CN102072125B - One-way shape memory effect-based two-way linear driver and method thereof - Google Patents
One-way shape memory effect-based two-way linear driver and method thereof Download PDFInfo
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- CN102072125B CN102072125B CN2011100214539A CN201110021453A CN102072125B CN 102072125 B CN102072125 B CN 102072125B CN 2011100214539 A CN2011100214539 A CN 2011100214539A CN 201110021453 A CN201110021453 A CN 201110021453A CN 102072125 B CN102072125 B CN 102072125B
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Abstract
The invention discloses a one-way shape memory effect-based two-way linear driver and a method thereof. The driver comprises a base, a guide rail, a first shape memory alloy (SMA) wire, a second SMA wire, a movable part and a pulley. The method comprises the following steps of: first, electrifying for heating the first SMA wire, wherein the first SMA wire contracts after reaching an austenite phase-transition temperature to drive the movable part to move in the contraction direction along the guide rail, simultaneously the second SMA wire is stretched, and the movable part stops moving when the forces of the two wires reach balance; then, electrifying for heating the second SMA wire, wherein the second SMA retracts to drive the movable part to move in an opposite direction, and simultaneously the second SMA wire is stretched for preparing for next drive; and finally, alternately electrifying and heating the first SMA wire and the second SMA wire to realize the reciprocating motion of the movable part along the guide rail. The driver has a simple and compact structure and is easy to realize miniaturization.
Description
Technical field
The present invention adopts the marmem design of one way memory effect and makes has the driver that round trip drives effect and large driving force, can be used for the actuation element of intelligence structure.
Background technique
Intelligence structure/material is to propose in the fifties in last century, receives publicity in the seventies, is paid much attention to especially in recent years.The mechanism that is engaged at present intelligence structure research in the world has: the jet propulsion laboratory of the U.S. (JPL), German aerospace studies institute, French state aviation space research institute, Japanese aerospace research institute, the Massachusetts Institute of Technology etc.US military has also been participated in development directly with some government organs, like " the smart material and structure plan " of research office of ground force, and " plan of intelligence structure covering " of air force's space laboratory.The intelligence structure research of SPACE APPLICATION was promptly set about by cosmic exploration institute of Japan Airlines, Tokyo Institute of Technology and some major companies from 1984, main research contents comprises that the employing intelligence structure realizes active vibration control, self-adapting changeable shape truss etc.
Intelligence structure is to take as the leading factor with intellectual material, has the structural system of the bionic function of self-perception and self-control.It is that detecting element (sensor), driving element (actuator) and micro treatment control system (control circuit, signal processor etc.) are merged with body material mutually, forms a kind of structure with functions such as identification, analysis, judgement, actions.
Marmem (Shape Memory Alloy; Write a Chinese character in simplified form SMA) as a kind of novel intelligent material; With its unique shape note memory effect and superelastic effect; And good physicochemical property and biocompatibility, use extensive day by day in fields such as engineering, control, medical treatment, the energy and machineries.The shape-memory mechanism of marmem is based on a kind of reversible solid state phase changes, i.e. transformation between low temperature phase martensite and the high temperature phase austenite, and this phase transformation is called martensitic phase transformation.There are three kinds of basic crystalline structure in nickel-titanium shape memory alloy commonly used: martensite, austenite, stress-induced martensite.When alloy is the low-temperature martensite phase time, alloy is softer, shows as to have good ductility and tensility, and after being heated to uniform temperature, alloy begins to shrink and change austenite into, shows as strength and stiffness and is improved significantly.Stress-induced martensite is meant that the alloy to being in austenitic state applies external force, and then alloy generation austenite is to martensitic transformation, and the martensite that forms is stress-induced martensite.After stress is removed, then change austenite again into.This effect becomes pseudoelasticity.
