WO2021153963A1

WO2021153963A1 - Thermoelectric element embedded-type actuator module and apparatus for driving actuator

Info

Publication number: WO2021153963A1
Application number: PCT/KR2021/000985
Authority: WO
Inventors: 고정찬; 고성준
Original assignee: 고정찬
Priority date: 2020-01-31
Filing date: 2021-01-25
Publication date: 2021-08-05
Also published as: KR102261987B1

Abstract

The present invention relates to an actuator module formed of a shape-memory alloy spring and having a thermoelectric element embedded therein, and an actuator driving apparatus for driving the actuator module, the actuator module comprising: one or more actuators that have spring shapes and are manufactured by using wires of a shape-memory alloy material that contracts and relaxes in response to heat; a plurality of thermoelectric elements each including an acting surface facing the actuator and a reaction surface located opposite to the acting surface, wherein the acting surface and the reaction surface each act as a heat absorption surface or a heating surface according to a direction in which electric power is applied; heat transfer members located respectively on the acting surface and the reaction surface for transferring heat between the actuator and the thermoelectric elements and between the thermoelectric elements and air; an electrical heating member for applying heat to the reaction surface; one or more temperature sensors for sensing the peripheral temperature of the actuator; and a controller for contracting or relaxing the actuator by controlling the direction of electric power applied to the thermoelectric elements and controlling the contracting length or relaxing length of the actuator according to the sensed peripheral temperature of the actuator.

Description

Thermoelectric element embedded actuator module and actuator driving device

The present invention relates to an actuator driving device, and more particularly, to an actuator module implemented with a shape memory alloy spring and having a thermoelectric element embedded therein, and an actuator driving device for driving the actuator module.

Industrial workers, unloading workers, courier workers, etc. often perform movements of repeatedly lifting and moving heavy objects. This work requires several people, or depending on the site situation, heavy equipment, cranes, and auxiliary equipment such as pulleys are inconvenient to be used. In addition, when a person works directly, there is a problem of increased fatigue and decreased work efficiency, as well as industrial accidents such as musculoskeletal damage and avoidance of related occupations due to high work intensity, and when using auxiliary equipment Since it requires a relatively wide moving space or installation space, there is a problem that the range of use is limited.

Due to these problems, the need for a strength assisting robot that can support additional force by using an actuator such as a motor or hydraulic/pneumatic cylinder has recently emerged. The conventional muscle strength assisting robot is a robot that a person wears or rides on a joint device operated by an actuator, and it means a robot that can generate a force much greater than the force that a user can exert with the help of the actuator. However, for the control of the joint rotation part of the conventional muscle-assist robot, it is practically impossible to accurately derive the physical property information of the robot that is changed between robot production, assembly, and operation, and the calculation time for generating the motion command based on the torque is too short. There was a problem with excessive consumption. Due to the excessive consumption of such calculation time, a time delay between robot operation is induced, which causes the wearer to feel a sense of heterogeneity in wearing.

As a technique for solving this problem, there is a "muscular support device using a shape memory alloy spring" published in Republic of Korea Patent Publication No. 10-1922556. This exemplary patented invention can help with the situation of standing up and holding repetitive loads by using the contraction or relaxation action of the shape memory alloy spring.

For reference, in the exemplary patented invention, a resistance wire is used for contraction of the shape memory alloy spring (corresponding to the thermal reaction drive unit). In other words, when a current is supplied to a resistance wire, heat is generated, and by using the characteristic that the shape memory alloy spring is contracted by this heat, a thermal reaction that contracts by the current supplied to different resistance wires in the front and rear of a specific body part, respectively If a drive unit is arranged to contract one thermal reaction drive unit and then controls the other thermal reaction drive unit disposed on the opposite side to contract, for example, the wearer bends the arm and then stretches the arm again. It is an invention designed to achieve

In this exemplary patent invention, a new mechanical configuration or cooling structure for relaxing the contracted shape memory alloy spring because the shape memory alloy spring can only be contracted using a resistance wire and cannot be relaxed using a resistance wire. need. It is necessary to improve this because it goes against the tendency of light, thin and compact products, and the development of a device capable of simultaneously driving or controlling the contraction and relaxation of the shape memory alloy spring with a simpler structure is urgently required.

