CN109774985B - Large-stroke large-load shape memory alloy driven connection release mechanism - Google Patents
Large-stroke large-load shape memory alloy driven connection release mechanism Download PDFInfo
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- CN109774985B CN109774985B CN201910036660.8A CN201910036660A CN109774985B CN 109774985 B CN109774985 B CN 109774985B CN 201910036660 A CN201910036660 A CN 201910036660A CN 109774985 B CN109774985 B CN 109774985B
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Abstract
The invention provides a large-stroke large-load shape memory alloy driven connection release mechanism, and belongs to the technical field of reusable connection release mechanisms. The driving mode of the mechanism is mainly to amplify the primary stroke and the secondary load by using the SMA alloy wire and the lever principle, and drive the inner cylinder to move, so that the split nut is released from constraint, the bolt is released, and the purpose of separating and releasing between two components or assemblies under the working condition of large stroke and large load is realized. The release function is realized through the heating shrinkage characteristic of the SMA alloy wire, and when the heating is stopped, the system pushes the inner cylinder to reset under the action of the pre-compressed bias spring, so that the mechanism can be repeatedly used. The invention is suitable for large-stroke large-load release, has strong bearing capacity, stability, strong vibration and shock resistance and higher reliability.
Description
Technical Field
The invention relates to a large-stroke large-load shape memory alloy driven connection and release mechanism, in particular to a large-stroke large-load shape memory alloy driven connection and release mechanism in the field of spacecraft unlocking devices, and belongs to the technical field of reusable connection and release mechanisms.
Background
In large space mechanisms such as large-scale unfolded antennas, solar sailboards, missiles, satellites, rockets and the like, the connection and release mechanism is usually an initiating explosive device mechanism, such as an explosion bolt, and has obvious impact action when unlocked, and the action can harm space equipment, so that the development of the connection and release mechanism without impact damage is a development direction of the engineering structure. And the initiating explosive device has certain limitation, and the single action can not be used repeatedly, so that a new reusable connection release mechanism needs to be developed.
Shape Memory Alloys (SMA) are used as smart materials and have the characteristics that a martensite phase is easy to deform at low temperature and an austenite phase is at high temperature, and the Shape Memory Alloys are heated, shrunk and restored to the original Shape. The SMA has larger deformation amount which can reach 8 to 10 percent; if the material is limited in the process of restoring deformation, the material can generate great restoring force, and the restoring force can reach 500 MPa. Therefore, the shape memory alloy intelligent material can be applied to a driving device connected with a release mechanism, and the device can be repeatedly used for many times.
The invention relates to an SMA wire driven super-load unlocking device (application number CN201810132822.3) and an SMA wire driven connecting and unlocking mechanism (application number CN201210262978.6), which mainly adopt an SMA wire driven split nut, and are characterized in that the SMA wire driven split nut is adopted in the mechanism, the mechanism adopts a constraint system limit consisting of an SMA wire unlocking pressing block and a clamping pin, a volute spiral spring generates a restoring moment to release the split nut, the SMA wire is adopted in the mechanism to drive a hoop barrel to move downwards, a boss in the hoop barrel falls into a groove of the split nut, so that the split nut is separated, and the release is completed.
The invention discloses an SMA wire driven pin puller (application number CN 201610971362.4). A pin is arranged in an outer shell, a sliding bolt is arranged at the lower end of the pin, and an SMA wire penetrates through an inclined hole in the outer shell and a sliding bolt hole to be pre-tightened. When the SMA wire is heated, the sliding bolt is contracted to drive the sliding bolt to move upwards, and the restraint of the limiting steel ball is released under the action of the driving spring, so that the mechanism is in an unlocking state; on the contrary, under the action of the tool and in the cooling process of the SMA wire, the mechanism resets under the combined action of the reset spring, the sliding bolt and the limiting steel ball.
Although the above invention can also meet the requirement of large load release, it has some application limitations, specifically as follows:
the release stroke is not large enough and the large stroke release and the large load release are not combined to design, so that the application range of the mechanism is limited.
Due to the limitation of the size of the mechanism, the effective action length of the SMA wire is limited, which finally results in limited design margin and reduced reliability of the mechanism.
The restraint system composed of the unlocking pressing block and the clamping pin is limited, the volute spiral spring is used for outputting torque to drive the frame to rotate, and the structure of the releasing bolt is complex and is not beneficial to quick release.