Marmem (SMA) also has three kinds of shape-memory characteristics except common resiliently deformable, plastic deformation, thermal expansion and shrinking, be respectively:
1) one way shape-memory effect: the alloy to being in martensitic state applies external force, makes it produce plastic deformation, and after the removal external force, then plastic deformation is retained.Alloy is heated, then can be returned to the preceding state of distortion.After this, again alloy is cooled off then formless change.Because one way shape-memory effect can produce big restoring force and recover strain, and is therefore more in the application of driver.
2) double process shape-memory effect: except one way shape-memory effect, the alloy after the heating is cooled off again, the change of shape still can take place in alloy, and need not apply external force, promptly through heating and cooling shape is changed repeatedly.But, be used as the few of driver under stress element because double process shape-memory effect is all little than one way effect aspect the recovery strain in restoring force.
3) pseudoelasticity: under the austenitic transformation end temp condition that is higher than, marmem is applied external force, it is deformed, like removal external force, then alloy is returned to original shape fully, and need not heat or cool off, and this characteristics are known as pseudoelasticity.
The cardinal principle of SMA Linear actuator commonly used is that parts one end that needs move is connected with the SMA silk at present, and the other end is connected with bias spring.Utilize one way shape-memory effect, through energising utilizes resistance heat that its temperature is raise to the SMA silk, undergo phase transition, the SMA silk then produces contraction, needs moving to shrinkage direction of driver part thereby drive; For moving member is moved round about, utilize bias spring that restoring force is provided, after the SMA cooling, rely on the external force of spring that parts are moved round about.The people such as Guglielmo Magri of big Lima Er Kai Polytechnics of complying with one's wishes have utilized this principle design can realize that the driver of boiler water valve conversion (sees periodical: Sensors and Actuators A, 2006 years, 128 phases; The page number: 355 – 366); Through to SMA silk energising heating, martensite takes place to austenitic transformation, produce and shrink; The contractile force that produces as SMA then drives switch valve and moves to shrinkage direction during greater than the power of recovery springs; When stopping energising, then the SMA silk cools off gradually, austenite takes place to martensitic transformation, because martensitic Young's modulus is low, under the effect of recovery springs pulling force, the SMA silk is stretched easily, drives valve and moves in the opposite direction.Thereby can realize the on-off action of valve.Because the type Linear actuator only heats the SMA silk on the direction when driving, and cooling relies on natural cooling, therefore has obvious retardation phenomenon, is unfavorable for real-time control.As will improve the response time and then need add cooling unit, cause whole activation configuration complicated.Utilize bias spring as recovery device simultaneously; The parameter of spring designs; Process is complicated, promptly need calculate power and size that spring produces, guarantees that spring can be stretched when SMA changes austenite into and shrinks; And when SMA was martensitic state, spring can draw the elongation of SMA silk.Realize that for the one way shape-memory effect that directly utilizes the SMA silk the parallel mobile Linear actuator of round trip does not appear in the newspapers at present.
Summary of the invention
The present invention seeks to provides a kind of round trip Linear actuator and method based on one way shape-memory effect to the defective that existing technology exists, and the present invention utilizes this Linear actuator can realize that round trip is parallel mobile, does not need bias spring, easily design; Utilize one way shape-memory effect during design, make this driver have big restoring force; In the driving process, only can realize two-way moving,, not need cooling procedure, solve slow shortcoming of response time because two-way moving all utilizes the energising heating to realize to SMA silk energising heating; Owing to do not need bias spring and cooling unit, whole driving mechanism is simple, compact simultaneously.
The present invention adopts following technological scheme for realizing above-mentioned purpose:
The present invention is based on the round trip Linear actuator of one way shape-memory effect, comprise base, guide rail; The one SMA silk, the 2nd SMA silk, movable part and pulley, its middle guide is fixed on the base; Movable part is installed on the guide rail and can be along the two-way slip of guide rail; Pulley is fixed on the right-hand member of base, and an end of a SMA silk is connected with the movable part left end, and the other end of a SMA silk is connected with the base left end; One end of the 2nd SMA silk is connected with the moving member right-hand member, and the other end of the 2nd SMA silk is connected with the base left end after walking around pulley.