Accordingly, the present invention is an invention devised according to the above-mentioned necessity, and the main object of the present invention is a thermoelectric element embedded actuator module that can contract and relax an actuator implemented with a shape memory alloy spring using a single heat source, and an actuator driving device therefor In providing

Further, another object of the present invention is to utilize an actuator implemented with a shape memory alloy spring as an actuator of a strength assisting device, but to provide a thermoelectric element embedded actuator module capable of miniaturizing and lightening the muscle power assisting device and an actuator driving device thereof. there is.

Another object of the present invention is to provide a thermoelectric element embedded actuator module and an actuator driving device for precise control by varying the degree of contraction or relaxation for each length section of the spring using the thermal deformation characteristics of the shape memory alloy spring. is in

Furthermore, another object of the present invention is to contract and relax an actuator implemented with a shape memory alloy spring using a single heat source, convert kinetic energy by relaxation and contraction of the actuator into electrical energy to maximize energy use efficiency. An object of the present invention is to provide a power generation system including a thermoelectric element embedded actuator module that can be used.

An actuator driving device according to an embodiment of the present invention for achieving the above object is an actuator driving device using a thermoelectric element,

At least one spring-shaped actuator made of a wire made of a shape memory alloy material that contracts and relaxes in response to heat;

A plurality of thermoelectric elements having an acting surface facing the actuator and a reaction surface positioned on the opposite side of the action surface, each of the action surface and the reaction surface acting as a heat absorbing surface or a heat generating surface depending on the direction in which the power is applied; ;

heat transfer members positioned on each of the action surface and the reaction surface to transfer heat between the actuator and the thermoelectric element and between the thermoelectric element and the atmosphere;

an electric heating member for applying heat to the reaction surface;

at least one temperature sensor for sensing an ambient temperature of the actuator;

A control unit that contracts or relaxes the actuator by controlling an application direction of the power applied to the thermoelectric elements, and controls the contraction length or relaxation length of the actuator according to the sensed ambient temperature of the actuator; do.

Actuator driving device according to another embodiment of the present invention,

at least one thermoelectric element having an action surface and a reaction surface positioned on the opposite side of the action surface, each of the action surface and the reaction surface acting as a heat absorbing surface or a heat generating surface according to a direction in which power is applied;

heat transfer members positioned on each of the action surface and the reaction surface to transfer heat;

spring-shaped actuators made of a wire made of a shape memory alloy material, one side of which is connected to each of the heat transfer members and contracts and relaxes in response to heat transferred through the heat transfer member;

an electric heating member for applying heat to the reaction surface;

one or more temperature sensors for sensing ambient temperatures of the actuators;

A control unit for controlling the direction of the power applied to the thermoelectric element to contract or relax the actuators, and to control the contraction length or relaxation length of the actuator according to the sensed ambient temperature of the actuator.

In the actuator driving device of the above configuration, the electric heating member,

Another feature is that it is located in the heat shear member located on the reaction surface.

Further, the control unit controls the direction of application of power so that the working surface acts as a heating surface to contract the actuator, and drives the electric heating member to reduce the temperature difference with the reaction surface acting as a heat absorbing surface. is another feature.

In addition, the spring-shaped actuator is manufactured using shape memory alloys of different materials whose plasticity changes depending on the temperature, but the length of the spring is divided into a plurality of sections to make different materials or shape memory alloys having different composition ratios. is another feature.

On the other hand, the thermoelectric element embedded actuator module according to another embodiment of the present invention,

A receiving groove for accommodating the actuator is formed therein, and an actuator body that moves according to contraction and relaxation of the actuator having one side fixed in the receiving groove; including, in the actuator body,

One or more first heat transfer members facing the actuator accommodated in the receiving groove and exchanging heat with the actuator; One or more second heat transfer members that form an outer surface of a portion of the actuator body to radiate heat to the atmosphere; and one or more thermoelectric elements having an action surface and a reaction surface attached to each of the second heat transfer members, each of the action surface and the reaction surface acting as a heat absorbing surface or a heat generating surface depending on a direction in which power is applied, and the second heat transfer It is characterized in that it includes one or more electrical heating members positioned in the member to apply heat to the reaction surface, and one or more temperature sensors positioned in the receiving groove to sense the ambient temperature of the actuator.

