CN104184298A - Stepping motor based on shape memory alloy - Google Patents
Stepping motor based on shape memory alloy Download PDFInfo
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- CN104184298A CN104184298A CN201410456641.8A CN201410456641A CN104184298A CN 104184298 A CN104184298 A CN 104184298A CN 201410456641 A CN201410456641 A CN 201410456641A CN 104184298 A CN104184298 A CN 104184298A
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- memory alloy
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- stepping motor
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Abstract
The invention discloses a stepping motor based on shape memory alloy. The stepping motor comprises a rotating shaft, rotating driving devices, bearings, a shell and an end cover, and each rotating driving device is composed of a rotor, shape memory alloy springs, rolling bodies, a rolling body retainer, a stator and a clutch. The rotating driving devices composed of the rotors, the multiple shape memory alloy springs uniformly distributed in central symmetry with respect to the rotors, the rolling bodies, the rolling body retainers, the stators and the clutches are adopted for the motor, the method that driving currents of the multiple rotating driving devices and the clutches act circularly in sequence to drive the rotating shaft to conduct rotary stepping is adopted, and 360-degree rotary stepping output of the stepping motor is achieved. Compared with a traditional shape memory alloy motor, the stepping motor based on the shape memory alloy has the advantages of being compact in structure, high in power to weight ratio and output torque, capable of running stably, low in noise, high in response speed and capable of achieving rotation at any angle, and the shape memory alloy motor can be widely applied in the precision mechanical driving field.
Description
Technical field
The present invention relates to the stepping motor that a kind of precision optical machinery drives field, specifically a kind of stepping motor based on marmem.
Background technology
Marmem is a kind of after when lower than its phase transition temperature, shape is changed, once temperature raises, surpasses its phase transition temperature, can return to a kind of alloy material of reset condition before alteration of form.Utilize the motor of the shape memory effect making of marmem to be widely used in fields such as Aero-Space, microbe, robot, biomedicine, MEMSs.General similar Chinese patent " a kind of driving device made of shape-memory alloy of the revolute joint " (number of patent application: disclosed method 201120120071.7) that adopts of the existing motor that utilizes marmem to drive, the spring that utilizes shape memory alloy material to make drives slide block as drive source, the finite angle that utilizes toggle that the rectilinear motion of crank is converted into crank rotatablely moves, or be used in east and wait the differential fixing runner both sides, center that pull of the employing two rhizoid shape marmems of describing in the document " marmem stepping motor structure method for designing " deliver on < < mechanical engineering journal > > for 2010 to complete round limited angle rotation, or the method that adopts runner both sides, linear actuator side friction center realizes the rotation of limited angle,
Prior art exists following not enough: utilize toggle marmem linear movement to be converted into its volume of motor rotatablely moving is large, structure is not compact, and little as its output rotating torque of driving element by two differential shape memory alloy springs; The same volume of the driver actuating force very large, single thread driver that adopts two both sides that pull the fixing runner in center to rotate is very little, and the rotating shaft meeting of its disk when producing rotation torque is subject to the effect of radial load, the increase that this has just caused frictional force between runner and rotating shaft, has affected mechanical efficiency and the robust motion of driver; Adopt runner both sides, linear actuator side friction center to realize the motor that limited angle rotates, its output torque is limited by the frictional force of linear actuator and runner, is difficult to realize high-torque output.The most important thing is that the motor based on above technology all can only carry out the rotation of limited angle at present and can not realize the Arbitrary Rotation as conventional motors.