Disclosure of Invention
The invention provides a large-stroke large-load shape memory alloy driven connection release mechanism, and aims to realize a large-stroke large-load quick connection release mechanism, and realize light weight design and high reliability design. The invention specifically utilizes two-stage shape memory alloy wire drive, the first-stage shape memory alloy wire realizes large stroke release through the amplification effect of a lever mechanism, and the second-stage shape memory alloy wire realizes large load drive through heating compensation and enhancing the driving force of a system. The whole mechanism utilizes the lever driving mechanism, the split nut mechanism, the wedge block and other structures to realize connection and release under the condition of large load between connected pieces. The characteristics of the shape memory alloy material are utilized to manufacture the driver, and the driver is combined with a control system to provide power output meeting the requirements of motion characteristics for the connection and release mechanism.
The technical scheme adopted by the invention is as follows:
a large-stroke large-load shape memory alloy driven connection release mechanism mainly comprises a split nut mechanism, a bias spring mechanism and a lever mechanism, and comprises: the device comprises an insulating lever 1, an external shape memory alloy wire 13 to be heated, an insulating fixed seat 2, an inner cylinder barrel 3, a split nut 4, an insulating fixed round block 6, a bolt 7, an inner cylinder base 8, a disc spring 9, an internal shape memory alloy wire 10 to be heated, a bias spring 11, a shell 12, an end cover 5, a lower end object 14 to be connected and an upper end object 15 to be connected.
Wherein: the inner cylinder body and the inner cylinder base form an inner cylinder, the split nut and the inner cylinder are matched through a dovetail groove, the lower end of the split nut is tightly propped by a disc spring, the upper end of the split nut is matched with the end cover, the upper end and the lower end of the split nut are in conical surface matching, and the four-piece nut forms a complete nut which is completely restrained; the lower end of the inner cylinder is connected with a bias spring mechanism, and the bias spring mechanism is connected with the shell; the inner cylinder is also connected with a lever mechanism; when the release is needed, the inner and outer shape memory alloy wires are electrified, heated and contracted, the inner barrel is pulled to move downwards through the lever action, the split nut is driven to move around under the action of the dovetail groove and the disk spring, and then the split nut is separated from the bolt to complete the release function; when the connection release mechanism needs to be reset, the internal and external shape memory alloy wires are heated by electrifying, and the reset is driven by the compressed bias spring, so that the connection release mechanism can be used repeatedly.
The present invention still further comprises:
the split nut mechanism comprises a split nut 4, an inner cylinder, an end cover 5 and a disc spring 9. The split nut 4 is connected with the inner cylinder through a dovetail groove, the lower end of the split nut 4 is tightly propped by a disc spring 9, and the upper end of the split nut is matched with the end cover 5. The dovetail groove has strong bearing capacity, and is matched with the disc spring in the inner cylinder to ensure that the separation process moves stably, so that the problem of instability in the sudden change load release process is effectively solved.
The lever mechanism comprises an insulating lever 1, two pieces of shape memory alloy wires 13 to be heated outside, two pieces of shape memory alloy wires 10 to be heated inside, an insulating fixed seat 2 and an insulating fixed round block 6. One end of an external shape memory alloy wire 13 is arranged on the insulating fixed seat 2 outside the shell 12, and the other end of the external shape memory alloy wire is arranged in a hole on the outer edge of the insulating lever 1; one end of an internal shape memory alloy wire 10 is arranged in an inner edge hole of the insulating lever 1, the other end of the internal shape memory alloy wire is arranged on an insulating fixed round block 6, and the insulating fixed round block 6 is arranged in the middle of an inner cylinder base 8.
The lever is connected with the internal and external shape memory alloy wires through holes formed in the side wall of the shell 12 of the connection and release mechanism, the insulating lever 1 is hinged with the hole wall, and the insulating lever is made of insulating materials. According to the use requirement, the amplification proportion of the lever is designed, the position of a hinge point is adjusted, and the stroke is amplified through the heating shrinkage characteristic of the external shape memory alloy wire; load loss caused by leverage is compensated through heating shrinkage of the internal shape memory alloy wire, the driving force of the system is enhanced, and secondary amplification of the load is realized.
The internal and external shape memory alloy wires are mainly made of NiTi alloy, and the mechanical properties of the internal and external shape memory alloy wires can be the same or different. The internal shape memory alloy wire can be replaced by a prestretched common material wire according to the use requirement, or a segmented combined stretching form of partial shape memory alloy wires and partial common wires is adopted.
The bias spring mechanism comprises four bias springs 11, and the bias springs are in a pre-compression state during connection.
