WO2019034205A1

WO2019034205A1 - Shape memory actuator assembly and method for producing the same

Info

Publication number: WO2019034205A1
Application number: PCT/DE2018/100700
Authority: WO
Inventors: Norman Perner; Helmut Bronowski
Original assignee: Solvo GmbH
Priority date: 2017-08-13
Filing date: 2018-08-08
Publication date: 2019-02-21
Also published as: DE102017007596B4; DE102017007596A1

Abstract

The invention relates to a shape memory actuator assembly, comprising a first deflecting body having an at least indirect connection to a first fastening element; a second deflecting body having an at least indirect connection to a second fastening element, wherein the first deflecting body is spaced apart from the second deflecting body; a one-piece shape memory element, which at the ends thereof is connected to the first deflecting body and the second deflecting body, wherein a multiple winding of the one-piece shape memory element around the first deflecting body and the second deflecting body forms a first actuator arrangement having first actuators in a first actuator plane, and a second actuator arrangement having second actuators in a second actuator plane. On the first deflecting body and on the second deflecting body, the first actuators and the second actuators are captively connected by means of a fixing element, wherein the fixing element comprises at least one fixing portion, which extends without direct contact to the first deflecting body and the second deflecting body in the first actuator plane and the second actuator plane, and which is designed in such a way that it determines the transverse distance of the captively connected first actuators, and of the captively connected second actuators in the respective actuator plane.

Description

Shape memory acutator assembly and method for making same

The invention relates to a shape memory actuator assembly with the

The preamble features of claim 1 and a method of manufacturing a shape memory actuator assembly.

Shape memory materials have a high temperature phase (austenite) and a low temperature phase (martensite), due to different

Crystal structures a reversible shape change when passing through a

Allow temperature cycle. If a shape memory material is initially pseudoplastic deformed in the martensitic state and then on the

Phase transition temperature heats, resulting in a Austenitgefüge associated unique change in shape. In a subsequent cooling, the material generally does not return to the original state of martensite phase deformation because the phase transformation is merely intrinsic

Grid changes (twinned martensite) results. Consequently, additional forces must act on the material from the outside in order to restore the original starting shape in the cold temperature phase. Such a disposable effect-based shape memory material can therefore only be used actuarially if two oppositely running actuators act as agonist and antagonist actuators

be used.

If several cycles of temperature are passed through and an article made of a shape memory material is always forced into the same, defined shape when it cools down, a form training is created by tension in the material, so that the antrained cold shape is resumed by the two-way effect at the end of a temperature cycle. However, with the two-way effect when cooling the desired shape can only be recovered if no significant external forces counteract the change in shape, so that

Shape memory actuator assemblies also for two-way shape memory materials an Agonis † -An † agonis † construction is preferred. The training of certain movement pattern remains but also for such arrangements essential, and indeed whenever free areas and clamped areas, for example

Umlenkungsstellen, the shape memory actuator present. By training the ability to move in the specific clamping position, frictional effects can be minimized and, as a result of the efficiency of the adjusting movement, as well as the service life, be increased.

As materials for shape memory actuators nickel-titanium alloys and nickel-titanium-copper alloys are typically used. Furthermore, shape memory materials based on CuZn, CuZnAl, CuAINi, FiNiAl, FeMnSi and ZnAuCu as well as shape memory polymers are known. It shows up

Shape memory alloys by a high specific work capacity and a high number of load cycles.

For heating a shape memory actuator over the phase transition temperature, heat may be supplied from outside through a heating medium. Alternatively, the temperature change is achieved by a current supply. It is essential that a homogeneous temperature control in the material, so typically thin-walled, elongated structures, such as wires of shape memory material or bands are used. These also offer the advantage of rapid cooling due to their large surface area, so that the total temperature cycle is high

Speed can be traversed and thus fast actuator reactions are possible.

In order to exploit the advantages of wires or bands of shape memory material for applications requiring higher actuating forces, is the

Application of braids or tissues known from shape memory wires. Reference is made by way of example to DE 4307593 C1. Furthermore, by

DE 1 0201 1 1 1 2966 A1 and DE 1 0201 1 1 1 2965 AI the production of a grid structure in the form of mesh or woven fabric from a shape memory wire for training proposed a combined actuator. Furthermore, shape memory tissue elements for producing medical implants are known, for example, from EP 1 5741 69 B1, EP 1 790 297 B1 and DE 421 9949 A1. such

Assemblies expand under the effect of body temperature from a compressed introducer to a three-dimensional target shape and are not designed to meet the needs of a cyclic actuator.

