy as an actuator, springs are generally used together to improve stability.

The strain rate of this shape memory alloy is 3-5%, and it has superior characteristics compared to other actuators (piezoelectric elements, electrostatic actuators, electronic actuators, etc.) in terms of generating force and energy density, and ferromagnetic shape memory alloy has a reversible value of about 6%. It is known that phosphorus transformation can be obtained.

Since the strain rate of shape memory alloy remains at around 3-6%, actuators using shape memory alloy have limitations in that they cannot be applied to fields where the degree of length deformation is not large.

Republic of Korea Patent No. 10-1827815 (2018.02.05.)

The present invention was developed in consideration of the above problems, and the purpose of the present invention is to provide a linear drive actuator module using a shape memory alloy wire that can maximize the amount of linear displacement and an actuator system using the same.

Another object of the present invention is to provide a linear drive actuator module using shape memory alloy wire that can increase the force of the actuator by integrating it in a bundle, and an actuator system using the same.

According to the features for achieving the above-mentioned purpose, a linear drive actuator module using a shape memory alloy wire includes: a first moving guide shaft in the shape of a rod formed at a certain length; A 1-1 fixing part fixed to one end of the first moving guide axis and having one or more 1-1 pulleys mounted on the side thereof; A moving part slidably mounted on the other end of the first moving guide shaft and having a moving pulley disposed on a side alternating with the 1-1 pulley in the direction of the first moving guide axis; and one strand of shape memory alloy wire disposed parallel to the first moving guide axis so as to span all of the 1-1 pulleys and the moving pulleys and continuously connecting the 1-1 pulleys and the moving pulleys.

And a 1-2 fixing part fixed to the first moving guide axis to be spaced apart from the 1-1 fixing part; And the first moving guide shaft between the 1-2 fixing part and the moving part to increase or decrease the slide movement force of the moving part with respect to the 1-2 fixing part according to the contraction or expansion of the shape memory alloy wire. It may further include a spring mounted in one direction.

In addition, the 1-2 fixing portion is disposed on the side alternately with the 1-1 pulley, but is disposed at a position that does not overlap the movable pulley in the direction of the first movement guide axis, and is formed by the shape memory alloy. In addition to the 1-1 pulley and the moving pulley, a 1-2 pulley connected continuously may be installed.

The spring is disposed so that the first moving guide axis passes therein and is mounted on each side of the first-second fixing part and the moving part facing each other.

And the 1-1 fixing part, the 1-2 fixing part, and the moving part are formed in the form of a hexagonal pillar, and each of the 1-1 pulley, the 1-2 pulley and the moving pulley has six sides in the form of a hexagonal pillar. It can be mounted on one of the following:

In addition, fastening holes are formed on the sides of the 1-1 fixing part, the 1-2 fixing part, and the moving part, and each of the 1-1 pulley, the 1-2 pulley and the moving pulley is connected through the center of each pulley. The shaft can be installed on each side by being mounted on the fastening hole.

Meanwhile, in order to achieve the object according to the present invention described above, the present invention may be composed of an actuator system in which the linear driving length of the shape memory alloy wire is increased, and a plurality of the above-described actuator modules are provided, and a first device provided in each module is provided. 1-1 A connecting part that interconnects and secures the fixed part and the moving part provided in each module may be further included.

In addition, the actuator system according to the present invention for achieving the object according to the present invention described above includes one or more actuator modules; One or more length extension modules in which the shape memory alloy wire installed in the actuator module is extended and mounted to extend the length of the shape memory alloy wire; It may be configured to include; a connecting portion that interconnects and secures between one end of the actuator module and one end of the length extension module, and between the other end of the actuator module and the other end of the length extension module.

At this time, the actuator module includes a rod-shaped first movement guide shaft formed of a certain length; A 1-1 fixing part fixed to one end of the first moving guide axis and having one or more 1-1 pulleys mounted on the side thereof; a main-moving part that is slidably mounted on the other end of the first moving guide shaft and includes a first moving pulley disposed on a side alternating with the 1-1 pulley in the direction of the first moving guide axis; And one strand of shape memory alloy wire disposed parallel to the first moving guide axis so as to span all the 1-1 pulleys and the moving pulleys and continuously connecting the 1-1 pulleys and the moving pulleys, The length extension module includes a rod-shaped second moving guide shaft formed to a certain length; A 2-1 fixing part fixed to one end of the moving guide shaft and having one or more 2-1 pulleys mounted on a side thereof; A second pulley is fixed to the other end of the second moving guide shaft to be spaced apart from the second fixing part and has a 2-2 pulley disposed on the side alternately with the 2-1 pulley in the direction of the second moving guide axis. It includes a 2-2 fixing part; wherein the shape memory alloy wire extends while being stretched across the 1-1 pulley and the moving pulley of the actuator module to continuously connect the 2-1 pulley and the 2-2 pulley. do.

And a 1-2 fixing part fixed to the first moving guide axis to be spaced apart from the 1-1 fixing part; and the second fixing part between the 1-2 fixing part and the main-moving part to increase or decrease the slide movement force of the main-moving part with respect to the 1-2 fixing part according to the contraction or expansion of the shape memory alloy wire. 1. It may further include a spring mounted in the direction of the moving guide axis.