The lever mechanism comprises an insulating lever 1, two shape memory alloy wires 13 to be heated outside and two shape memory alloy wires 10 to be heated inside, which form a two-stage amplification mechanism. When the shape memory alloy wires are separated, the external shape memory alloy wires to be heated are heated by electrifying, and the displacement of the external shape memory alloy wires is amplified in the first stage through the leverage under the action of the shape memory effect; but the driving load of the external shape memory alloy wire is reduced under the action of the lever, so that when the external shape memory alloy wire is heated, the internal shape memory alloy wire to be heated is heated while the internal shape memory alloy wire is pulled to move downwards through the lever, the loss of the load under the action of the lever is compensated, the driving force of a system is enhanced, and the amplification of a secondary load is realized; therefore, under the action of the lever mechanism, the purposes of large load and large stroke release of the connection and release mechanism are achieved through primary displacement amplification and secondary load amplification. After release, the shape memory alloy wire cools and is returned by the biasing spring 11, returning the mechanism to its initial state. The two sets of lever mechanisms are designed, so that the reliability of the connection and release mechanism can be ensured in addition to the purpose of large stroke and large load release.
The response time of the shape memory alloy wire can be adjusted according to the use requirements under different heating states and different heat treatment conditions, so that the system quick response requirement is met.
The principle of the invention is as follows:
the four-piece split nut is adopted to enclose a complete nut, and in a connection state, the split nut is connected with the inner cylinder through the dovetail groove so as to limit the radial displacement of the split nut, meanwhile, the lower end of the split nut is tightly propped by the disk spring, and the upper end of the split nut is matched with the end cover so as to limit the vertical displacement of the split nut. The prestretched external shape memory alloy wire is connected with the end of the insulating fixed seat through the outer edge of the lever, and the prestretched internal shape memory alloy wire is connected with the insulating fixed seat through the inner edge of the lever. When the mechanism is separated, the internal and external shape memory alloy wires are electrified and heated to shrink, the inner cylinder is pulled to move downwards through the lever action, the split nut is driven to move around under the action of the dovetail groove and the disk spring, then the split nut is separated from the bolt to complete the release function, and meanwhile, the inner cylinder moves downwards to enable the biasing spring to be compressed. When the nut needs to be reset, the shape memory alloy wire is heated by electrifying, the compressed biasing spring is reset, the inner cylinder is pushed to move upwards, the split nut is driven to move inwards under the action of the dovetail groove and the disk spring to form a complete nut, and therefore the nut is reused.
The invention has the characteristics of large stroke, large load, quick connection and release, strong vibration and shock resistance and high reliability, and compared with the prior art, the invention has the advantages that:
1. the dovetail groove type split nut is selected, the bearing capacity is high, the separation process can stably move by being matched with a disc spring in the inner cylinder, and the problem of instability in the sudden large load release process is effectively solved;
2. the design is mainly characterized in that the two-stage lever amplification effect of the driving mechanism is realized, and the large-stroke and large-load release is realized through the compensation and the load amplification of the external shape memory alloy wire and the lever and the large displacement and the internal shape memory alloy wire;
3. the system can be ensured to be correctly reset and the load can be effectively transmitted through the four preset bias springs, and the vibration and the impact of the external environment on the system can be absorbed to a certain extent, so that the system has a certain anti-vibration and vibration capability;
4. based on the material characteristics and the structural design of the shape memory alloy wire, the connection and release mechanism can be repeatedly used for many times, and the economic requirement is met.
Drawings
FIG. 1 is a schematic view of the overall mechanism;
FIG. 2 is a schematic view of a split nut mechanism;
FIG. 3 is a schematic view of a split nut;
FIG. 4 is a schematic view of the inner barrel;
FIG. 5 is a schematic illustration of the left half-shaft lever mechanism of FIG. 1;
FIG. 6 is a schematic view of an upper cone angle;
fig. 7 is a schematic view of the mechanism operation.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1, 2, 3 and 4, four biasing springs 11 of the present invention are uniformly distributed at the bottom of the housing 12, and the split nut 4 is fitted with the inner cylinder 3 through a dovetail groove. During installation, the inner cylinder base 8 and the inner cylinder barrel 3 are connected into an inner cylinder through the bolts 7 and then are installed on the biasing spring 11, the split nut 4 is connected with the inner cylinder barrel 3 in a matched mode through the dovetail groove, the lower end of the split nut 4 is tightly pushed by the disc spring 9, the upper end of the split nut is matched with the end cover 5, the upper end and the lower end of the split nut are in conical surface matching, the four-piece nut forms a complete nut and is completely constrained.