Furthermore, the incorporation of shape memory materials into functional or generally stretchable materials is known. For example, EP 1 850 359 B1, EP 0364869 B1, EP 1 644564 B1, WO 2005050409 A2, EP 21 36858 B1, US Pat.

WO 201 1066224 A2 referenced. It is known from EP 301 5581 AI and JP H08209488 A, the temperature of a shape memory wire for weaving in textiles. The high temperature phase is used, which shows a pseudoelastic behavior. This effect, also called superelasticity, is based on a

Stress-induced transformation of the austenite phase into martensite, which is associated with an extraordinary, reversible elastic deformability. In addition, it is known to use the pseudoelastic behavior by means of shape memory elements embedded in a fibrous composite for vibration damping. Fields of application offer the aerospace and sporting goods. As an example reference is made to US 8951 923 B2, WO 1 999020357 AI and EP 2028309 Bl.

For shape memory actuators, embedding the shape memory material in a knit fabric or composite results in a reduction in force density as well as the number of possible load cycles. The same disadvantage also arises for the above-described mashed or in the form of lattices of individual wires applied shape memory actuators. For these occurs upon activation

Energizing the additional difficulty that when using thermally advantageous, not electrically isolated shape memory alloys to the

Junction points a variety of electrical connection points occur, leading to an undefined current flow and thus possibly to an inhomogeneous Warming of the entire shape memory actuator lead. Therefore, for

Shape memory actuator arrangements a plurality of parallel and without adjacent contact extending actuators made of a shape memory material preferred. For example, reference is made to US 51 86420 A and EP 1 557563 A1. Further suggests

DE 1 952971 2 C2, for such an arrangement with a plurality of parallel actuators to use a one-piece shape memory element in the form of a wire and to wrap this several times by at least two deflecting. In this case, the deflecting body on the for the wire contact

provided area a groove arrangement, which requires a precise winding for insertion of the wire with a sufficient tensile stress for mounting. Accordingly, DE 1 9730383 B4 discloses helical guide grooves on one

cylindrical deflecting body, which by a gear offset in the axial direction when wrapping the deflecting a parallel guidance of the actuators in

enable subsequent freewheeling area. Such form-fitting recordings on the deflector require a precise wire guide during assembly, which can often be accomplished only by consuming manual labor.

Furthermore, the above-mentioned DE 1 9730383 B4 proposes the arrangement of deflecting bodies with the one-piece wound around them several times

Form memory elements in the form of a shape memory wire to create as a one-piece assembly that allows training of the shape memory wire, taking into account the later state of use. However, the form-fitting and half-open open wire recordings put on the

Umlenkkörpern advance that constantly an outward move on the

Deflector is maintained, which keeps the shape memory wire permanently under tension. This requires an additional tensioning element which increases the complexity and handling effort of the assembly.

The invention has for its object to provide a shape memory actuator assembly, which allows automated production and to a whole manageable component that can be stored without additional clamping devices and that can be introduced as a finished part in a transmission kinematics, in particular as part of a Aktordoppelanordnung to achieve an agonist-antagonist design. Furthermore, a method for producing such

To provide shape memory arrangement, which allows a high degree of automation and flexible scalability.

The starting point of the invention was a shape memory actuator arrangement, for which a one-piece shape memory element, typically a shape memory wire or a band made of a shape memory material, is wound several times around deflecting bodies. For a simple linear actuator arrangement, there is a first deflecting body and a second deflecting body spaced therefrom. Also conceivable are more than two deflecting bodies, so that triangular or generally polygonal arrangements of the deflecting bodies are included in the space. Each of the deflecting is associated with at least one fastener to which the deflecting in the immediate

Connection stands and that serves for the initiation and initiation of the Aktorischen forces in the installed state on the surrounding structure.

The one-piece shape memory element is preferably attached to at least two points on one or both of the deflecting body. As fasteners come frictional or positive or cohesive connections into consideration, which are suitable to

withstand occurring actuator forces. For a preferred embodiment, this attachment is in addition to contacting with a power supply to allow an electrical heating of the one-piece shape memory element. Depending on the selected wire length of the one-piece shape memory element are more

Stromeinspeisungspunkte, which are typically arranged on one of the deflecting conceivable.