In the thermoelectric element embedded actuator module of this configuration and structure, the spring-shaped actuator comprises:

It is manufactured using shape memory alloys of different materials whose plasticity changes according to temperature, and the length of the spring is divided into a plurality of sections to produce shape memory alloys with different materials or different composition ratios.

According to the above-described technical problem solving means, the present invention can contract and relax an actuator implemented with a shape memory alloy spring using a thermoelectric element as a single heat source, so the existing device for contracting or relaxing the shape memory alloy spring Alternatively, there is an advantage that the structure and size can be miniaturized and simplified compared to products.

In addition, the thermoelectric element embedded actuator module according to an embodiment of the present invention can be utilized as a muscle strength assisting device or an actuator for a prosthetic leg or prosthesis for the disabled, thereby contributing to miniaturization and weight reduction of the devices, and the thermal effect of the shape memory alloy spring corresponding to the actuator It is also possible to achieve precise control by varying the degree of contraction or relaxation for each length section of the spring using the deformation characteristics.

In addition, in the actuator driving device according to the embodiment of the present invention, since the actuator implemented with a shape memory alloy spring is contracted and relaxed to move horizontally, it is connected with a gearbox that converts this horizontal motion into a rotational motion to generate power such as a generator There are also advantages to being used as part of the device.

1 is an exemplary configuration diagram of an actuator driving device using a thermoelectric element according to an embodiment of the present invention.

2 is a perspective view of a thermoelectric element embedded actuator module according to an embodiment of the present invention;

FIG. 3 is an exemplary cross-sectional configuration view of the thermoelectric element embedded actuator module shown in FIG. 2 .

FIG. 4 is an exemplary driving view of the thermoelectric element embedded actuator module shown in FIG. 2 .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following detailed description of the present invention refers to the accompanying drawings, which show by way of illustration a specific embodiment in which the present invention may be practiced, in order to clarify the objects, technical solutions and advantages of the present invention. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention.

Throughout this description and claims, the word 'comprise' and variations thereof are not intended to exclude other technical features, additions, components or steps. To a person skilled in the art, some of the other objects, advantages and characteristics of the present invention will appear from this description, and in part from practice of the present invention. The following illustrations and drawings are provided by way of illustration and are not intended to limit the invention. Moreover, the invention encompasses all possible combinations of the embodiments indicated herein. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be implemented in other embodiments without departing from the spirit and scope of the invention. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description set forth below is not intended to be taken in a limiting sense, and the scope of the invention, if properly described, is limited only by the appended claims, along with all scope equivalents to those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Unless otherwise indicated herein or otherwise clearly contradicted by context, items referred to in the singular encompass the plural unless the context requires otherwise. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

Hereinafter, in order to enable those skilled in the art to easily practice the present invention, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 illustrates a configuration diagram of an actuator driving device using a thermoelectric element according to an embodiment of the present invention.

Referring to Figure 1, an actuator driving device using a thermoelectric element according to an embodiment of the present invention,

An actuator 100 in the shape of one or more springs 102 made of a wire made of a shape memory alloy material that contracts and relaxes in response to heat;

A plurality of thermoelectrics having an acting surface facing the actuator 100 and a reaction surface located on the opposite side of the action surface, each of the action surface and the reaction surface acting as a heat absorbing surface or a heat generating surface depending on the direction in which the power is applied elements 110 and

Heat transfer members (120, 130) that are located on each of the action surface and the reaction surface to transfer heat between the actuator 100 and the thermoelectric element 110 and between the thermoelectric element 110 and the atmosphere;

an electric heating member 140 for applying heat to the reaction surface;

At least one temperature sensor (S) for detecting the ambient temperature of the actuator (100),

The actuator 100 is contracted or relaxed by controlling the direction of the power applied to the thermoelectric elements 110 , and the length of contraction or relaxation of the actuator 100 according to the sensed ambient temperature of the actuator 100 . a control unit 150 for controlling the , and a power supply unit 160 for supplying operating power to the thermoelectric elements 110 and the electric heating member 140 according to the control of the control unit 150 .