In addition, the 1-2 fixing portion is disposed on the side alternately with the 1-1 pulley, but is disposed at a position that does not overlap the movable pulley in the direction of the first movement guide axis, and is formed by the shape memory alloy. In addition to the 1-1 pulley and the moving pulley, a 1-2 pulley connected continuously may be installed.

At this time, the spring is disposed so that the first moving guide axis passes therein and is mounted on each side of the first-second fixing part and the main-moving part facing each other.

And the 1-1 fixing part, the 1-2 fixing part, the 2-1 fixing part, the 2-2 fixing part, and the main-moving part are formed in the form of a hexagonal pillar, and the 1-1 pulley and the first Each of the -2 pulley, 2-1 pulley, 2-2 pulley and movable pulley can be mounted on one of six sides in the form of a hexagonal column.

In addition, fastening holes are formed on the sides of the 1-1 fixing part, the 1-2 fixing part, the 2-1 fixing part, the 2-2 fixing part, and the first moving part, and the 1-1 pulley and the 1st moving part Each of the -2 pulley, 2-1 pulley, 2-2 pulley and movable pulley may be installed on each side by mounting a connecting shaft passing through the center of each pulley to the fastening hole.

In addition, the length extension module includes a sub-moving part that is slidably mounted on the other end of the second moving guide axis and is connected to the main-moving part of an adjacent actuator module by a connection part; and the second fixing part between the 2-2 fixing part and the sub-moving part to increase or decrease the slide movement force of the sub-moving part with respect to the 2-2 fixing part according to the contraction or expansion of the shape memory alloy wire. 1. It may further include a spring mounted in the direction of the moving guide axis.

The linear drive actuator module using shape memory alloy wire and the actuator system using the same according to the present invention have the advantage of being able to maximize the amount of linear displacement, overcome the limit of strain rate, and be applicable to actuators in various fields.

In addition, according to the present invention, the force of the actuator can be increased by integrating it in a bundle, which has the effect of making it possible to manufacture an actuator that can generate a large amount of linear deformation and a large deformation force while being placed in a minimum space.

Therefore, the actuator according to the present invention can be applied to various systems that require operation similar to artificial muscles of the living body, such as biomimetic robots. For example, since it can provide customized driving to the shape of the human body, it is expected to have a large ripple effect when applied to application fields such as exoskeletons and wearable strength assistance systems.

1 is a perspective view showing the configuration of an actuator module according to a first embodiment of the present invention;
Figure 2 is a perspective view showing the configuration of an actuator module according to a second embodiment of the present invention;
3 is a perspective view showing a first embodiment of the actuator system according to the present invention;
Figure 4 is a plan view showing the arrangement of pulleys in the actuator system shown in Figure 3;
5 is a perspective view showing a second embodiment of the actuator system according to the present invention;
Figure 6 is a plan view showing the arrangement of pulleys in the actuator system shown in Figure 5;
Figure 7 is a perspective view showing a third embodiment of the actuator system according to the present invention;
Figure 8 is a plan view showing the arrangement of pulleys in the actuator system shown in Figure 7;
9 is a perspective view showing a modified example of the actuator system according to the third embodiment;
Figure 10 is a perspective view showing an actuator system according to a fourth embodiment of the present invention;
Figure 11 is a perspective view showing the configuration of an actuator system according to the fifth embodiment of the present invention.

The features and advantages of the present invention can be more clearly understood by referring to the embodiments illustrated in the accompanying drawings.

The application of the present invention is not limited by the configuration and arrangement of components described in the embodiments of the present invention or shown in the drawings. The present invention may be implemented in different embodiments and performed in various ways. Additionally, the expressions and predicates used in the embodiments regarding terms such as orientation of a device or element, etc. are merely used to simplify the description of the invention and do not indicate or imply that the device or element involved should simply have a particular orientation. No. For example, terms such as “first” and “second” are used in the examples and claims to describe the present invention, but these terms are not intended to indicate or imply relative importance or intent.

In addition, terms or words used in the specification and claims should not be construed as limited to their usual or dictionary meanings, and the inventor should use the technical idea of the present invention to explain the terms and concepts of the invention in the best way. It must be interpreted as written based on the corresponding meaning and concept.

Therefore, the present invention is not limited to the presented embodiments, and is understood by those skilled in the art to which the present invention pertains, within the technical spirit of the present invention and the technical equivalents described in the claims below. Various modifications and changes are possible.

In particular, a pulley is a machine element that has a groove on the side that can hold a wire through the groove. The pulley described in the present invention is not limited to the configuration, but represents the most preferred embodiment of the above-described configuration. Any configuration that can hang an SMA wire is applicable. For example, in the present invention, a non-groove configuration, a non-rotating configuration, and a polygonal configuration instead of a circle can be applied as corresponding configurations of the pulley.

In the following, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

actuator module

First, the actuator module according to the present invention will be described.

<First embodiment>

Figure 1 is a perspective view showing the configuration of an actuator module according to a first embodiment of the present invention.

As shown, the actuator module 100 according to the first embodiment largely includes a first moving guide axis 110, a 1-1 fixing part 120, a moving part 140, and a shape memory alloy wire 150. It is composed including.