If the arrangement of the one-piece shape memory element is considered after the wrapping of at least two deflecting bodies, the deflecting bodies are located on each a first actuator assembly with first actuators in a first actuator plane before. In this case, the first actuators typically run parallel and are preferably arranged for a non-isolated shape memory element with a transverse spacing. In addition, at each of the deflecting a second actuator assembly with two again typically parallel actuators in a second

Actor level before. For a simple linear arrangement with two oppositely deflecting bodies with a matching axis orientation, the first actuator plane and the second actuator plane are spaced parallel to one another. In the case of three or more deflecting bodies, the first and second actuator planes are in angular position relative to one another for each deflecting body.

To improve the shape memory actuator assembly, the inventors have recognized that a simplified, automatable assembly is given if the one-piece shape memory element does not have to be inserted in groove guides in the deflecting bodies during the wrapping. Nevertheless, a defined wrapping and precise spacing guide, especially for the use of

To ensure shape memory elements without electrical insulation is

proposed to provide a separate fixing element, which accomplishes a captive connection of the resulting from the wrapping actuators without transmitting substantial Aktorische forces that are absorbed exclusively by the deflecting bodies. For this purpose, the fixing element is arranged in the region of a deflecting body and comprises at least one fixing section, which extends directly without contact to the deflection body in the first actuator plane with the first actuators and / or the second actuator plane with the second actuators. In this case, a fixing section is designed such that the actuators connected in the respective actuator plane have a defined and fixed transverse distance. Transverse distance is understood to mean the distance transversely to the contact line of the wrapping on the respective deflecting body. Consequently, the transverse direction relevant for the distance runs axially for the example of a cylindrical deflecting body. In addition, the connection between the fixing and the associated actuators so be formed captive that after installation, a permanent train on the actuators can be omitted without the Umwicklungsanordnung on a

Deflection is changed functionally essential.

In this case, a captive connection is understood as meaning a positive and / or cohesive and / or frictional connection, which is designed in such a way that the mutual position of the actuators, even without a tensile force on the actuators and independent of the effect of the forces occurring during handling and storage in the respective actuator level and relative to the assigned one

Deflection body is not changed functionally significant. Preferred is a

a captive connection that encloses each actuator over half of its circumference, and particularly preferred is an exception over the entire circumference for at least a portion of the fixation element. For a preferred

Embodiment extends the captive connection over a sufficiently large area in the direction of the actuators. Therefore, the preferred

Extension of the fixing section in the respective actuator plane in the average course direction of the captive connected actuators selected so that it is more than ten times the diameter of an actuator. As the upper limit of the expansion of the fixing section in the average course direction of the actuators is preferably at most 1 5% and particularly preferably 1 0% of

Total length of the actuators selected. Furthermore, it is preferable to arrange the fixing section in the region of an associated deflection body such that the

Fixierungsabschnitt starting from the deflecting in the first third of the course of the associated actuators.

According to a preferred embodiment, in addition to the definition of the transverse distances of adjacent actuators, the fixation element also defines the axial position of the actuators belonging to an actuator plane relative to the associated actuator

Fixed deflector. In the present case, the axial position is understood to mean the arrangement in the direction of the contact line of the actuators on the deflecting body. Especially preferred For this purpose, the fixing section is braced in the transverse direction. For this purpose, the deflecting bodies can comprise holders arranged at their axial ends, which serve for fastening and clamping the fixing section.

To carry out the fixing elements, these preferably comprise fixing sections made of a woven fabric, a knitted fabric, a fleece, an elastomer or a

Fiber composite material in the captive to be connected actuators

be recorded. Further preferred embodiments see in the

Fixing sections bracket clips for the actuators before. For a further preferred embodiment alternative, the captive connection is effected by gluing or welding.

Particularly preferred is an embodiment of the fixing element as a fabric, for which the chain in the transverse direction, that is longitudinal to the deflecting body, extends and whose shot comprises the one-piece shape memory element. Thus, the actuators form weft threads of the fabric, wherein for spacing in the transverse direction preferably further weft threads are used from a non-shape memory material. These advantageously have a high elasticity, so that actoric forces almost exclusively from the actuators of shape memory material on the

Be transferred deflecting, wherein for the deformations of the

Fixing element resulting forces in the direction of the actuators on the deflecting body, which amount to more than 5%, and preferably less than 2% of the maximum, combined train of the actuators of an actuator level, is still tolerable. Therefore, a fixing element which has a greater elasticity in the direction of advance of the captive-connected actuators in comparison to the elasticity transversely to the direction of progression is particularly preferred. When training as a tissue is

advantageously uses a high strength warp and substantially higher elastic, extra weft threads of non-shape memory material in the transversely extending spacer portions between the actuators. For a preferred further development of the invention, both a first fixing section for the first actuators in the first are located on a deflecting body

Actuator level and a second fixing section for the actuators of the second actuator level before. This arrangement, in conjunction with a tension along the deflecting body, which determines the axial position of the respective fixing sections, allows an axial offset between the actuators of the first actuator plane and that of the second actuator plane. This leads to a helically applied wrapping around the deflecting body, which allows a parallel guidance of the actuators in the respective actuator plane, without a correspondingly helically designed groove system is created in the deflecting body.