In the actuator driving device having the above configuration, a spring made of a wire made of a shape memory alloy material that contracts and relaxes in response to heat (for example, tension at 25°C and contraction at 40°C) (a shape memory alloy spring can be called , 102) may be made of various heat-reactive materials that respond to heat, for example, shape memory resins, shape memory polymers, carbon nanotubes, polyethylene, polyamide, nylon, and the like. Accordingly, the spring-shaped actuator 100 is manufactured using shape memory alloys of different materials whose plasticity changes depending on the temperature, but by dividing the length of the spring into a plurality of sections, different materials or shape memory alloys having different composition ratios. can also be produced. By using such a manufacturing technique, the actuator 100 can be controlled more smoothly, which can be usefully used for precise control.

On the other hand, the electric heating member 140 is located in the heat transfer member 130 positioned on the reaction surface of each thermoelectric element 110 or is disposed outside the heat transfer member 130 to apply electrical heat to the heat transfer member 130 , By reducing the temperature difference with the working surface, the efficiency of the thermoelectric element 110 can be maximized, and possible frost can be eliminated. Such an electric heating member 140 may be selected from an electric resistance heating wire, a PCT heating element, a coil heater, an input heater, a cartridge heater, a casting heater, a sheath heater, a halogen heater, an infrared heater, a ceramic band heater, a flange heater, etc. Any heating element using

On the other hand, the control unit 150 controls the power application direction so that the working surface of the thermoelectric element 110 acts as a heating surface to contract the actuator 100, but to reduce the temperature difference with the reaction surface acting as a heat absorbing surface. Another feature is that the heating member 140 is driven and controlled.

The control unit 150 includes an A/D converter for converting signals sensed by various types of sensors including the temperature sensor S into digital data, and power applied to the plurality of thermoelectric elements 110 ( More specifically, it includes a forward/reverse conversion circuit that converts the direction of current) and a microprocessor that is positioned between the A/D converter and the forward/reverse conversion circuit to control the direction of power supply and overall control the operation of the actuator driving device.

Actuator driving device according to another embodiment of the present invention

At least one thermoelectric element 110 having an action surface and a reaction surface located on the opposite side of the action surface, each of the action surface and the reaction surface acting as a heat absorbing surface or a heat generating surface depending on the direction of application of power;

Heat transfer members

120 and 130 that are positioned on the action surface and the reaction surface respectively to transfer heat;

Spring-shaped actuators 100 made of a wire made of a shape memory alloy material that one side is connected to each of the

heat transfer members

120 and 130 and contracts and relaxes in response to heat transferred through the

heat transfer members

120 and 130;

an electric heating member 140 for applying heat to the reaction surface;

At least one temperature sensor (s) for detecting the ambient temperature of the actuators (100),

Control the direction of the power applied to the thermoelectric element to contract or relax the actuators, the control unit 150 for controlling the length of contraction or relaxation of the actuator according to the sensed ambient temperature of the actuator may be included.

Meanwhile, in the actuator driving devices having the above-described configuration, configurations except for the control unit 150 and the power supply unit 160 may be implemented as a single module, that is, a thermoelectric element embedded actuator module. As an example, the thermoelectric element embedded actuator module may have a bar-shaped hexahedral shape as shown in FIG. 2 , but is not limited thereto and may be manufactured in various shapes such as a cylindrical shape and a clothing attachment type depending on the application.

Hereinafter, a thermoelectric element embedded actuator module that can be modularized will be described in detail. First, FIG. 2 is a perspective view of a thermoelectric element embedded actuator module according to an embodiment of the present invention, and FIG. 3 is a thermoelectric element embedded actuator module shown in FIG. 2 . The cross-sectional configuration of each is illustrated.

2, the thermoelectric element embedded actuator module according to an embodiment of the present invention,

At least one spring-shaped actuator 100 made of a wire made of a shape memory alloy material that contracts and relaxes in response to heat;

An accommodating groove 210 for accommodating the actuator 100 is formed therein, and an actuator body 200 that moves according to the contraction and relaxation of the actuator 100 having one side fixed in the accommodating groove 210 is included. However, in the actuator body 200, as shown in (a) of Figure 3,

At least one first heat transfer member 120 that faces the actuator 100 accommodated in the receiving groove 210 and heat-exchanges with the actuator 100, and the actuator body 200 Form an outer surface of a part to stand by It has at least one second heat transfer member 130 that emits heat to the first and second

heat transfer members

120 and 130, respectively, and has an action surface and a reaction surface which are attached (adhesive) to each of the first and second

heat transfer members

120 and 130, and each of the action surface and the reaction surface is a power source One or more thermoelectric elements 110 acting as a heat absorbing surface or a heating surface according to the direction of application of , It is characterized in that at least one temperature sensor (not shown) for detecting the ambient temperature of the actuator 100 is located in the receiving groove 210 is included.