The connection of a said SMA silk, the 2nd SMA silk is fixing all to be fixed with screw and ceramic insulation cushion block, is about to fix with screw in compression between a SMA silk, two ceramic cushion blocks of the 2nd SMA silk placement again.
Said pulley material is a plexiglass.
Method for driving based on the round trip Linear actuator of one way shape-memory effect is following:
At first to the SMA silk heating of switching on, then a SMA silk produces and shrinks after reaching the austenite phase transformation temperature, drives movable part and moves to shrinkage direction along guide rail, and the 2nd SMA silk is stretched simultaneously, when the power of two rhizoids reaches balance, moves and stops; To the 2nd SMA silk energising heating, then the 2nd SMA silk shrinks again, drives movable part and moves in the opposite direction, and a SMA silk is stretched once more simultaneously, and is ready for driving next time; Alternately then can realize the to-and-fro motion of movable part along guide rail to a SMA silk and the 2nd SMA silk energising heating.
The pretreated technology of said SMA silk comprises the steps:
1) SMA silk stable performance processing: in the boiling water of 0 ℃ of frozen water and 100 ℃, soak repeatedly more than 10 times, each soak time is no less than 5 minutes;
2) stress relief annealing is handled: 450 ℃ of annealing heating-up temperatures, and holding time 30 minutes is cooled off with stove;
3) the pre-stretching strain capacity to the SMA silk is 5%.
The energising voltage-regulation scope of said SMA silk is 0～5V, the regulation range 0～3A of electric current.
The present invention has the following advantages: with compare as driver with motor, the heating of only need switching on of the driving process of this driver does not produce noise, does not have the discharge of waste gas yet, helps environmental protection; Compare with the driver of existing various band bias springs, this driver designs easily, does not need complicated computational process, only needs to select the SMA silk of suitable diameter to get final product; Because bidirectional-movement all adopts SMA silk heat driven, the response time of moving process is fast; Adopt one way shape-memory effect SMA, have the big characteristics of restoring force; This activation configuration is simple, compactness is easy to realize microminiaturized; Be easy in engineering, use, the replacement moving member of the parts that only need will move during application replaces guide rail with feather key, can realize the application of engineering.
Description of drawings
Fig. 1 is a plan view,
Fig. 2 is a plan view,
Fig. 3 is an A-A sectional view among Fig. 1,
1.5 of the I partial view times of enlarged views among Fig. 1 that Fig. 4 is.
Wherein 1 for compressing the screw of SMA silk, and 2 is base, and 3 is guide rail, and 4 is a SMA silk, and 5 is the 2nd SMA silk, and 6 is movable part, and 7 is pulley, and 8 use bolt for fixed pulley, and 9 is the insulating ceramics piece.
Embodiment
Shown in Fig. 1 to 4, the making of Linear Driving driver of the present invention is mainly by the pretreatment of SMA silk and the processing of component (comprising bearing, guide rail, pulley assembly etc.) and assembly process are constituted.Wherein the pretreatment to the SMA silk is the core content of implementation procedure.Implementation process is following:
The pretreatment of SMA silk: the diameter of the SMA silk of selecting for use is that 0.5 millimeter, alloy are the Ni-Ti alloy of 50.1at% for Ni content.At first the SMA silk is carried out the stable performance processing, be about to the SMA silk and in the boiling water of 0 ℃ of frozen water and 100 ℃, soak repeatedly more than 50 times, each soak time is no less than 2 minutes, to stablize its performance.Then the SMA silk is carried out annealing in process, eliminate internal stress, improve plasticity and be beneficial to bending.450 ℃ of annealing heating-up temperatures are incubated 30 minutes, cool off with stove.At last the SMA silk is carried out tensional strain and handle, the pre-stretching strain capacity is 5%.Wherein the raw footage of a SMA silk is 300mm, and length is 315mm after the prestrain, the length 400mm of the 2nd SMA silk, length 420mm after the prestrain.The concrete length of SMA silk can be adjusted according to the displacement amount that needs in the practical application produce, but the prestrain amount must keep 5%.