The inventive method for producing the shape memory arrangement provides that after each executed winding of the one-piece shape memory element to a deflecting the resulting from this winding actuator in the first actuator level and / or the corresponding actuator in the second actuator plane with at least one resulting from a preceding winding actuator the same actuator level is connected by the fixing element.

For the preferred embodiment of a fixing element in the form of a fabric is by means of a weaving machine for an advantageous embodiment of the

Shape memory element led to a winding core under train and energized in addition to the temperature. After the partial wrapping smaller than 1 80 ° around one

Deflection body is the shape memory wire under train at a vertex of the deflecting in a defined position and is additionally guided by an open compartment of the chain. Then there is a change of the heald frames and a movement of the reed, which leads to a captive connection with the

Fixation element leads by weaving. Thus, a further fabric layer of the fixing element is formed, in which the wire portion of the shape memory element is embedded. Accordingly, the incorporation into an open compartment of the second actuator level associated tissue and fixation section can be carried out, wherein Preferably, the train is wrapped in the wrapping around the deflecting on the one-piece shape memory element is maintained until the captive the portion of the respective actuator the captive connection is ensured. For this purpose, temporary fixations which act on a winding section of the shape memory element on the deflection body may be provided. Also conceivable is a selective attachment to the vertices of the system of

Shape memory element on the deflecting body, which can be accomplished, for example, by laser welding or a precisely metered adhesive application. For a further design alternative, a releasable cohesive connection is provided, for example a temporary bond which can be removed again after captive receiving an actuator in the fixation section of the fixation element, so that receive a certain play in the Umwicklungsbereiche of the shape memory element to the deflecting for the shape memory actuator in operation remains.

For the inventive method is as a preferred further process step after the captive connection of the actuators in the associated

Fixierungsabschnitt of the fixing element defines the fixing element as a whole with respect to its relative position to the deflecting body. For this purpose, an at least indirect fastening of the fixing element on the associated deflection body preferably takes place. Particularly preferred is a tension in the transverse direction between brackets, which at the ends of the associated

Deflection bodies are arranged.

The invention will be explained in more detail below with reference to preferred exemplary embodiments and in connection with figure representations. These show in detail the following:

1 shows a shape memory actuator assembly according to the invention, 2 shows a first embodiment of the method according to the invention of a shape memory actuator arrangement,

Fig. 3 shows a second embodiment of the invention

Manufacturing process

Fig. 4 shows a sectional view of a linear embodiment of the invention

Formgedächtnisaktuatoranordnung,

Fig. 5 shows a triangular arranged further embodiment of

Shape memory actuator assembly according to the invention in axial section,

Fig. 6 shows a further embodiment of the invention

Shape memory actuator arrangement with a double winding in axial section,

Fig. 7 shows a further embodiment of the invention

Formgedächtnisaktuatoranordnung.

FIG. 1 shows, in a schematically simplified view, a first embodiment of the shape memory actuator arrangement according to the invention with a first embodiment

Deflection body 1 and a second deflecting body 2, which are spaced apart and oriented in parallel. The first deflecting body 1 and the second deflecting body 2 are designed as hollow cylindrical elements made of an electrical insulator, in particular polyetheretherketone (PEEK). The longitudinal axes of the first deflecting body 1 and the second deflecting body 2 are parallel to one another and define an axial direction 1 3. By means of internal bores in the first deflecting body 1 and in the second deflecting body 2, metal bars with protrusion are used to form a first

Fastener 3, which is associated with the first deflecting body 1, and a second fastening element 4, which is associated with the second deflection body 2, out. These are used to transfer the Aktorischen forces.

A one-piece shape memory element 6 in the form of an electrically non-insulated nickel-titanium wire is attached at its end to Crimphalterungen 20, 21 on the first deflecting body 1 and is supplied via the electrical leads 22, 23 for heating with electric current.