As shown in fig. 1 and 5, when release is required, the inner and outer shape memory alloy wires 10 and 13 are electrified and heated to contract, the inner cylinder is pulled to move downwards through the lever action, the split nut 4 is driven to move around under the action of the dovetail groove and the disk spring 9, then the split nut is separated from the bolt 7 to complete the release function, and meanwhile, the inner cylinder moves downwards to compress the biasing spring 11; when the nut needs to be reset, the shape memory alloy wire is heated by electrifying, the compressed biasing spring 11 is reset, the inner cylinder is pushed to move upwards, the split nut 4 is driven to move inwards to form a complete nut under the action of the dovetail groove and the disk spring 9, and therefore the nut is reused. The disk spring 9 can tightly push the split nut 4 in the separation and reset processes, and the split nut 4 is stably separated and gathered around under the action of the dovetail groove. Slotted disc springs can be selected as the disc springs 9 so as to achieve light weight design.
As shown in figure 6, the end cover 5 and the upper end of the split nut 4 are matched by two conical surfaces, the conical angle is selected to be 10-30 degrees, the reason is that F2 is too large due to too small conical angle to cause self-locking, and radial force F1 is increased due to too large conical angle to cause structural failure of the split nut 4.
As shown in FIG. 1, the biasing spring 11 of the present invention is compressed by the inner and outer sleeves 12, and the biasing spring 11 in the connected state is pre-compressed.
As shown in figure 1, one end of each of two external shape memory alloy wires 13 to be heated is fixedly connected to the insulating fixed seat 2, the other end of each of the two external shape memory alloy wires is connected to the external tail end of the insulating lever 1, and the internal tail end of the lever is fixedly connected to the insulating fixed round block 6 through the internal shape memory alloy wire 10 to be heated to form a lever mechanism. The lever mechanisms are symmetrically arranged, and high-reliability design can be realized.
As shown in fig. 1, the method for connecting the shape memory alloy wire with the insulating fixed seat 2 or the insulating fixed round block 6 comprises the following steps: the insulating seat or block is provided with a through hole slightly larger than the diameter of the wire, the upper end of the shape memory alloy wire passes through the through hole, the wire is wound on a special stainless steel part and the tail end of the wire is fixed, the part is fixed on the upper surface of the insulating seat, the lower end of the wire passes through the hole on the inner edge or the outer edge of the lever, and the tail end of the wire is fixed on the surface of the lever after preloading.
As shown in fig. 7, the normal connection is as described above. When the split bolt needs to be separated, the switch K1 or K2 is closed, the shape memory alloy wire is electrified and heated, the shape memory alloy wire contracts after being heated, the inner cylinder is further pulled to move downwards through the amplification effect of the lever mechanism, the split nut 4 is driven to move around under the action of the dovetail groove and the disk spring 9, then the split nut is separated from the bolt 7 to complete the release function, and meanwhile, the inner cylinder moves downwards to enable the biasing spring 11 to be compressed.
As shown in fig. 7, when the nut needs to be reset, the switch K1 or K2 is turned off, the shape memory alloy wire is heated by electricity, the temperature of the shape memory alloy wire is reduced, the compressed biasing spring 11 is reset at the moment, upward force is generated to push the inner cylinder to move upwards, the shape memory alloy wire is lengthened in turn, and the split nut 4 is driven to move inwards to form a complete nut under the action of the dovetail groove and the disk spring 9, so that the nut is reused.