The first moving guide axis 110 is a rod shape formed of a certain length and serves as a guide while supporting the linear deformation of the actuator.

The 1-1 fixing part 120 is fixed to one end of the first movement guide shaft 110, and one or more 1-1 pulleys 121 are mounted on the side. The 1-1 fixing part 120 is formed in the form of a hexagonal pillar, and the first moving guide shaft 110 is inserted and fixed in the center thereof.

A 1-1 pulley 121 is mounted on one or more of the six sides of the hexagonal pillar shape. The 1-1 pulley 121 may be mounted on one side of the 1-1 fixing part 120, or two or three pieces may be mounted on the side of the 1-1 fixing part 120. When three pulleys 121 are mounted, the adjacent side is left empty and is conformal. are arranged.

A connecting shaft 123 penetrates the center of the 1-1 pulley 121, and the connecting shaft 123 is mounted on the fastening hole 122 formed in the 1-1 fixing part 120. The 1-1 pulley (121) is installed on the side of the 1-1 fixing part (120).

The moving part 140 is formed in the form of a hexagonal pillar, and the first moving guide shaft 110 passes through its center, and is installed to be slideable on the first moving guide shaft 110. On the side of this moving part 140, moving pulleys 141 are disposed on the side alternating with the 1-1 pulley 121 in the direction of the first moving guide axis 110. For example, when assigning numbers 1 to 6 to the six corresponding sides of the 1-1 fixing part 120 and the moving part 140, the 1-1 pulley 121 is numbered 1, 3, and If mounted on the 5th side, the moving pulley 141 may be mounted on the 2nd, 4th, and 6th sides of the moving part 140 so that they are alternately mounted.

A connecting shaft 143 also penetrates the center of the moving pulley 141, and the connecting shaft 143 is mounted on the fastening hole 142 formed in the moving part 140, so that the moving pulley 141 is connected to the moving part 141. It is installed on the side of (140).

The shape memory alloy wire 150 is made in the form of a single strand of thread and is connected to all 1-1 pulleys 121 installed in the 1-1 fixing part 120 and all moving pulleys 141 installed in the moving part 140. It is arranged parallel to the first moving guide axis 110 so as to span sequentially, and continuously connects the 1-1 pulley 121 and the moving pulley 141.

With this configuration, the wire wrapped around the pulley is contracted or restored by heating or cooling the shape memory alloy wire 150, thereby functioning as an actuator that forms a linear displacement.

At this time, in order to further increase the restoring force of the shape memory alloy wire 150, a spring 160 and a first-second fixing part 130 may be further provided to support one end of the spring 160.

In more detail, the 1-2 fixing part 130 is fixed to the first moving guide axis 110 to be spaced apart from the 1-1 fixing part 120.

And the spring 160 increases or decreases the slide movement force of the moving part 140 with respect to the 1-2 fixing part 130 according to the contraction or expansion of the shape memory alloy wire 150. 2 It is mounted between the fixing part 130 and the moving part 140 in the direction of the first moving guide axis 110. In this embodiment, the shape memory alloy wire 150 is designed to contract and compress the spring 160 to generate a restoring force, and to increase the restoration performance of the shape memory alloy wire 150 by this restoring force. However, it is not limited to this, and the spring 160 may be designed to be driven in the opposite direction.

Here, the 1-1st fixing part 120, the 1-2nd fixing part 130, and the moving part 140 are formed in the form of a hexagonal pillar, because when the plane is arranged with a hexagonal cross section in the form of a hexagonal pillar, This is because the shape memory alloy wires 150 can be arranged while maximizing the planar area, thereby forming an actuator bundle that can achieve maximum effect with the minimum area.

The actuator module 100 according to the first embodiment configured as described above has three 1-1 pulleys 121 mounted on the 1-1 fixed part 120 and three moving pulleys on the moving part 140. (141) is installed and the wire is wound between them. At this time, if the diameter of the wire is 0.5 mm, the strain of one strand of the shape memory alloy wire 150 is 3.5 kgF, and the distance between the 1-1 fixing part 120 and the moving part 140 is 500 mm, The total length of the wire is 3,000 mm (500 × 6), and the deformation force is 21 kgF (3.5 × 6).

And if the strain rate of the shape memory alloy wire 150 is 2 to 5%, the linear displacement of the actuator module 100 of the first embodiment is in the range of 10 to 25 mm, and it shrinks by heating and cools and the spring 160 It can be returned to its original position by restoring force.

<Second Embodiment>

Next, a second embodiment of the present invention will be described. In this embodiment, the same drawing numbers will be used for components corresponding to the first embodiment.

Figure 2 is a perspective view showing the configuration of an actuator module according to a second embodiment of the present invention.

As shown, the actuator module 100 according to the second embodiment largely includes a first moving guide axis 110, a 1-1 fixing part 120, a 1-2 fixing part 130, and a moving part ( 140) and a shape memory alloy wire 150.

In the second embodiment, a pulley is also mounted on the side of the 1-2 fixing part 130, which is fixed to the first moving guide shaft 110 and spaced apart from the 1-1 fixing part 120. That is, the 1-2 pulley 131 is mounted on the 1-2 fixing part 130, and the 1-2 pulley 131 moves the moving pulley 141 in the direction of the first moving guide axis 110. ) and is continuously connected with the 1-1 pulley 121 and the moving pulley 141 by the shape memory alloy.