The illustrated multiple wrapping of the one-piece shape memory element 6 about the first deflecting body 1 and the second deflecting body 2 results in a parallel arrangement of first actuators 7.1 - 7.n in a first actuator plane 8. Each of the first actuating elements 7.1 - 7.n extends from a first contact point the upper crest line 30 at the first deflecting body 1 to a in the

Individual opposite vertex, not shown, which defines the system on the second deflecting body 2. For the illustrated preferred embodiment, the first actuators 7.1 - 7.n are parallel to each other and do not touch, so that even for an electrically non-insulated one-piece shape memory element 6, a defined current flow during heating between the end

Stromeinspeisepunkten on the Crimphalterungen 20, 21 is ensured.

The wrapping of the one-piece shape memory element 6 about the first deflecting body 1 and the second deflecting body 2 results in a second actuator plane 10 with second actuators 9.1 - 9.n, which run correspondingly parallel and without mutual contact. The Umwicklungsführung is the one-piece

Shape memory element 6 around the first deflecting body 1 and the second

Deflecting body 2 preferably helically applied, that is between the

Touch points at the top vertex line 30 and the lower vertex line, not shown in detail, there is a gear offset in the axial direction 1 3, so that it is ensured that the first actuators 7.1 - 7.n and the second Actuators 9.1 - 9.n have by a parallel course a matching tensile force direction.

According to the invention, the system and securing the arrangement of the first

Actuators 7.1 - 7.n and the second actuators 9.1 - 9.n and the wrapping on the first deflecting body 1 and the second deflecting body 2 by a separate

Fixing element 1 1 .1 - 1 1 .4 ensured. According to the invention that includes

Fixing element 1 1 .1 - 1 1 .4 a fixing portion 1 2.1, 1 2.3, 1 2.4, which is not in direct contact with the first deflecting body 1 and the second deflecting body 2.

For the embodiment shown in Figure 1, the first fixing portion 1 2.1 a captive connection of the first actuators 7.1 - 7.n ago in the region of the first deflecting 1, wherein due to a clamping between the brackets 1 4.1, 1 4.2 the vertical distance of adjacent first actuators 7.1 - 7.5 in

Axial direction 1 3, which is referred to as a transverse distance is fixed. Accordingly, the second actuators 9.1 - 9.n are hidden by a hidden in Figure 1

Fixing portion captive connected to a specified transverse distance in the second actuator plane 1 0 in the region of the first deflecting body 1. A corresponding arrangement is on the second deflecting body 2 with the fixing section 1 2.3, the first actuators 7.1 - 7.n connects captively, and the fixing section 1 2.4, the captive connection of the second actuators 9.1 - 9.n, before.

Due to the shape memory actuator arrangement according to the invention, actuator tensile forces are transmitted directly to the deflecting bodies 1, 2 by the first actuators 7.1 - 7.n and second actuators 9.1 - 9.n, and a positional fixation of the wrapping with the one-piece shape memory element 6 through the separate actuators

Fixing elements 1 1 .1 - 1 1 .4 achieved that does not affect the actuator forces substantially. This creates a manageable as a whole assembly whose production due to the simplified winding availability of the one-piece Shape memory element 6 around deflecting body 1, 2 is facilitated without precise to be taken form-fitting recordings. Accordingly, the assembly simplifies and at the same time can the Formgedächtnisa ktuatoranordnung due to a

improved scalability to different application requirements.

FIG. 2 shows a possible embodiment of an automated production of the shape memory actuator arrangement according to the invention. It is the

Fixation section 1 2.1 of the fixing element 1 1 .1 constructed in the form of a fabric. For clarity, a simple canvas weaving with a first warp yarn system 16 and a second warp yarn system 1 7 is more schematic

Simplification shown. The first warp thread system 1 6 and the second

Warp system 1 7 are formed by high-strength insulating fabric fibers, such as aramid fibers. The guided over a winding core 1 8 one-piece

Shape memory element 6 is added as a weft thread 1 9 in the fabric 1 5. Shown in FIG. 2 is an opened compartment which is formed by a guide (not shown in detail) of the first warp thread system 16 and the second warp thread system 17. Also not shown are other components of the loom used and additional devices for handling the winding core 1 8 and a gripping system for the respective weft forming portion of the one-piece shape memory element 6, which in the weaving by an energization in the

Austenitic state is transferred to exploit the pseudoelastic behavior.

