CN101789712A - Large-torque continuous rotating type SMA motor - Google Patents
Large-torque continuous rotating type SMA motor Download PDFInfo
- Publication number
- CN101789712A CN101789712A CN200910077840A CN200910077840A CN101789712A CN 101789712 A CN101789712 A CN 101789712A CN 200910077840 A CN200910077840 A CN 200910077840A CN 200910077840 A CN200910077840 A CN 200910077840A CN 101789712 A CN101789712 A CN 101789712A
- Authority
- CN
- China
- Prior art keywords
- sma
- main shaft
- spring
- ratchet
- rotating disk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention provides a large-torque continuous rotating type SMA motor. At least two drive units are installed on a main shaft in a series connection way, and the main shaft is driven to continuously rotate by sequentially actuating each drive unit. Each drive unit mainly comprises an SMA wire, a spring, a rotating disk, a ratchet wheel and a ratchet pawl, wherein one end of the SMA wire is installed on a ceramic support seat by a flattened stainless steel pipe, and the ceramic support seat is installed on an upper plate of the motor; the other end of the SMA wire is installed on the rotating disk by a ceramic pulley; one end of the spring is hung on the rotating disk, and the other end is installed on a bottom plate by an adjusting bolt; the ratchet pawl is installed on the rotating disk, simultaneously pressed by a spring sheet installed on the rotating disk and meshed with the ratchet wheel; and the ratchet wheel is installed on the main shaft by a key groove. The drive units are formed by the joint actuation of the SMA wire and the spring, and the output torque is large; the SMA wire is used as a drive element and has high energization heating efficiency; and the ratchet wheel and ratchet pawl connection is adopted between the main shaft and the rotating disk, and the one-way rotation is realized.
Description
Technical field
The present invention relates to a kind of a kind of mechanism that can rotate continuously and export than high pulling torque (with respect to the common electric machine under the identical weight) of shape memory effect and friction ratchet gear principle design of the SMA of utilization silk.
Background technology
A lot of mechanisms or system's (as spacecraft) need the big motor of power to weight ratio to drive, and as the unlatching of spaceship hatch door, solar energy sailboard angle adjustment, aircraft engine vector spout turn to etc., at present these local common electric machines that use more.But their volumes are big, and Heavy Weight has improved the flight cost of aerospace flight vehicle, even some is local because installing space is narrow and small, and require output torque bigger, and common electric machine can not use at all.The focus that addresses these problems concentrate on utilize new material (as marmem, english abbreviation: SMA) development a kind of novel high power to weight ratio, the continuous motor rotating of high pulling torque.
On utilizing on the SMA development motor, certain progress has all been arranged both at home and abroad, multiple design has been proposed, mainly contain linear electric motor and rotary-type motor two class schemes.The linear electric motor scheme is mainly with " based on the assemblied anthropomorphic manipulator of imbedded shape memory alloy electric machine " (Chinese patent application number: 200610018786) be representative, the structure of this class linear electric motor, principle and the function that is realized thereof are all different with the application " large-torque continuous rotating type SMA motor ", do not discuss at this.Another kind of design is a rotary-type motor, wherein with Smith, W.K. " the hot machine of piston type eccentric mechanism type " of Ti Chuing is the most representative (referring to " marmem ", 174 pages, day, the prosperous health of boat Kubo is compiled), its structure as shown in Figure 1, it is made up of flywheel 1, SMA spring 2, driver element 3, bent axle 4.Flywheel 1 is connected on the bent axle 4, and each driver element 3 links to each other with bent axle respectively.During work, in turn to each driver element 3 heating (heating means do not provide), each driver element 3 start successively, thus bent axle is rotated continuously, output torque.
" the hot machine of piston type eccentric mechanism type " though have can turn round continuously, characteristics such as output torque, it also has fatal shortcoming:
(1) adopts the SMA spring as drive source, make output torque very little (under the identical situation in silk footpath, the power of SMA spring output is little more a lot of than SMA silk).
(2) do not have installation and the mode of heating of consideration to the SMA spring, in the prior art, it is convenient efficient that the heating of SMA spring can not show a candle to the SMA silk.