For reference, the spring-shaped actuator 102 can be manufactured using a shape memory alloy of a single material, but in some cases, it is manufactured using a shape memory alloy of a different material whose plasticity changes depending on the temperature, but the spring By dividing the length into a plurality of sections, it may be made of different materials or shape memory alloys having different composition ratios.

Furthermore, the actuator body 200 described above has a first heat transfer member 120, a thermoelectric element 110, and a second heat transfer member on the left and right sides of the receiving groove 210 as shown in FIG. 3(a). 130), the first heat transfer member 120, the thermoelectric element 110, and the second It may be manufactured to have a structure in which the heat transfer member 130 is positioned, and the first heat transfer member 120, the thermoelectric element 110, and the second heat transfer member 130 are sequentially positioned in one or three directions. Alternatively, the first heat transfer member 120 , the thermoelectric element 110 , and the second heat transfer member 130 may be sequentially manufactured in a circular shape so as to be positioned in an outward direction from the center of the circle.

Hereinafter, an operation in which the thermoelectric element embedded actuator module shown in FIGS. 2 and 3 moves according to the application direction of the power applied to the thermoelectric element will be described with reference to FIG. 4 . 4 is a view showing an exemplary driving diagram of the thermoelectric element embedded actuator module shown in FIG. 2 . Hereinafter, the thermoelectric elements 110 and the electric heating member 140 constituting the thermoelectric element embedded actuator module are provided with a power supply unit 160 ), and it is assumed that the cross-section of the actuator module has the cross-sectional structure of FIG. 3 (a).

First, it is assumed that the actuator 100 made of a shape memory alloy material is accommodated in the receiving groove 210 formed in the actuator body 200 and one side is fixed in the receiving groove 210 is maintained in a contracted state.

If the contracted actuator 100 is to be tensioned, the control unit 150 may lower the ambient temperature of the actuator 100 to a temperature required for the actuator 100 to be tensioned, for example, to 25° C. with the actuator 100 and The power application direction of the thermoelectric elements 110 is controlled so that the opposing surface of the thermoelectric elements 11 acts as a heat absorbing surface and the reaction surface located on the opposite side of the working surface acts as a heat generating surface.

When the action surface acts as a heat absorbing surface and the reaction surface acts as a heat generating surface depending on the direction in which the power is applied, the first heat transfer member 120 attached or adhered to the action surface absorbs the heat around the actuator 100 and the actuator The temperature of 100 decreases and the temperature of the reaction surface rises, but the heat of the reaction surface is discharged to the atmosphere through the second heat transfer member 130 such as a heat dissipation fin.

In this way, when the application direction of the power applied to the thermoelectric element 110 is controlled so that the working surface and the reaction surface of the thermoelectric element 110 act as a heat absorbing surface and a heat generating surface, respectively, the ambient temperature of the actuator 100 is a preset temperature ( 25°C), and it starts to be stretched at a preset temperature. When the actuator 100 starts to be tensioned, since one end of the actuator 100 is fixed in the receiving groove 210, the actuator body 200 horizontally moves to the left as shown in the drawing shown in the lower part of FIG.

On the other hand, the controller 150 continuously senses the ambient temperature of the actuator 100 through the temperature sensor S, and when another set temperature (the temperature at which the tension stops) is reached, the power applied to the thermoelectric element 110 is supplied. block

If the tensioned actuator 100 is to be contracted, the control unit 150 increases the temperature around the actuator 100 to a temperature required for the actuator 100 to contract (for example, 40° C.). To this end, the controller 150 controls the thermoelectric elements 110 so that the working surface of the thermoelectric elements 11 facing the actuator 100 acts as a heating surface, and the reaction surface located on the opposite side of the working surface acts as a heat absorbing surface. control the direction of power supply.