For the tissue 1 5 lie between each of the directly adjacent first

Actuators 7.1 - 7.n Spacer elements in the form of clamped intermediate fabric 41. Consequently, further weft threads 1 9.1 are introduced without aktorische function in the tissue, which preferably have a higher elasticity than the threads of the first and second warp thread system 1 6, 1 7. This will affect the actoric

Tensile forces along the first actuators 7.1 - 7.n reduced and the distance setting of the actuators 7.1 - 7.n ensured in the transverse direction. FIG. 3 shows a design alternative for a production method according to the invention. As a fixing section 1 2.1 of the fixing element 1 1 .1 an attached to the holder 1 4.1 elastomeric membrane 29 is incorporated with incorporated stiffening bodies 28.1 - 28.3. For the captive connection of a first actuator 7.1 forming portion of the one-piece shape memory element 6 is a precisely applied adhesive bond, which produces a material connection. It can be seen that the next one of a device, not shown in detail

To be joined portion of the one-piece shape memory element 6 is positioned with train over the crest line 42 on the first deflecting body 1. Then, the application of adhesive 25 by a Dosierungsaktor 24 which generates adhesive microdrops, the locally precise for cohesive connection between the one-piece shape memory element 6 and the stiffening bodies 28.1 - 28.3 im

Fixierungsabschnitt 1 2.1 are stored. For a non-illustrated alternative embodiment, a laser welding method for fixing the first actuators 7,1, 7.2, 7.3 to the stiffening bodies 28.1 - 28.3 of the fixing section 1 2.1 is used.

FIG. 4 shows a schematically simplified axial section for a linearly applied embodiment of the shape memory actuator arrangement according to the invention with a first deflecting body 1 and a second deflecting body 2 around which the one-piece shape memory element 6 for forming first actuating elements 7.1 in a first

Actuator level 8 and second actuators 9.1 is wound in a second actuator level 1 0. The first actuator level 8 and the second actuator level 10 have a parallel spacing H. The inventively provided fixing elements 1 1 .1 - 1 1 .4 comprise fixing sections 1 2.1 - 1 2.4, in the longitudinal direction of the first actuator 7.1 in the first actuator plane 8 and in the longitudinal direction of the second actuator 9.1 in the second actuator plane 1 0 each one Longitudinal distance 43 to the apex plane 42 on the first deflecting body 1 and wherein within this longitudinal distance free

Path lengths 50 of the first actuator 7.1 and the second actuator 9.1 run. A corresponding arrangement is present on the second deflection body 2. By this spacing, the fixing sections 1 2.1 - 1 2.4 have no direct contact the respective deflecting bodies 1, 2. For an alternative, not shown in detail embodiment, parts, in particular highly elastic components, the fixing elements 1 1 .1 - 1 1 .4 the deflecting 1, 2 directly touch or be connected to this, as far as the force decoupling according to the invention of the actuators 7.1, 9.1 receiving fixation sections 1 2.1 - 1 2.4 is ensured without direct contact.

Furthermore, it is preferable to keep the longitudinal extent of the fixing sections 51 as short as possible in the running direction of the first and second actuators 7.1, 9.1. Particularly preferably, the entire longitudinal extent of the fixing portions 51 is limited to a maximum of 1 5% of the total length of the actuators 7.1, 9.1, to the

Actors effect not restrict. In this case, the length is chosen so sufficiently that a captive fixation of the actuators 7.1, 9.1 and the determination of the relative position to the respective deflecting body 1, 2 is ensured. As minimal

Lengthwise extension of the fixing portions 51 is selected at least ten times the diameter of the actuators 7.1, 9.1. For long free-running sections of the actuators 7.1, 9.1, the arrangement of an intermediate fixing element 39, which produces a captive connection of the actuators 7.1, 9.1 different actuator levels 8, 1 0, is preferred. Such Zwischenfixierungselemente 39 prevent twisting of the actuators 7.1, 9.1 and thus facilitate the handling of

Shape memory actuator assembly according to the invention as a structural unit.

FIG. 5 shows an embodiment of the invention

Shape memory actuator assembly having a first deflecting body 1, a second deflecting body 2 and a third deflecting body 44, which in the shown

Axial section view form a triangle arrangement. Accordingly, the generate

Actuators 45.1 - 45.3 a first actuator plane 35, a second actuator plane 36 and a third actuator plane 37 which are in angular position to each other and in which the inventively provided separate fixing elements 1 1 .1 - 1 1 .6 for captive mounting of the actuators 45.1 - 45.3 are arranged , For an im Individual further design, not shown, more than three deflecting bodies are provided so that a polygonal actuator geometry results. Further are

Designs are conceivable for which the axes of Umlenkköper not parallel, so that in the general case several spaced actuator planes with different surfaces normal directions exist.

Another embodiment in the simplified axial section of the

Shape memory actuator assembly according to the invention is shown in Figure 6.