Parts of the invention not described in detail are well known in the art.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A large-stroke large-load shape memory alloy driven connection release mechanism is characterized in that: mainly by subdivision nut mechanism, bias spring mechanism, lever mechanism constitute, include: the device comprises an insulating lever (1), a shape memory alloy wire (13) to be heated at the outer part, an insulating fixed seat (2), an inner cylinder body (3), a split nut (4), an insulating fixed round block (6), a bolt (7), an inner cylinder base (8), a disc spring (9), a shape memory alloy wire (10) to be heated at the inner part, a bias spring (11), a shell (12), an end cover (5), a substance (14) to be connected at the lower end and a substance (15) to be connected at the upper end; the inner cylinder is composed of the inner cylinder body (3) and an inner cylinder base (8), and the split nut mechanism comprises a split nut (4), an inner cylinder, an end cover (5) and a disc spring (9); the split nut (4) is connected with the inner cylinder through a dovetail groove, the lower end of the split nut (4) is tightly propped by a disc spring (9), the upper end of the split nut is matched with the end cover (5), the upper end and the lower end of the split nut are matched in a conical surface mode, and the four-piece nut forms a complete nut which is completely restrained; the lower end of the inner cylinder is connected with a bias spring mechanism, the bias spring mechanism is connected with the shell (5), and the inner cylinder is also connected with a lever mechanism; the lever mechanism comprises an insulating lever (1), two pieces of shape memory alloy wires (13) to be heated outside, two pieces of shape memory alloy wires (10) to be heated inside, an insulating fixed seat (2) and an insulating fixed round block (6), wherein one end of each external shape memory alloy wire is arranged on the insulating fixed seat (2) outside the shell (12), and the other end of each external shape memory alloy wire is arranged in a hole in the outer edge of the insulating lever (1); one end of an internal shape memory alloy wire (10) is arranged in an inner edge hole of the insulating lever (1), the other end of the internal shape memory alloy wire is arranged on an insulating fixed round block (6), and the insulating fixed round block (6) is arranged in the middle of an inner cylinder base (8); when the release is needed, the inner and outer shape memory alloy wires are electrified, heated and contracted, the inner barrel is pulled to move downwards through the lever action, the split nut is driven to move around under the action of the dovetail groove and the disk spring, and then the split nut is separated from the bolt to complete the release function; when the connection release mechanism needs to be reset, the internal and external shape memory alloy wires are heated by electrifying, and the reset is driven by the compressed bias spring, so that the connection release mechanism can be used repeatedly.
2. The large stroke, large load shape memory alloy actuated connection release mechanism of claim 1, wherein: the shape memory alloy wires to be heated inside and outside are made of NiTi alloy.
3. The large stroke, large load shape memory alloy actuated connection release mechanism of claim 1, wherein: the shape memory alloy wire to be heated inside is a pre-stretched common material wire.
4. The large stroke, large load shape memory alloy actuated connection release mechanism of claim 1, wherein: the shape memory alloy wire to be heated inside adopts a sectional combination drawing mode of partial shape memory alloy wire and partial common wire.
5. The large stroke, large load shape memory alloy actuated connection release mechanism of claim 1, wherein: the biasing spring mechanism includes four biasing springs that are connected in a pre-compressed state.
6. The large stroke, large load shape memory alloy actuated connection release mechanism of claim 1, wherein: the end cover (5) is matched with the upper end of the split nut (4) by adopting two conical surfaces, and the cone angle is selected to be 10-30 degrees.
7. The large stroke, large load shape memory alloy actuated connection release mechanism of claim 1, wherein: the disc spring (9) is a slotted disc spring.
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| CN201910036660.8A CN109774985B (en) | 2019-01-15 | 2019-01-15 | Large-stroke large-load shape memory alloy driven connection release mechanism |
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| CN110471477A (en) * | 2019-08-24 | 2019-11-19 | 昆明研顶技术开发有限公司 | A kind of automatic changeable device of spacecraft superficial form |
| CN113597180B (en) * | 2021-07-02 | 2022-10-04 | 浙江工业大学 | Multipurpose buffer release device combined with shape memory polymer characteristics |
| CN114109755B (en) * | 2021-11-26 | 2024-01-30 | 吉林大学 | Marching linear actuator based on shape memory alloy drive |
| CN115571382A (en) * | 2022-09-21 | 2023-01-06 | 北京航空航天大学 | SMA wire-driven reusable releasing mechanism with self-resetting function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5312152A (en) * | 1991-10-23 | 1994-05-17 | Martin Marietta Corporation | Shape memory metal actuated separation device |
| CN101665156A (en) * | 2008-09-03 | 2010-03-10 | 北京航空航天大学 | Connecting and unlocking mechanism driven by SMA wire |
| KR101246836B1 (en) * | 2010-12-24 | 2013-04-02 | 한국항공우주연구원 | Separating Device and System using Shape Memory Steel Material Sylinder and Wire, Method for setting the Device, Separating Method using the Device and Reassemble Method using the Device |
| CN103231813B (en) * | 2013-04-16 | 2016-02-24 | 北京航空航天大学 | A kind of SMA grouping roller Xing great discharge mechanism |
| CN207598444U (en) * | 2017-09-05 | 2018-07-10 | 深圳市星河泉新材料有限公司五金配件分厂 | A kind of shape memory alloy displacement superposition amplification driving mechanism |
| CN108298112B (en) * | 2018-02-07 | 2019-03-19 | 北京深空动力科技有限公司 | A kind of second level compression relieving mechanism of non-firer's driving |
| CN108190051A (en) * | 2018-02-09 | 2018-06-22 | 北京航空航天大学 | A kind of super large load tripper of SMA driving |
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