And as in the first embodiment, a spring 160 is mounted between the moving part 140 and the first-second fixing part 130.

The actuator module 100 according to the second embodiment configured as described above has three 1-1 pulleys 121 mounted on the 1-1 fixed part 120 and one moving pulley on the moving part 140. (141) is mounted, and two 1-2 pulleys (131) are mounted on the 1-2 fixing part (130) so as not to overlap with the movable pulley (141). Therefore, in the second embodiment, the 1-2 fixing part 130 around which the 1-2 pulley 131 is wound is stationary, and the moving part 140 equipped with one moving pulley 141 is linearly driven. takes shape

When this configuration is achieved, the diameter, strain, and strain rate of the wire are the same as those in the first embodiment, and for convenience of calculation, the distance between the 1-1 fixing part 120 and the moving part 140 and the 1-1 Assuming that the distance between the fixing part 120 and the first-second fixing part 130 is 500 mm, the linear displacement of the actuator module 100 according to the second embodiment is in the range of 30 to 75 mm, and is 6 to 75 mm. It represents a 15% strain, increased by a factor of 3 with respect to the first example. This is because the shape memory alloy wire 150 wound between the 1-1 fixing part 120 and the 1-2 fixing part 130 maintains the fixed state, and the linear displacement thereof This is because it acts in the form of addition to the linear displacement of the wire wound around the moving module.

actuator system

Next, the actuator system according to the present invention will be described. In the actuator system, the same drawing numbers are used for the actuator module 100 and the corresponding components.

<First embodiment>

Figure 3 is a perspective view showing a first embodiment of the actuator system according to the present invention, and Figure 4 is a plan view showing the arrangement of pulleys in the actuator system shown in Figure 3.

As shown, the actuator system according to the first embodiment is composed of a plurality of the above-described actuator modules 100 combined. That is, in the second embodiment of the above-described actuator module 100, a plurality of modules, that is, three modules, are combined.

At this time, a connection part 200 is further provided to connect each actuator module 100. That is, the connection part 200 interconnects and fixes the 1-1 fixing part 120 provided in each module and the moving part 140 provided in each module.

As shown in FIG. 4, the actuator system according to the first embodiment configured as described above includes three 1-1 pulleys 121 in the 1-1 fixing part 120 in the first module 100a. It is mounted and one moving pulley (141) is mounted on the moving part 140, and one 1-2 pulley (131) is mounted on the 1-2 fixing part 130 so as not to overlap with the moving pulley 141. do. And since the pulley is not mounted on the surface facing the second module 100b, the pulley is mounted on five surfaces when viewed from the direction of the first movement guide axis 110.

And in the second module (100b), two 1-1 pulleys (121) are mounted on the 1-1 fixing part (120) and one moving pulley (141) is mounted on the moving part (140), and the moving pulley One 1-2 pulley 131 is mounted on the 1-2 fixing part 130 so as not to overlap with (141). And since pulleys are not mounted on the surfaces facing the first module 100a and the third module 100c, pulleys are mounted on four surfaces when viewed from the direction of the first movement guide axis 110.

In addition, the third module 100c has two 1-1 pulleys 121 mounted on the 1-1 fixing part 120 and one moving pulley 141 mounted on the moving part 140, and the moving pulley Two 1-2 pulleys 131 are mounted on the 1-2 fixing part 130 so as not to overlap with (141). And since the pulley is not mounted on the surface facing the second module 100b, the pulley is mounted on five surfaces when viewed from the direction of the first movement guide axis 110.

In this configuration, when calculating the number of turns of the shape memory alloy wire 150, the number of 1-1 pulleys 121 in each module × 2 is calculated, so the total number of turns is 14 (6 + 4 + 4). . And, the wire is wound around the moving pulley 141 of the moving part 140 corresponding to the output a total of three times, so that it can be expressed as six lines of wire. Therefore, for convenience of calculation, the distance between the 1-1 fixed part 120 and the moving part 140 and the distance between the 1-1 fixed part 120 and the 1-2 fixed part 130 are both 500 Assuming it is mm, the total wire length can be said to be approximately 7,000 mm.

In this case, if the strain rate of the shape memory alloy wire 150 is 2 to 5%, the linear displacement of the actuator system of the first embodiment is the total wire length × strain rate of the wire (2 to 5%) / wound around the moving pulley 141. The number of wire lines (6) ranges from 23.3 to 58.3 mm, and this range corresponds to 4.7 to 11.7% of the distance between the 1-1 fixed part 120 and the moving part 140, so it is significantly linear compared to the individual wire strain rate. It can be seen that the displacement increases.

<Second Embodiment>

Figure 5 is a perspective view showing a second embodiment of the actuator system according to the present invention, and Figure 6 is a plan view showing the arrangement of pulleys in the actuator system shown in Figure 5.

As shown, the actuator system according to the second embodiment includes one actuator module 100, two length extension modules 300, and a connection portion 200.

The actuator module 100 is the second embodiment of the actuator module 100 described above, and is coupled to the length extension module 300 arranged in parallel with the actuator module 100 through a connection portion 200. .