Shown is a double winding with two one-piece shape memory elements 6.1, 6.2, wherein the one-piece shape memory element 6.1, the first deflecting body 1 and the second deflecting 2 directly wrapped. The other one-piece

Shape memory element 6.2 is at the first deflecting body 1 and the second

Deflection body 2 via additional intermediate shells 48.1, 48.2 wound, so that a total of a first actuator plane 35, a second actuator plane 36, a third

Actuator level 37 and a fourth actuator plane 38 arise as parallel layers in which the actuators 45.1 - 45.4 run. For captive mounting and for determining the transverse distances of the actuators 45.1 - 45.4 and additionally the wraps on the respective deflecting bodies 1, 2 and 48.1, 48.2 on the intermediate shells, the fixing elements 1 1 .1 - 1 1 .4 are used according to the invention. Subsequent to the freewheeling sections of the actuators 45.1 - 45.4 are additional

Zwischenfixierungselemente 39.1 - 39.2 between the first deflecting body 1 and the second deflecting body 2, which for further securing the actuators 45.1 - 45.4 connect between actuators adjacent actuator planes 35, 36, 37, 38 produce.

FIG. 7 shows, for a further embodiment, a section of a shape memory actuator arrangement according to the invention with a thread tensioning device 40 to a fastening element 49 receiving the actuator forces

Thread strands 52.1 - 52. n, between the helical wrappings of the one-piece shape memory element 6 on the first deflecting body 1 additional wraps with form a high-strength fiber bundle, advantageously an aramid fiber, and absorb the aktorischen forces at a plurality Umwicklungsstellen along the longitudinal course of the first deflecting body 1 by the selective thread combination on the fastening element 49 and so a deflection of the first

Deflection body 1 at a Zugbeaufschlagung by the first actuators 7.1 - 7.1 3 and the second actuators 9.1 - 9.1 3 prevent.

Further embodiments within the scope of the following claims are conceivable.

Reference numeral list first deflecting body

second deflecting body

first fastening element

second fastening element wire-tensioned fastening element 6.1, 6.2 one-piece shape memory element - 7.n first actuators

first actor level

- 9.n second actuators

second actuator level

.1 - 1 1 .6 Fixation element

.1, 1 2.2

.3, 1 2.4 Fixation section

Axial direction

.1, 1 4.2 Bracket

tissue

first warp thread system

second warp thread system

winding core

, 1 9.1 weft

Crimphalterung

Electrical supply

Dosierungsaktor

adhesive

.1 splice

.1 - 28.3 Stiffening body elastomeric membrane

crest line

vertex distance

longitudinal extension

Freeze area

Aktorebenenabstand

first actor level

second actuator level

third actor level

fourth actuator level

, 39.1,

.2 intermediate fixing element

Fadenabspannung

between tissue

peak level

longitudinal distance

third deflecting body

.1 - 45.4 Actuator

.1 - 46.2 Actuator level

.1, 47.2 Intermediate fixing element

.1, 48.2 Intermediate shell

fastener

free path length

Longitudinal extension of the fixing elements.1 - 52. n Thread strand parallel distance

Claims

claims

1 . A shape memory actuator assembly comprising

a first deflecting body (1) with an at least indirect connection to a first fastening element (3);

a second deflecting body (2) with an at least indirect connection to a second fastening element (4), wherein the first deflecting body (1) from the second Umlenkköper (2) is spaced;

a one-piece shape memory element (6) which is connected at its ends to the first deflecting body (1) and / or the second deflecting body (2), wherein a multiple winding of the one-piece shape memory element (6) around the first deflecting body (1) and the second deflecting body (2) a first one

Actuator arrangement with first actuators (7.1, 7.n) in a first

Actuator level (8) and a second actuator arrangement with second actuators (9.1, 9.n) in a second actuator plane (1 0) forms;

characterized,

in that at the first deflecting body (1) and / or at the second deflecting body (2) the first actuating members (7.1, 7.n) and / or the second actuating members (9.1, 9.n) are secured by means of a fixing element (11.1, .. ., 1 1 .6) are connected captively, wherein the fixing element (1 1 .1, ..., 1 1 .6) at least one fixing section (1 2.1, ..., 1 2.4), which without direct contact to first deflecting body (1) or to the second deflecting body (2) in the first actuator plane (8) and / or the second actuator plane (1 0) and is formed so that it is the transverse distance of the captive connected first actuators (7.1, 7. n) and / or the captive connected second actuators (9.1, 9.n) defined in the respective actuator level.