(3) energising of SMA spring heating start and end time is subjected to the constraint at phase angle, makes control to the heating comparison difficulty that becomes.In the prior art scheme, the answer of SMA spring stretching, extension is to finish by being rotated further of the contraction of other SMA springs and/or bent axle.Specifically, show among Fig. 1 that the SMA spring that is in extended configuration is descending in the one-stroke to carry out heat shrink (actuating), the SMA spring that is in contraction state among Fig. 1 is descending the stretching, extension (answer) of will lowering the temperature in the one-stroke; The accurate control at the warm up/down phase angle that this need be difficult to realize.In addition, produce the acceptable restoring force in order to make the SMA spring, the spring wire of SMA spring is generally very thick, and this makes the energising heating be difficult to realize, heating wire heating or water-bath heating etc., and the efficiency of heating surface is lower.
Summary of the invention
It is little that the present invention mainly solves the output torque that exists in the prior art, and the inefficient problem of mode of heating provides a kind of output torque big, the novel large-torque continuous rotating type SMA motor that the efficiency of heating surface is high.
Technical scheme of the present invention is as follows: at least two driver elements are installed in series on main shaft, and main shaft is rack-mount, and each driver element drives main shaft by start in turn and rotates continuously.Driver element mainly comprises SMA silk, spring, rotating disk, ratchet and pawl.Wherein, a drive end of driver element is installed on the ceramic support by the stainless steel tube that flattens, and ceramic support is installed on the upper plate of motor again.Another drive end of driver element is by being installed on the rotating disk, one end of spring hangs on the rotating disk, the other end is installed on the base plate by regulating bolt, ratchet is installed on the rotating disk, simultaneously it be installed in again that spring leaf on the rotating disk compresses and and ratchet engaged, ratchet is installed on the main shaft by keyway.When to a driver element SMA silk energising heating, the SMA silk shrinks, the rotation of pulling rotating disk, rotating disk pushes away a ratchet rotation by ratchet mounted thereto, ratchet connects the drive main axis rotation by key, after stopping a driver element heating, at once to No. two unit heating, the SMA of No. two driver elements shrinks and drives main shaft continuation rotation, simultaneously, a driver element is after stopping heating, and the SMA silk slowly cools off, under the effect of spring, rotating disk is to the direction rotation opposite with motion of main shaft, and the SMA silk that stretches again simultaneously is for following start is once got ready, because rotating disk is connected by click with main shaft, therefore the rotating disk reverse rotation can not drive main axis rotation, once more to a unit energising, so circulates after No. five driver element energising finished, guarantee that main shaft rotates continuously, form stable output.
According to an aspect of the present invention, provide a kind of SMA motor, it is characterized in that comprising:
A main shaft;
A plurality of juxtaposed SMA silks-spring driving element, each described SMA silk-spring driving element all comprise a SMA silk and are used to make this SMA silk to stretch the spring of replying;
Be respectively the unidirectional rotation driving coupling device that each described SMA silk-spring driving element is provided with, described unidirectional rotation drives coupling device and shrinks to drive in the stroke at the SMA silk of described SMA silk-spring driving element and keep engagement with described main shaft, and breaks away from engagement with described main shaft in the stroke that the spring of described SMA silk-spring driving element shrinks.
The present invention compared with prior art, it is big to have an output torque, efficiency of heating surface height is not subjected to the advantages such as constraint at phase angle, is in particular in the following aspects:
(1) the present invention has adopted SMA silk and spring associating start, constitute driver element, and the restoring force that SMA silk energising heating back produces is more a lot of greatly than the restoring force that the SMA spring heating back under the identical silk footpath produces, and makes the present invention compare with prior art, and output torque increases greatly.
(2) the present invention adopts the SMA silk as driving element, the energising efficiency of heating surface of SMA silk is higher than the SMA spring far away and (produces the acceptable restoring force in order to make the SMA spring, the spring wire of SMA spring is generally very thick, this makes the energising heating be difficult to realize, because the efficiencies of heating surface such as heating wire heating or water-bath heating are relatively low; And SMA silk silk footpath is generally very little, with the just fine heating of energy of electrifying method, efficiency of heating surface height), therefore to compare with present technology, heating time of the present invention is shorter, and mode of heating is simpler effectively.
(3) the present invention adopts unidirectional rotation to drive the coupling device connection between main shaft and rotating disk, and it is unidirectional rotary-actuated to make that the present invention has realized, has guaranteed can not take place when driving the heavy load motion phenomenon of the reverse because load is excessive.In addition, click connects also makes the start of driver element of the present invention not rely on the phase angle, reduces even has eliminated the requirement that the warm up/down phase angle is accurately controlled.