That is, the actuator module 100 includes a first moving guide axis 110, a 1-1 fixing part 120, a 1-2 fixing part 130, a main-moving part 140, and a shape memory alloy wire ( 150).

And the length extension module 300 is mounted by extending the shape memory alloy wire 150 installed on the actuator module 100 in order to extend the length of the shape memory alloy wire 150, and the second movement guide axis 310 ), a 2-1st fixing part 320, a 2-2nd fixing part 330, a sub-moving part 340, and a shape memory alloy wire 150.

That is, the length extension module 300 includes a rod-shaped second movable guide shaft 310 formed to a certain length, fixed to one end of the movable guide shaft, and equipped with one or more 2-1 pulleys 321 on the side. A 2-1 fixing part 320, which is fixed to the other end of the second moving guide axis 310 and spaced apart from the 2-1 fixing part 320, and a second moving guide axis 310 on the side. A 2-2 fixing part 330 including a 2-2 pulley 331 arranged alternately with the 2-1 pulley 321 in the direction, and at the other end of the second moving guide shaft 310. It includes a sub-moving part 340 that is slidably mounted, and the shape memory alloy wire 150 is draped over the 1-1 pulley 121 and the moving pulley 141 of the actuator module 100. It extends to continuously connect the 2-1 pulley 321 and the 2-2 pulley 331.

Also, a spring 350 is mounted on the length extension module 300 between the 2-2 fixing part 330 and the sub-moving part 340.

The actuator system according to the second embodiment configured as described above includes two length extension modules 300 and one actuator module 100, as shown in FIG. 6 . In one length extension module (300), two 2-1 pulleys (321) are mounted on the 2-1 fixing part (320), and the 2-2 fixing part (320) is mounted so as not to overlap the 2-1 pulley (321). Three 2-2 pulleys 331 are mounted on the top 330. And since the pulley is not mounted on the surface facing the adjacent actuator module 100, the pulley is mounted on five surfaces when viewed from the direction of the second movement guide axis 310.

And in the actuator module 100, two 1-1 pulleys 121 are mounted on the 1-1 fixed part 120 and one moving pulley 141 is mounted on the moving part, and the moving pulley 141 and One 1-2 pulley 131 is mounted on the 1-2 fixing part 130 so as not to overlap. And since pulleys are not mounted on the surfaces facing the two adjacent length extension modules 300, pulleys are mounted on four surfaces when viewed from the direction of the first movement guide axis 110.

In addition, in another length extension module 300, three 2-1 pulleys 321 are mounted on the 2-1 fixing part 320, and the 2-1 pulleys 321 are installed so as not to overlap the 2-1 pulleys 321. Two second-2 pulleys (331) are mounted on the second fixing part (330). And since the pulley is not mounted on the surface facing the actuator module 100, the pulley is mounted on five surfaces when viewed from the direction of the second movement guide axis 310.

In this configuration, when calculating the number of turns of the shape memory alloy wire 150, the number of 1-1 pulleys 121 and 2-1 pulleys 321 in each module × 2 is sufficient, so the total number of turns is 14. It becomes (4+4+6). And the wire is wound a total of once on the moving pulley 141 of the main-moving part 140 corresponding to the output, so it can be expressed as two lines of wire.

Therefore, for convenience of calculation, assume that the distance between the 1-1 fixed part 120 and the moving part and the distance between the 1-1 fixed part 120 and the 1-2 fixed part 130 are both 500 mm. Then, the total wire length can be said to be approximately 7,000 mm.

In this case, if the strain rate of the shape memory alloy wire 150 is 2 to 5%, the linear displacement of the actuator system of the second embodiment is the total wire length × strain rate of the wire (2 to 5%) / wound around the moving pulley 141. The number of wire strings (2) ranges from 70 to 175 mm, and this range corresponds to 14 to 35% of the distance between the 1-1 fixed part 120 and the moving part, so the linear displacement is significantly increased compared to the individual wire strain rate. You can see that

<Third Embodiment>

Figure 7 is a perspective view showing a third embodiment of the actuator system according to the present invention, and Figure 8 is a plan view showing the arrangement of pulleys in the actuator system shown in Figure 7.

As shown, the actuator system according to the third embodiment includes one or more actuator modules 100, one or more length extension modules 300, and a connection portion 200.

The actuator module 100 is the one of the first embodiment among the above-described actuator modules 100, and one or more actuator modules 100 are arranged in parallel and connected to each other through a connection portion 200.

That is, the actuator module 100 includes a first moving guide axis 110, a 1-1 fixing part 120, a 1-2 fixing part 130, a main-moving part 140, and a shape memory alloy wire ( 150) and spring 160.

And the length extension module 300 is mounted by extending the shape memory alloy wire 150 installed on the actuator module 100 in order to extend the length of the shape memory alloy wire 150, and the second movement guide axis 310 ), a 2-1st fixing part 320, a 2-2nd fixing part 330, and a shape memory alloy wire 150.