2. shape memory actuator assembly according to claim 1, wherein the captive connection, the first actuators (7.1, 7.n) and / or the second actuators (9.1, ..., 9.η) over a part of their longitudinal extent in a fabric and / or a knitted fabric and / or a non-woven and / or an elastomer and / or a

Fiber composite material of the fixing portion (1 2.1, ..., 1 2.4) are received and / or glued or welded over part of its longitudinal extent on the fixing element.

Shape memory actuator according to at least one of claims 1 or 2, wherein the extension of the fixing section (1 2.1, ..., 1 2.4) in the first actuator plane (8) and / or the second actuator plane (1 0) in the averaged course direction of the captive connected first actuators (7.1, 7.n) and / or the captive connected second actuators (9.1, 9.n) is more than ten times the diameter of an actuator (7.1, 7.n).

Shape memory actuator according to at least one of the preceding claims, wherein the fixing element with the first deflecting body (1) and / or with the second deflecting body (2) at least indirectly in connection is that this the captive connected first actuators (7.1, 7.n) and / or the second actuators (9.1,

9.n) in its axial position relative to the first deflecting body and / or the second deflecting body (2) determines.

The shape memory actuator assembly according to at least one of the preceding claims, wherein the first deflecting body (1) and / or the second deflecting body (2) comprise holders arranged at their axial ends, and the

Fixation section (1 2.1, ..., 1 2.4) between the brackets of the first

Deflection body (1) or the second deflecting body (2) is clamped.

Shape memory actuator assembly according to at least one of the preceding claims, wherein on the first deflecting body (1) and / or on the second

Deflecting body (2) the fixing element a first fixing section (1 2.1,

1 2.4), which captively connects the first actuators (7.1, 7.n) in the first actuator plane (8) to the respective deflecting body, and a second fixation section (1 2.2, 1 2.4) comprising the second actuators (9.1, 9 .n) in the second actuator plane (1 0) on the same deflecting body (1, 2)

captive connects.

7. shape memory actuator assembly according to claim 6, wherein the first

Fixierungsabschnitt (1 2.1, 1 2.3) the axial position of the first actuators (7.1, ..., 7.n) in the first actuator plane (8) and the second fixation section (1 2.2, 1 2.4) the axial position of the second actuators (9.1, 9.n) in the second actuator plane (1 0) relative to the respective deflecting body (1, 2) set so that the first

Actuators (7.1, ..., 7.n) axially offset from the second actuators (9.1, ..., 9.n) run.

8. shape memory actuator assembly according to at least one of the preceding claims, wherein the fixing portion (1 2.1, ..., 1 2.4) greater elasticity in the direction of the captive connected actuators (7.1, 7.n) than the elasticity transverse to the direction of the captive connected actuators (7.1, 7.n).

9. shape memory actuator assembly according to at least one of the preceding claims, wherein the fixing portion (1 2.1, ..., 1 2.4) comprises a tissue whose shot is formed by the one-piece shape memory element (6).

1 0. A method for producing a shape memory actuator according to one of the preceding claims, wherein after execution of a winding of the one-piece shape memory element (6) to the first deflecting body (1) and / or the second deflecting body (2) and before carrying out another winding each last resulting first actuator (7.1, 7.n) and / or the last resulting second actuator (9.1, 9.n) by means of Fixierungsabschnitts (1 2.1, ..., 1 2.4) captive with at least one resulting from a previous winding actuator (7.1, ..., 7.4) of the same actuator level (8, 1 0) is connected. 1 . A method of manufacturing a shape memory actuator assembly according to

Claim 1 0, wherein after the execution of all windings of the one-piece shape memory element (6) to the first deflecting body (1) and / or the second deflecting body (2) the fixing element (1 1 .1, ..., 1 1 .6) at least indirectly on the first deflecting body (1) and / or on the second deflecting body (2) is attached. 2. A method for producing a shape memory actuator according to

at least one of claims 1 0 or 1 1, wherein the first actuators (7.1,

7.n) and / or the second actuators (9.1, 9.n) over a part of their longitudinal extension into a woven and / or knitted fabric and / or a fleece and / or an elastomer and / or a fiber composite material of

Fixing element (1 1 .1, ..., 1 1 .6) are recorded. 3. A method for producing a shape memory actuator according to

at least one of claims 1 0 - 1 2, wherein the first actuators (7.1, 7.n) and / or the second actuators (9.1, 9.n) over part of their

Longitudinal extent with the fixing element (1 1 .1, ..., 1 1 .6) are glued or welded.