The processing of other each component: base, movable part, guide rail all are processed into steel, and the trade mark of steel is not done requirement.Pulley adopts the processing of plexiglass bar, and the briquetting of SMA silk adopts stupalith to process, and purpose is in order to guarantee the insulation of SMA silk and institute's union piece.All connections are all adopted standard piece with screw.
The assembling of Linear actuator: 1. movable part is installed on guide rail, guaranteed that it can be free to slide on guide rail; 2. guide rail and base are screwed; 3. be installed in pulley in the pulley hole of base right-hand member with bolt; 4. fixing SMA silk: earlier that a SMA silk is fixing between base and movable part, fix with base after walking around pulley after again the 2nd SMA silk and movable part being fixed.Place a ceramic cushion block in the tapped hole bottom earlier before fixing, then the SMA silk is placed on the ceramic cushion block, after putting a ceramic cushion block on the SMA silk, use screw in compression again.The SMA silk should grow base around side boundary treaty 10mm in the time of fixedly, and purpose is in order to be connected with power line.In addition will be as far as possible with the silk tension, to obtain maximum displacement.
Method for driving is following: utilize the stabilized power supply energising during driving, the regulation range of voltage is 0～5V, the regulation range 0～3A of electric current.The both positive and negative polarity of stabilized power supply is connected with the two ends of a SMA silk respectively, and energized increases electric current gradually, and after electric current surpassed 1A, then movable part began to move along track, continues to increase electric current, until the movable part stop motion; Stop SMA silk energising, then to the energising of the 2nd SMA silk, increase electric current gradually, then movable part begins to move round about, stops until motion.Repeat above process, then movable part can be along the track to-and-fro motion.
Claims (6)
1. round trip Linear actuator based on one way shape-memory effect; It is characterized in that: comprise base (2), guide rail (3), a SMA silk (4), the 2nd SMA silk (5); Movable part (6) and pulley (7); Its middle guide (3) is fixed on the base (2), and movable part (6) is installed on the guide rail and can be along the two-way slip of guide rail, and pulley (7) is fixed on the right-hand member of base; One end of the one SMA silk (4) is connected with the movable part left end; The other end of the one SMA silk (4) is connected with the base left end, and an end of the 2nd SMA silk (5) is connected with the moving member right-hand member, and the other end of the 2nd SMA silk (5) is connected with the base left end after walking around pulley.
2. the round trip Linear actuator based on one way shape-memory effect according to claim 1; It is characterized in that the connection of a said SMA silk (4), the 2nd SMA silk (5) is fixing all fixes with screw and ceramic insulation cushion block; Be about to fix with screw in compression again between a SMA silk (4), two ceramic cushion blocks of the 2nd SMA silk (5) placement.
3. the round trip Linear actuator based on one way shape-memory effect according to claim 1 is characterized in that said pulley material is a plexiglass.
4. the method for driving of the round trip Linear actuator based on one way shape-memory effect as claimed in claim 1 is characterized in that said method is following:
At first to a SMA silk (4) heating of switching on; Then a SMA silk (4) produces contraction after reaching the austenite phase transformation temperature, drives movable part and moves to shrinkage direction along guide rail, and the 2nd SMA silk (5) is stretched simultaneously; When the power of two rhizoids reaches balance, mobile stopping; To the 2nd SMA silk (5) energising heating, then the 2nd SMA silk (5) shrinks again, drives movable part and moves in the opposite direction, and a SMA silk (4) is stretched once more simultaneously, and is ready for driving next time; Alternately then can realize the to-and-fro motion of movable part along guide rail to a SMA silk (4) and the 2nd SMA silk (5) energising heating.