That is, the length extension module 300 includes a rod-shaped second movable guide shaft 310 formed to a certain length, fixed to one end of the movable guide shaft, and equipped with one or more 2-1 pulleys 321 on the side. A 2-1 fixing part 320, which is fixed to the other end of the second moving guide axis 310 and spaced apart from the 2-1 fixing part 320, and a second moving guide axis 310 on the side. It includes a 2-2 fixing part 330 having a 2-2 pulley 331 arranged alternately with the 2-1 pulley 321 in the direction, and the shape memory alloy wire 150 is It extends across the 1-1 pulley 121 and the moving pulley 141 of the actuator module 100 to continuously connect the 2-1 pulley 321 and the 2-2 pulley 331.

The actuator system according to the third embodiment configured as described above includes one or more length extension modules 300 and one or more actuator modules 100. In FIG. 7, three length extension modules 300 and three actuator modules are shown. A form consisting of (100) is illustrated.

As shown in Figure 8, the outermost (first from the left) length extension module 300 is equipped with three 2-1 pulleys 321 on the 2-1 fixing part 320, and the 2-1 Two 2-2 pulleys 331 are mounted on the 2-2 fixing part 330 so as not to overlap with the first pulley 321. And since the pulley is not mounted on the side facing the adjacent length extension module 300, the pulley is mounted on five sides when viewed from the direction of the second moving guide axis 310.

In the second and third length extension modules 300 from the left, two 2-1 pulleys 321 are mounted on the 2-1 fixing part 320, and the second pulleys 321 are installed so as not to overlap the 2-1 pulleys 321. -2 Two 2-2 pulleys (331) are mounted on the fixing part (330).

Meanwhile, the actuator module 100 is arranged in the fourth to sixth positions from the left, and in the actuator modules arranged in the fourth and fifth positions, two 1-1 pulleys 121 are mounted on the 1-1 fixing part 120, and the Two moving pulleys (141) are mounted on the moving part so as not to overlap with the 1-1 pulley (121).

In addition, in the outermost (sixth from the left) actuator module 100, two 1-1 pulleys 121 are mounted on the 1-1 fixing part 120 and do not overlap with the 1-1 pulley 121. Three moving pulleys 141 are mounted on the moving part.

In this configuration, when calculating the number of turns of the shape memory alloy wire 150, the number of 1-1 pulleys 121 and 2-1 pulleys 321 in each module × 2 is sufficient, so the total number of turns is 26. do. And the wire is wound a total of 7 times on the moving pulley 141 of the moving part corresponding to the output, so it can be expressed as 14 lines of wire.

Therefore, for convenience of calculation, assume that the distance between the 1-1 fixed part 120 and the moving part and the distance between the 2-1 fixed part 320 and the 2-2 fixed part 330 are both 500 mm. Then, the total wire length can be said to be approximately 13,000 mm.

In this case, if the strain rate of the shape memory alloy wire 150 is 2 to 5%, the linear displacement of the actuator system of the third embodiment is the total wire length × strain rate of the wire (2 to 5%) / wound around the moving pulley 141. The number of wire strings 14 ranges from 18.5 to 46.4 mm, and this range corresponds to 3.7 to 9.3% of the distance between the 1-1 fixed part 120 and the moving part, which is approximately twice the individual wire strain rate, The deformation force is 49㎏F, which is 14 times greater than the strength of individual wires.

At this time, if the length extension module 300 is additionally combined, the linear length of the actuator system can be increased, and if the actuator module 100 is additionally combined, the deformation force of the actuator system can be increased. In particular, since the fixed part and the moving part are configured in the form of a hexagonal column, the maximum actuator module 100 and the length extension module 300 can be placed in the minimum area, making it possible to design a bundle-shaped actuator system with the desired linear length and deformation force. You can.

Additionally, the actuator system according to the third embodiment may be arranged in an annular shape as shown in FIG. 9. At this time, since the configuration and operation are substantially the same as those of the third embodiment, detailed description thereof will be omitted.

<Example 4>

Next, a fourth embodiment of the present invention will be described. In this embodiment, the same drawing numbers are used for components corresponding to the first to third embodiments.

Figure 10 is a perspective view showing an actuator system according to a fourth embodiment of the present invention.

As shown, the actuator system according to the fourth embodiment is configured by combining two actuator modules. The actuator module used at this time is largely composed of a first movement guide axis 110, a 1-1 fixing part 120, a moving part 140, and a shape memory alloy wire 150. Does not include government, and springs. In Figure 10, the first and second fixing units are shown, but they do not actually perform any role.

In more detail, the actuator module applied in this embodiment is similar in basic configuration to the actuator module according to the first embodiment, but does not include a spring, so the first and second fixing parts for supporting one end of the spring can also be omitted. .

Therefore, in the fourth embodiment, in order to smooth the longitudinal movement of the actuator, the actuator module is arranged in an axially symmetrical structure, so that when the upper actuator expands, the lower actuator contracts, and conversely, when the lower actuator expands, the upper actuator contracts. achieves

Since other configurations and operations are similar to those in the above-described embodiment, detailed description thereof will be omitted.

<Embodiment 5>

Next, a fifth embodiment of the present invention will be described. In this embodiment, the same drawing numbers are used for components corresponding to the fifth embodiment.

Figure 11 is a perspective view showing the configuration of an actuator system according to the fifth embodiment of the present invention.

As shown, the actuator module used in the actuator system according to the fifth embodiment is similar to the actuator module according to the second embodiment, but does not include a spring.