(4) the invention provides self-contained, the modular arrangement of SMA silk, spring, ceramic member, wherein SMA silk, spring, ceramic member can refill after self-contained finishing and be fitted on the motor driving shaft, greatly facilitate installation, debugging and/or the maintenance operation of SMA motor.
(5) axial torsion pass and circumferentially thrust keyway design have been adopted in main shaft design of the present invention, have simplified syndeton greatly, have controlled the cumulative limit when each driver element is installed simultaneously under the situation that guarantees the normal delivery moment of torsion, have improved installation accuracy.
(6) among the present invention, adopted in the confined space, to increase the length of SMA silk and guarantee the measure of insulating properties simultaneously, thereby increased the nargin of mechanism greatly, increased the success rate of release.
(7) the present invention has adopted the security measure of novel SMA silk, adopt stainless steel tube to entangle SMA silk and flattening, and then pass and diameter is arranged greater than the SMA filament diameter but the ceramic support in the hole of the width of the stainless steel tube after flatten is come fastening on it, compare with prior art like this, the SMA silk is more difficult because of mechanical damage ruptures, thereby has improved dependability.
Description of drawings
Fig. 1 is the structural representation of prior art " the hot machine of piston type eccentric mechanism type ".
Fig. 2 is the outward appearance front view of an embodiment of large-torque continuous rotating type SMA motor of the present invention.
Fig. 3 is the outward appearance equal axes axonometric drawing of the embodiment of SMA motor shown in Figure 2.
Fig. 4 is according to the driver element of an embodiment of SMA motor of the present invention and the equal axes axonometric drawing of main shaft.
Fig. 5 is the driver element shown in Figure 4 and the equal axes axonometric drawing of main shaft.
Fig. 6 is the cutaway view of driver element shown in Figure 4.
Fig. 7 is the cutaway view of friction ratchet gear according to an embodiment of the invention and main shaft.
Fig. 8 is the friction ratchet gear shown in Figure 7 and the equal axes axonometric drawing of main shaft.
Fig. 9 is the mount scheme schematic diagram of SMA silk according to an embodiment of the invention, spring, ceramic member
The drawing reference numeral explanation:
1: flywheel 2:SMA spring 3: driver element 4: bent axle 5: main shaft
6: support plate 7: the stainless steel tube 8 of flattening: ceramic support 9:SMA silk
10: spring 11: regulate bolt 12: ceramic coat 13: bearing 14: ceramic blanket
15: rotating disk 16: ceramic pulley 17: friction ratchet 18: flat spring 19: friction ratchet gear
20: adjusting nut 21: Coupling Shaft 22: base 23: upper plate 24: square hole
25: key 26: axial keyway 27: circumferential keyway 28: boss 29: groove
Embodiment
For application of the present invention, " shape memory characteristic " of SMA (marmem) material is meant: the material distortion that is stretched under a certain lower temperature, unloading its distortion of back can not be replied fully, leaves residual deformation.But as long as it is heated on certain higher temperature, then residual deformation disappears, and is returned to the original shape that is not stretched, and shows as " shape under the memory lower temperature ", and produces very big restoring force in the Recovery Process.
Usually the SMA silk is cooperated with spring in the engineering and form driving element, promptly SMA silk and the spring by certain stretcher strain interconnects, low temperature lower spring power is greater than the low temperature yield force of SMA silk, make the SMA silk remain on the state that is stretched, until the yield force and the output loading balance of spring force and SMA silk; When temperature rose, the SMA silk shrank, and the restoring force of SMA silk overcomes spring force and spring is shunk.When temperature descended again, the SMA silk returned to the state with initial spring force balance, thereby realized the reciprocal start of SMA-spring element.
The present invention is further described below in conjunction with drawings and embodiments.
As shown in Figure 4, SMA silk 9 is installed between rotating disk 15 and the ceramic support 8 by ceramic pulley 16, and spring 10 1 ends hang on the rotating disk 15, and the other end is installed on the base 22 by regulating bolt 11.Spring 10 is used for stretching SMA silk 9 at the answer cycle of SMA silk 9 lira.The torsional interaction that 9 contractions of SMA silk cause is on rotating disk 15.