When the action surface acts as a heat generating surface and the reaction surface acts as a heat absorbing surface, the temperature of the action surface rises and the first heat transfer member 120 attached or adhered thereto emits heat to raise the temperature around the actuator 100 and the temperature of the reaction surface decreases. In this case, it is desirable to maximize the efficiency of the thermoelectric element 110 by driving the electric heating member 140 located in or close to the second heat transfer member 130 to increase the temperature of the reaction surface to reduce the temperature difference with the action surface. do. In this way, when the temperature around the actuator 100 rises and reaches a set temperature, the actuator 100 made of a shape memory alloy contracts and returns to its original position as shown in the upper part of FIG. 4 .

As described above, the control unit 150 controls the application direction of the power applied to the thermoelectric element 110 to horizontally contract or tension the actuator 100 made of a shape memory alloy material, and temperature sensing and Through the control, it is possible to control the length of the actuator 100 that is contracted or stretched in the horizontal direction.

Therefore, in the present invention, since the actuator 100 implemented as a shape memory alloy spring can be contracted as well as relaxed using the thermoelectric element 110 as a single heat source, an existing device or product that contracts or relaxes the shape memory alloy spring. There is an advantage in that the structure and size can be miniaturized and simplified in comparison with other devices.

In addition, in the actuator driving device according to an embodiment of the present invention, since the actuator implemented with a shape memory alloy spring is contracted and relaxed to move horizontally, a gearbox (using a worm gear and a reel gear method) that converts this horizontal motion into a rotational motion ) and the gears rotating in the gearbox and rotating shafts of turbines constituting the generator may be rotated to generate electrical energy. If the generated energy is significantly greater than the energy applied to the thermoelectric elements 110 , continuous driving may be achieved. Therefore, the actuator driving device according to the embodiment of the present invention also has an advantage that can be utilized as a part of the power generating device.

Furthermore, the thermoelectric element embedded actuator module according to an embodiment of the present invention can be used as a muscle strength assisting device or an actuator for a prosthetic leg or prosthetic limb of the disabled, thereby contributing to miniaturization and weight reduction of the devices, and the shape memory alloy spring corresponding to the actuator. It is also possible to achieve precise control by varying the degree of contraction or relaxation for each length section of the spring using thermal deformation characteristics.

In the above embodiment, the embodiment in which the shape memory alloy spring 102 is contracted or stretched by making one surface of the thermoelectric element 110 act as a heat absorbing surface and a heat generating surface has been specifically described, but the working surface of the thermoelectric element 110 An actuator that deforms the two shape memory alloy springs 102 at the same time may be configured by taking advantage of the fact that one of the reaction surfaces acts as a heat absorbing surface and the other acts as a heat generating surface at the same time.

For example, one side of the first shape memory alloy spring is connected to one side of a heat transfer member (such as a heat conductor) located on the working surface (assuming the upper part) of the thermoelectric element 110, and the other side of the spring is located in the upper part. Connected to a rack, one side of the second shape memory alloy spring is connected to one side of another heat transfer member located on the reaction surface (assumed to be the lower part) of the thermoelectric element 110, and the other side of the spring is located in the lower part of the rack When connected to , the pinion between the upper and lower racks is in a state in which it can rotate clockwise and counterclockwise according to the movement directions of the upper and lower racks.

That is, when power is applied to the thermoelectric element 110 so that the working surface acts as a heat absorbing surface and the reaction surface acts as a heating surface, one shape memory alloy spring contracts and another shape memory alloy spring is tensioned between the racks. of the pinion is rotated in one direction. If the application direction of the power is changed, the contracted shape memory alloy spring is tensioned and the tensioned shape memory alloy spring is contracted in the opposite direction, so the pinion between the racks rotates in the opposite direction. If this motion mechanism is applied to the human body, it will be possible to effectively implement joint bending and extension motions.

In addition, as described above, when the one-way gear is engaged in each of the upper and lower racks, and a gear for direction change and a pinion gear (corresponding to the rotation shaft) are engaged between each one-way gear, the upper and lower racks form two shape memory alloy springs. The motion of moving in different directions is repeated by the contraction and tension of By using such a one-way rotational force, power generation is possible, and the present invention can also be utilized as a power generating system.