Therefore, in the fifth embodiment, in order to smooth the longitudinal movement of the actuator module, the actuator module is arranged in a symmetrical structure in the axial direction, so that when the upper actuator expands, the lower actuator contracts, and conversely, when the lower actuator expands, the upper actuator contracts. It forms a composition.

Other configurations and operations are similar to those in the first to third embodiments, so detailed description thereof will be omitted.

As above, the rights of the present invention are not limited to the embodiments described above but are defined by the claims, and various modifications and modifications can be made by those skilled in the art within the scope of the rights set forth in the claims. It is self-evident that you can do this.

100: Actuator module
110: first movement guide axis
120: 1-1 fixing part 121: 1-1 pulley
130: 1-2 fixing part 131: 1-2 pulley
140: main-moving part 141: moving pulley
150: Shape memory alloy wire
160: spring
200: connection part
300: Length extension module
310: Second moving guide axis
320: 2-1 fixing part 321: 2-1 pulley
330: 2-2 fixing part 331: 2-2 pulley
340: Sub-moving part
350: spring

Claims (16)

A first moving guide axis 110 in the shape of a rod formed with a certain length;
A 1-1 fixing part 120 fixed to one end of the first moving guide shaft 110 and having one or more 1-1 pulleys 121 mounted on the side thereof;
A movable pulley 141 is slideably mounted on the other end of the first movable guide shaft 110 and disposed on the side alternately with the 1-1 pulley 121 in the direction of the first movable guide shaft 110. A moving unit 140 provided; and
It is arranged parallel to the first moving guide axis 110 so as to span all the 1-1 pulleys 121 and the moving pulleys 141, so that the 1-1 pulleys 121 and the moving pulleys 141 are continuously connected. A linear drive actuator module using a shape memory alloy wire, characterized in that it includes a single strand of shape memory alloy wire (150) connecting it.
According to paragraph 1,
A 1-2 fixing part 130 fixed to the first moving guide axis 110 and spaced apart from the 1-1 fixing part 120; and
The 1-2 fixing part 130 increases or decreases the slide movement force of the moving part 140 with respect to the 1-2 fixing part 130 according to the contraction or expansion of the shape memory alloy wire 150. ) A linear drive actuator module using a shape memory alloy wire, characterized in that it further includes a spring 160 mounted in the direction of the first movement guide axis 110 between the moving part 140.
According to paragraph 2,
The 1-2 fixing part 130 is disposed on the side alternately with the 1-1 pulley 121, but at a position that does not overlap with the movable pulley 141 in the direction of the first movement guide axis 110. A shape memory alloy wire is disposed in and is equipped with a 1-2 pulley 131 that is continuously connected with the 1-1 pulley 121 and the moving pulley 141 by the shape memory alloy. Linear drive actuator module using.
According to paragraph 2 or 3,
The spring 160 is disposed so that the first moving guide shaft 110 passes therein and is mounted on each side of the first-second fixing part 130 and the moving part 140 facing each other. Linear actuator module using shape memory alloy wire.
According to paragraph 2 or 3,
The 1-1st fixing part 120, the 1-2nd fixing part 130 and the moving part 140 are formed in the form of a hexagonal pillar,
The 1-1 pulley 121, the 1-2 pulley 131 and the moving pulley 141 are each installed on one of six sides in the form of a hexagonal column. A linear method using a shape memory alloy wire. Drive actuator module.
According to clause 5,
Fastening holes 122, 132, and 142 are formed on the sides of the 1-1st fixing part 120, 1-2nd fixing part 130, and moving part 140,
Each of the 1-1 pulley 121, 1-2 pulley 131 and movable pulley 141 has a connecting shaft 123, 133, 143 passing through the center of each pulley, which is mounted on the fastening hole. A linear drive actuator module using shape memory alloy wire, characterized in that it is installed on each side.
A plurality of actuator modules 100 according to claim 2 or 3 are provided, and the 1-1 fixing part 120 provided in each module is interconnected with the moving part 140 provided in each module. An actuator system with an increased linear driving length of the shape memory alloy wire, characterized in that it further includes a connection part 200 for fixing it.
One or more actuator modules (100);
One or more length extension modules (300) on which the shape memory alloy wire (150) installed in the actuator module (100) is extended and mounted in order to extend the length of the shape memory alloy wire (150);
A connecting portion 200 for interconnecting and fixing between one end of the actuator module 100 and one end of the length extension module 300 and between the other end of the actuator module 100 and the other end of the length extension module 300; Contains,
The actuator module 100,
A first moving guide axis 110 in the shape of a rod formed with a certain length;
A 1-1 fixing part 120 fixed to one end of the first moving guide shaft 110 and having one or more 1-1 pulleys 121 mounted on the side thereof;
A first movable pulley 141 is slidably mounted on the other end of the first movable guide shaft 110 and is disposed on the side alternately with the 1-1 pulley 121 in the direction of the first movable guide shaft 110. ), the main-moving part 140 having a; and