According to a preferred embodiment, as shown in Figure 4, SMA silk 9 passes the stainless steel tube 7 of flattening successively, and ceramic support 8 is walked around ceramic coat 12, ceramic pulley 16, turn back then and walk around ceramic coat 12, the stainless steel tube 7 that passes ceramic support 8 and flatten forms a loop, only need during heating lead is connected with ceramic support 8 two top sub-miniature A connectors, the energising heating gets final product.This design of turning back of SMA silk 9 has increased the length of SMA silk more than one times in limited space.In addition, the fastening of SMA silk 9 is by adopting stainless steel tube to entangle SMA silk 9 and flattening, and then pass have on it diameter greater than SMA silk 9 diameters but the ceramic support 8 in the hole of the width of the stainless steel tube after flatten realize, make that the SMA silk is difficult for rupturing because of mechanical damage.
Being fixed on ceramic blanket 14 on the described rotating disk 15 is used for SMA silk 9 is led and/or locatees.
In the denomination of invention that the applicant submitted on November 12nd, 2007 is in No. the 200710177157.1st, the Chinese patent application of " high temperature resistant shape memory alloy wire fastening device ", has described with the fixing method of SMA silk of the stainless steel tube 7 that flattens and ceramic support 8; This patent application is quoted in full at this.
Shown in Fig. 5 and 7, friction ratchet gear 19 is mounted on the main shaft 5 by key 25, and key 25 has guaranteed that friction ratchet gear 19 and main shaft 5 rotate jointly.Friction ratchet 17 is installed on the rotating disk 15, spring 18 is installed on the rotating disk 15, its pressing friction ratchet 17 makes it tightly to fit with friction ratchet gear 19, when being heated, shrinks when being rotated counterclockwise in the diagram of pulling rotating disk 15 at Fig. 5 SMA silk 9, rotating disk 15 drives 17 rotations of friction ratchet, and friction ratchet 17 is because friction self-locking drives friction ratchet gear 19 rotations, 5 rotations of 19 drive main shafts of friction ratchet gear, output torque.And when main shaft 5 turned clockwise, friction ratchet gear 19 can not drive 17 rotations of friction ratchet, thereby realized that unidirectional rotation drives.
According to one embodiment of present invention, as shown in Figure 9, earlier the stainless steel tube 7 of SMA silk 9, ceramic support 8, ceramic pulley 16, flattening is installed separately as a module, after they install, again ceramic pulley 16 is passed from the square hole 24 of upper plate 23; Square hole 24 areas are bigger than ceramic pulley 16, but sufficiently little and do not allow ceramic support 8 to pass through; And then walk around ceramic jacket 12, vertically snap in downwards in the groove 29 that is arranged on the rotating disk 15 more at last.Being fixed on ceramic blanket 14 on the described rotating disk 15 is used for SMA silk 9 is led and/or locatees.In addition, spring 10 can be installed as required, only the hook of spring 10 need be hung up to get final product, and it is very convenient to install.
Please in conjunction with consulting Fig. 7, Fig. 8, according to one embodiment of present invention, axial keyway 26 and 5 circumferential keyways 27 are arranged on the main shaft 5, boss 28 is arranged on the friction ratchet gear 19, during installation main shaft 5 right-hand members are penetrated in friction ratchet gear 19 centre bores, make boss 28 place axial keyway 26 when penetrating, when through a certain circumferential keyway 27, friction ratchet gear 19 is rotated counterclockwise, boss 28 is snapped in the circumferential keyway 27, again key 25 is rapped in the space between axial keyway 26 and the boss 28, thereby finish the installation of friction ratchet gear 19 on main shaft 5.
As shown in Figure 4, SMA silk 9 is walked around ceramic jacket 12 successively, ceramic pulley 16, and ceramic jacket 12 is anchored on the ceramic support 8 again.In limited space, the length of SMA silk has been increased more than one times like this.