The above has been described with reference to the embodiments shown in the drawings, which are merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. For example, in the embodiment of the present invention, it has been described that one side of the shape memory alloy spring is fixedly coupled to the actuator body. When contracted, the spring on the other side can be controlled to be tensioned, and the shape memory alloy spring is placed on the left, right, top, and bottom of the actuator body, and one side of each spring is fixed to the actuator body in the left, right, up, and down directions. It is also possible to control the movement of the actuator body. That is, in the thermoelectric element embedded actuator module according to an embodiment of the present invention, the number and position of the shape memory alloy spring can be varied according to the application place and application equipment, and the shape of the actuator body can also be variously modified. Accordingly, the true technical protection scope of the present invention should be defined only by the appended claims.

Claims

At least one spring-shaped actuator made of a wire made of a shape memory alloy material that contracts and relaxes in response to heat;

A plurality of thermoelectric elements having an acting surface facing the actuator and a reaction surface positioned on the opposite side of the action surface, each of the action surface and the reaction surface acting as a heat absorbing surface or a heat generating surface depending on the direction in which the power is applied; ;

heat transfer members positioned on each of the action surface and the reaction surface to transfer heat between the actuator and the thermoelectric element and between the thermoelectric element and the atmosphere;

an electric heating member for applying heat to the reaction surface;

at least one temperature sensor for sensing an ambient temperature of the actuator;

A control unit for contracting or relaxing the actuator by controlling the direction of the power applied to the thermoelectric elements, and controlling the contraction length or relaxation length of the actuator according to the sensed ambient temperature of the actuator; An actuator driving device using a thermoelectric element.
at least one thermoelectric element having an action surface and a reaction surface positioned on the opposite side of the action surface, each of the action surface and the reaction surface acting as a heat absorbing surface or a heat generating surface according to a direction in which power is applied;

heat transfer members positioned on each of the action surface and the reaction surface to transfer heat;

spring-shaped actuators made of a wire made of a shape memory alloy material, one side of which is connected to each of the heat transfer members and contracts and relaxes in response to heat transferred through the heat transfer member;

an electric heating member for applying heat to the reaction surface;

one or more temperature sensors for sensing ambient temperatures of the actuators;

Thermoelectric device comprising a; a control unit that contracts or relaxes the actuators by controlling the direction of the power applied to the thermoelectric element, and controls the contraction length or relaxation length of the actuator according to the sensed ambient temperature of the actuator. Actuator driving device using element.
The method according to claim 1 or 2, wherein the electrical heating member,

Actuator driving device using a thermoelectric element, characterized in that located in the heat transfer member located on the reaction surface.
The method according to any one of claims 1 to 3, wherein the control unit,

A thermoelectric element characterized in that the actuator is contracted by controlling the direction of power application so that the working surface acts as a heating surface, but the electric heating member is driven and controlled to reduce a temperature difference with the reaction surface acting as a heat absorbing surface. Actuator drive device used.
The method according to claim 1 or 2, The spring-shaped actuator,

A thermoelectric element characterized in that it is manufactured using shape memory alloys of different materials whose plasticity changes according to temperature, but the length of the spring is divided into a plurality of sections to produce shape memory alloys with different materials or different composition ratios. Actuator drive device used.
At least one spring-shaped actuator made of a wire made of a shape memory alloy material that contracts and relaxes in response to heat;

A receiving groove for accommodating the actuator is formed therein, and an actuator body that moves according to contraction and relaxation of the actuator having one side fixed in the receiving groove; including, in the actuator body,

One or more first heat transfer members facing the actuator accommodated in the receiving groove and exchanging heat with the actuator; One or more second heat transfer members forming an outer surface of a portion of the actuator body to radiate heat to the atmosphere; and one or more thermoelectric elements having an action surface and a reaction surface attached to each of the second heat transfer members, each of the action surface and the reaction surface acting as a heat absorbing surface or a heat generating surface depending on a direction in which power is applied, and the second heat transfer At least one electric heating member positioned in the member to apply heat to the reaction surface, and one or more temperature sensors positioned in the receiving groove to sense the ambient temperature of the actuator.
The method according to claim 6, The spring-shaped actuator,

A thermoelectric element embedded type, characterized in that it is manufactured using shape memory alloys of different materials whose plasticity changes according to temperature, but the length of the spring is divided into a plurality of sections to produce shape memory alloys with different materials or different composition ratios actuator module.