5. the method for driving of the round trip Linear actuator based on one way shape-memory effect according to claim 4 is characterized in that the pretreated technology of said SMA silk comprises the steps:
1) SMA silk stable performance processing: in the boiling water of 0 ℃ of frozen water and 100 ℃, soak repeatedly more than 10 times, each soak time is no less than 5 minutes;
2) stress relief annealing is handled: 450 ℃ of annealing heating-up temperatures, and holding time 30 minutes is cooled off with stove;
3) the pre-stretching strain capacity to the SMA silk is 5%.
6. the method for driving of the round trip Linear actuator based on one way shape-memory effect according to claim 4 is characterized in that the energising voltage-regulation scope of said SMA silk is 0～5V, the regulation range 0～3A of electric current.
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| CN102901449B (en) * | 2012-10-20 | 2015-07-29 | 西南科技大学 | A kind of precision positioning mechanism being applicable to pulling rivet vision measurement |
| CN103352787B (en) * | 2013-07-12 | 2015-12-02 | 江苏大学 | The whirligig driven based on Chain conveyer and by shape memory effect |
| CN104760682A (en) * | 2015-02-13 | 2015-07-08 | 南京航空航天大学 | Smart skin driving device based on shape memory effect |
| CN105181734B (en) * | 2015-09-25 | 2017-10-24 | 西南交通大学 | A kind of Marmem heat engine tool fatigue test device |
| CN106014895A (en) * | 2016-05-17 | 2016-10-12 | 韩伟 | Temperature-sensitive actuator using no electricity |
| CN109760341A (en) * | 2018-12-29 | 2019-05-17 | 南京航空航天大学 | The curved shape memory alloy of round trip, production method and driving method |
| CN110116803B (en) * | 2019-04-30 | 2022-05-03 | 南京航空航天大学 | Variable chord length system for blade |
| CN113063655B (en) * | 2021-03-19 | 2022-03-22 | 上海交通大学 | SMA-based dynamic modulus monitoring and feedback system |
| CN113090481B (en) * | 2021-03-19 | 2022-04-12 | 北京航空航天大学 | SMA bending driver for adjusting air inlet bulge |
| CN113406148B (en) * | 2021-05-24 | 2022-10-11 | 上海交通大学 | Device based on shape memory alloy |
| CN113317883B (en) * | 2021-06-23 | 2022-08-12 | 上海交通大学 | Bone mineral density measuring method and system |
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| CA2391746A1 (en) * | 1999-08-12 | 2001-02-22 | Roderick Macgregor | Shape-memory alloy actuators and control methods |
| US6834835B1 (en) * | 2004-03-12 | 2004-12-28 | Qortek, Inc. | Telescopic wing system |
| JP2007071182A (en) * | 2005-09-09 | 2007-03-22 | Konica Minolta Holdings Inc | Manufacturing device and manufacturing method |
| CN101113723A (en) * | 2006-07-26 | 2008-01-30 | 北京有色金属研究总院 | Shape memory alloy reciprocating type displacement multiply output mechanism |
| CN101253278A (en) * | 2005-04-04 | 2008-08-27 | 远程接合技术公司 | Smart memory alloy control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4600068B2 (en) * | 2005-02-10 | 2010-12-15 | コニカミノルタホールディングス株式会社 | Manufacturing apparatus and manufacturing method |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2391746A1 (en) * | 1999-08-12 | 2001-02-22 | Roderick Macgregor | Shape-memory alloy actuators and control methods |
| US6834835B1 (en) * | 2004-03-12 | 2004-12-28 | Qortek, Inc. | Telescopic wing system |
| CN101253278A (en) * | 2005-04-04 | 2008-08-27 | 远程接合技术公司 | Smart memory alloy control |
| JP2007071182A (en) * | 2005-09-09 | 2007-03-22 | Konica Minolta Holdings Inc | Manufacturing device and manufacturing method |
| CN101113723A (en) * | 2006-07-26 | 2008-01-30 | 北京有色金属研究总院 | Shape memory alloy reciprocating type displacement multiply output mechanism |
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