As shown in Figure 4, SMA silk 9 fastening is by adopting stainless steel tube to entangle SMA silk 9 and flatten, and then pass have on it diameter greater than SMA silk 9 diameters but the ceramic support 8 in the hole of the width of the stainless steel tube after flatten realize.The course of work of the present invention is as follows:
Shown in Fig. 2,3, adopt several (for example five) driver elements 3, these unit 3 are installed on the main shaft 5 successively, main shaft 5 is installed on the support plate 6.Each driver element 3 of start successively during work, driving main shaft 5 is rotated continuously.As Fig. 4, shown in 5, power positive cathode is connected on the two ends of first driver element SMA silk 9, to the 9 energising heating of SMA silk, SMA silk 9 shrinks, driven rotary dish 15 clockwise (clockwise is with reference to figure 4) rotation, rotating disk 15 drives friction ratchet 17 and turns clockwise, friction ratchet 17 turns clockwise owing to friction self-locking drives friction ratchet gear 19, friction ratchet gear 19 drives main shaft 5 and turns clockwise, in the time of rotating disk 15 rotations spring 10 is elongated, after 9 contractions of SMA silk finish, stop energising to first driver element, simultaneously second driver element switched on, second driver element continues to drive main shaft 5 and turns clockwise, after stopping first driver element switched on, the SMA silk 9 of first driver element cools off gradually, restoring force in the SMA silk 9 reduces gradually, the pulling force of spring 10 is gradually greater than the restoring force in the SMA silk 9 at this moment, under the effect of spring 10, rotating disk 15 counterclockwise (clockwise is with reference to figure 4) rotation, again SMA silk 9 is elongated, for start is next time got ready.Because the one-way movement operation principle of ratchet, the counterclockwise motion of rotating disk 15 can not drive the ratchet motion, thereby can the normal rotation of main shaft not impacted.Again first driver element is carried out start after the 5th driver element start finishes, so circulation realizes the continuous running of SMA motor.
Claims (8)
1. SMA motor is characterized in that comprising:
A main shaft (5);
A plurality of juxtaposed SMA silks-spring driving element, each described SMA silk-spring driving element all comprise a SMA silk (9) and are used to make this SMA silk to stretch the spring (10) of replying;
Be respectively the unidirectional rotation driving coupling device (15 that each described SMA silk-spring driving element is provided with, 17,18,19), described unidirectional rotation drives coupling device and shrinks to drive in the stroke at the SMA silk of described SMA silk-spring driving element and keep engagement with described main shaft (5), and breaks away from engagement with described main shaft (5) in the stroke that the spring (10) of described SMA silk-spring driving element shrinks.
2. according to the SMA motor of claim 1, it is characterized in that each described unidirectional rotation drives coupling device and comprises:
Suit is fixed on the ratchet (19) on the described main shaft;
A rotating disk (15), itself and described main shaft are provided with coaxially, and can rotate with respect to described main shaft, and described SMA silk (9) is coupled with described rotating disk (15), thereby makes the contraction of described SMA silk (9) can drive described rotating disk (15) rotation,
A ratchet (17), described ratchet (17) are installed on the described rotating disk (15),
A ratchet spring (18), its resilient force is on described ratchet (17) and described ratchet (17) is remained on against the state of described ratchet (19).
3. SMA motor according to claim 2 is characterized in that each described SMA silk-spring driving element further comprises:
A ceramic pulley (16), it is fixed on the described rotating disk (15), described SMA filament winding on ceramic pulley,
And described SMA silk contraction is opposite with the actuation torque direction that described spring (10) contraction is produced described rotating disk (15) to the actuation torque that described rotating disk (15) is produced.
4. according to the described SMA motor of claim 3, it is characterized in that the two ends of described SMA silk (9) are fixed on the upper plate (23) of described SMA motor.
5. SMA motor according to claim 2 is characterized in that,
Described main shaft (5) is provided with an axial keyway (26) and a plurality of circumferential keyway (27), the position of described a plurality of circumferential keyways (27) is corresponding with the installation site on described main shaft of each described SMA silk-spring driving element respectively, described ratchet (19) is provided with the boss (28) that is complementary with described circumferential keyway (27), thereby the circumferential key of described ratchet (19) and described main shaft (5) is connected, and described ratchet (19) can be fixed on the described main shaft (5) by the key (25) that inserts in the space between described axial keyway (26) and the boss (28).
6. SMA motor according to claim 2, wherein said ratchet (19) are friction ratchet gear (19), and described ratchet (17) is a friction ratchet (17).
7. SMA motor according to claim 4 is characterized in that further comprising:
Be the ceramic coat (12) that each described SMA silk-spring driving element is provided with, the described SMA silk (9) of described SMA silk-spring driving element is walked around described ceramic coat (12).