It is arranged parallel to the first moving guide axis 110 so as to span all the 1-1 pulleys 121 and the moving pulleys 141, so that the 1-1 pulley 121 and the moving pulley 141 are continuously connected. It includes a shape memory alloy wire (150) connecting one strand,
The length extension module 300,
A second moving guide shaft 310 in the shape of a rod formed with a certain length;
A 2-1 fixing part (320) fixed to one end of the moving guide shaft and having one or more 2-1 pulleys (321) mounted on the side;
It is fixed to the other end of the second moving guide axis 310 to be spaced apart from the 2-1 fixing part 320, and the 2-1 pulley 321 and It includes a 2-2 fixing part (330) having 2-2 pulleys (331) arranged alternately,
The shape memory alloy wire 150 is extended while being stretched across the 1-1 pulley 121 and the moving pulley 141 of the actuator module 100, and is connected to the 2-1 pulley 321 and the 2-2. An actuator system with an increased linear drive length of a shape memory alloy wire, characterized in that the pulley 331 is continuously connected.
According to clause 8,
A 1-2 fixing part 130 fixed to the first moving guide axis 110 and spaced apart from the 1-1 fixing part 120; and
The 1-2 fixing part increases or decreases the slide movement force of the main-moving part 140 with respect to the 1-2 fixing part 130 according to the contraction or expansion of the shape memory alloy wire 150. The linear driving length of the shape memory alloy wire is increased, characterized in that it further includes a spring 160 mounted in the direction of the first moving guide axis 110 between (130) and the main-moving part 140. Actuator system.
According to clause 9,
The 1-2 fixing part 130 is disposed on the side alternately with the 1-1 pulley 121, but at a position that does not overlap with the movable pulley 141 in the direction of the first movement guide axis 110. of the shape memory alloy wire, characterized in that the 1-2 pulley 131 is disposed in and is continuously connected with the 1-1 pulley 121 and the moving pulley 141 by the shape memory alloy. Actuator system with increased linear drive length.
According to clause 10,
The spring 160 is disposed so that the first moving guide shaft 110 passes therein and is mounted on each side of the 1-2 fixing part 130 and the main-moving part 140 facing each other. An actuator system with an increased linear driving length of the shape memory alloy wire.
According to clause 8 or 9,
The 1-1st fixing part 120, 1-2nd fixing part 130, 2-1st fixing part 320, 2-2nd fixing part 330 and main-moving part 140 are hexagonal. It is formed in the form of a pillar,
Each of the 1-1 pulley 121, 1-2 pulley 131, 2-1 pulley 321, 2-2 pulley 331 and movable pulley 141 has a hexagonal column shape. An actuator system with an increased linear drive length of a shape memory alloy wire, characterized in that it is mounted on one of the sides of the dog.
According to clause 12,
Side surfaces of the 1-1st fixing part 120, 1-2nd fixing part 130, 2-1st fixing part 320, 2-2nd fixing part 330 and main-moving part 140 A fastening hole is formed in
Each of the 1-1 pulley 121, 1-2 pulley 131, 2-1 pulley 321, 2-2 pulley 331 and movable pulley 141 penetrates the center of each pulley. An actuator system with an increased linear driving length of a shape memory alloy wire, characterized in that one connecting shaft is installed on each side by being mounted in the fastening hole.
According to clause 8,
The length extension module 300,
A sub-moving part 340 that is slidably mounted on the other end of the second moving guide shaft 310 and is connected to the main-moving part 140 of the adjacent actuator module 100 by a connecting part 200; and
The 2-2 fixing part increases or decreases the slide movement force of the sub-moving part 340 with respect to the 2-2 fixing part 330 according to the contraction or expansion of the shape memory alloy wire 150. The linear driving length of the shape memory alloy wire is increased, characterized in that it further includes a spring 350 mounted in the direction of the first moving guide axis 110 between (330) and the sub-moving part 340. Actuator system.
Two actuator modules 100 are arranged symmetrically in the coaxial direction,
The actuator module 100,
A rod-shaped moving guide shaft 110 formed of a certain length;
A 1-1 fixing part 120 fixed to one end of the moving guide shaft 110 and having one or more 1-1 pulleys 121 mounted on the side thereof;
A first movable pulley 141 is slidably mounted on the other end of the movable guide shaft 110 and is disposed on the side alternating with the 1-1 pulley 121 in the direction of the movable guide shaft 110. Moving unit 140; and
It is disposed parallel to the moving guide axis 110 so as to span all the 1-1 pulleys 121 and the moving pulleys 141 and continuously connects the 1-1 pulleys 121 and the moving pulleys 141. It includes a single strand of shape memory alloy wire (150),
An actuator system with an increased linear driving length of the shape memory alloy wire, characterized in that the moving parts included in each module are mounted facing each other on the moving guide axis.
According to clause 15,
Each of the actuator modules 100,
A 1-2 fixing part 130 fixed to the moving guide axis 110 to be spaced apart from the 1-1 fixing part 120 between each of the 1-1 fixing parts 120 and the moving part 140. ) further includes,
The 1-2 fixing portion 130 is disposed on the side alternately with the 1-1 pulley 121, and is disposed at a position that does not overlap with the movable pulley 141 in the direction of the movable guide axis 110. and a 1-2 pulley 131 continuously connected to the 1-1 pulley 121 and the moving pulley 141 by the shape memory alloy. Drive actuator module.