8. SMA motor according to claim 4 is characterized in that further comprising:
Be fixed on the ceramic blanket (14) on the described rotating disk (15), be used for described SMA silk (9) is positioned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100778407A CN101789712B (en) | 2009-01-22 | 2009-01-22 | Large-torque continuous rotating type SMA motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100778407A CN101789712B (en) | 2009-01-22 | 2009-01-22 | Large-torque continuous rotating type SMA motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101789712A true CN101789712A (en) | 2010-07-28 |
| CN101789712B CN101789712B (en) | 2012-07-18 |
Family
ID=42532802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100778407A Expired - Fee Related CN101789712B (en) | 2009-01-22 | 2009-01-22 | Large-torque continuous rotating type SMA motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101789712B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103352818A (en) * | 2013-05-29 | 2013-10-16 | 南京航空航天大学 | Temperature control torque output drive device, as well as assembly method and shape memory alloy coil spring preparation method thereof |
| CN111371341A (en) * | 2020-03-24 | 2020-07-03 | 燕山大学 | Microminiature SMA oscillating tooth driven motor |
| CN114524318A (en) * | 2022-03-30 | 2022-05-24 | 中山极冠科技有限公司 | Paper and paper money arranging and storing device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10133315B2 (en) | 2016-11-08 | 2018-11-20 | Microsoft Technology Licensing, Llc | Indexed sequential lock |
-
2009
- 2009-01-22 CN CN2009100778407A patent/CN101789712B/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103352818A (en) * | 2013-05-29 | 2013-10-16 | 南京航空航天大学 | Temperature control torque output drive device, as well as assembly method and shape memory alloy coil spring preparation method thereof |
| CN103352818B (en) * | 2013-05-29 | 2016-04-27 | 南京航空航天大学 | The preparation method of temperature control torque output driving device and assembly method and its marmem wind spring |
| CN111371341A (en) * | 2020-03-24 | 2020-07-03 | 燕山大学 | Microminiature SMA oscillating tooth driven motor |
| CN111371341B (en) * | 2020-03-24 | 2021-04-30 | 燕山大学 | Microminiature SMA oscillating tooth driven motor |
| CN114524318A (en) * | 2022-03-30 | 2022-05-24 | 中山极冠科技有限公司 | Paper and paper money arranging and storing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101789712B (en) | 2012-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101789712B (en) | Large-torque continuous rotating type SMA motor | |
| US7692091B2 (en) | Shape memory alloy motor as incorporated into solar tracking mechanism | |
| CN103231813B (en) | A kind of SMA grouping roller Xing great discharge mechanism | |
| AU699898B2 (en) | Sun-following device | |
| US9166525B2 (en) | Solar tracker | |
| CN102910299B (en) | Connecting and unlocking mechanism driven by SMA (Shape Memory Alloy) wire | |
| CN201872957U (en) | Locking and unlocking device with two-stage driving | |
| AU2012293559B2 (en) | Solar tracker | |
| ITRM980171A1 (en) | ROTARY BAR ACTUATOR IN FORMAL MEMORY ALLOY | |
| CN106438244A (en) | Shape memory alloy driving actuator and driving method thereof | |
| CN201963505U (en) | Mechanical energy storage power device | |
| KR20050047557A (en) | Roll stabiliser for the chassis of a motor vehicle | |
| WO2013114253A1 (en) | Electromechanical system for electric energy generation and storage using a surface motion | |
| CN1153329A (en) | Paper feeding unit driving device for electrophotographic processor | |
| CN116566299A (en) | Solar panel angle control device based on memory alloy control | |
| CN102072123B (en) | Vehicle energy collection device | |
| WO2021045707A2 (en) | An actuator mechanism | |
| CN108974391B (en) | Double-roller herringbone rod cross unfolding mechanism | |
| CN112096583A (en) | SMA electric excitation type two-way rotary actuator | |
| CN106762483A (en) | A kind of PTO | |
| CN114367960B (en) | Multi-beam software driver and space software mechanical arm | |
| CN108365700A (en) | A kind of super-silent driver of novel ultra-light type | |
| CN106704120A (en) | Power output device | |
| CN107035633A (en) | A kind of PTO | |
| KR20150102773A (en) | High efficiency of the power plant to get high electro motive force |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C57 | Notification of unclear or unknown address | ||
| DD01 | Delivery of document by public notice |
Addressee: Li Qiang Zhang Zhengyan Document name: Notification of Passing Preliminary Examination of the Application for Invention |
|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120718 Termination date: 20130122 |