Summary of the invention
The present invention is directed to the deficiencies in the prior art a kind of stepping motor based on marmem is provided, this stepping motor has advantages of that compact conformation, power to weight ratio are large, output torque is large, operates steadily, low noise, the speed of response is fast and can realize 360 ° of rotations;
For achieving the above object, the present invention proposes following technical scheme: a kind of stepping motor based on marmem, comprises rotating shaft, the rotating driving device being comprised of rotor, shape memory alloy spring, rolling element, roller holder, stator and clutch, bearing, housing and end cap.Whirligig rotor coaxially and by rolling element and roller holder formation revolute pair is connected with stator, shape memory alloy spring one end connects rotor, other end connecting stator, angle between shape memory alloy spring and the corresponding rotor radius of rotor tie point and the axis of shape memory alloy spring is obtuse angle, angle between the corresponding stator radius of shape memory alloy spring and stator tie point and the axis of shape memory alloy spring is acute angle, a plurality of shape memory alloy springs distribute symmetrically and evenly about rotor center, when increasing its output torque, guarantee that rotating shaft is not subject to radial load effect.Between the stator of rotating driving device and housing for being fixedly connected with, the rotor of rotating driving device and rotating shaft are coaxial relation, the rotor of rotating driving device with clutch outer for being coaxially fixedly connected with, clutch can be by clutch to rotating shaft transmitting torque at the rotor of holding rotating driving device under state tightly, and clutch is not subject to the effect of rotating driving device at releasing orientation lower rotary shaft.A plurality of rotating driving devices adopt the method for the drive shaft rotation that circulates successively in time by the action of clutch, when applying electric current and clutch hold tightly with drive shaft on the elastic memory alloy spring of a rotating driving device, other rotating driving device does not apply drive current and clutch unclamps, when the corner output maximum of rotating driving device, disconnect its drive current loosen the clutch, another rotating driving device repeats above-mentioned action simultaneously, and circulation realizes the Arbitrary Rotation of motor successively.Rotating shaft connects by forming revolute pair between two bearings and housing, between end cap and housing for being detachably fixedly connected with, to facilitate assembling and the encapsulation of motor;
Centered by described rotor, symmetry is discoid, is the moment of inertia of rotor while reducing stepping motor output torque itself simultaneously, increases its load capacity, and rotor structure can carry out loss of weight processing, is designed to cellular or spoke-like;
Described shape memory alloy spring is formed by the marmem coiling of large expansion and contraction, and carry out lower than the pre-stretching under its martensitic transformation temperature, to guarantee that it produces and shrink when the thermal effect heating by electric current surpasses its martensitic transformation temperature, thereby pull rotor, rotating driving device, after completing hard-over output power-off, relies on the elastic force of the rear shape memory alloy spring of distortion to return to original shape;
Described a plurality of rotating driving device can be arranged in many ways and be arranged in rotating shaft, and when the identical mounting means of the output torque direction with rotating driving device is installed, stepping motor can only be realized the rotation of a direction; When the mounting means of the output torque opposite direction with adjacent rotating driving device is installed, stepping motor can be realized the rotation of both direction;
At axial restraint, only there is the degree of freedom of rotating around its central axis in described rotating shaft;
Described housing is the hollow cylinder shape of upper end open, and end cap and housing upper end open are threaded connection fixing, so that the rotating driving device of stepping motor inside is encapsulated, strengthens its reliability;
The operation principle that the present invention is based on the stepping motor of marmem is: when applying drive current and clutch on a plurality of shape memory alloy springs that first distribute symmetrically and evenly about rotor center holding rotating shaft tightly in first rotating driving device, because the temperature of the thermal effect marmem of electric current rises, surpass its martensitic transformation temperature and produce and shrink restoring force, thereby pull rotor to drive rotating shaft to be rotated, when in first rotating driving device, the contraction deformation of shape memory alloy spring reaches maximum, when disconnecting first rotating driving device heating current and loosen the clutch in second rotating driving device about applying drive current in the equally distributed a plurality of shape memory alloy springs of disc rotor Central Symmetry and clutch is held rotating shaft tightly, making second rotating driving device continue to continue drive shaft with identical or rightabout torque rotates, first rotating driving device returns to original shape under the elastic-restoring force effect of shape memory alloy spring, the rotary actuation that second rotating driving device completes a finite angle is afterwards equally by the identical or contrary stepper drive of a plurality of rotating driving device travel directions below, last rotating driving device can continue from first rotating driving device circulation after completing stepper drive, with this, realizing stepping motor rotates at any angle,
The stepping motor that the present invention is based on marmem is compared traditional shape memory alloy electric machine and be it is advantageous that: adopted a plurality of rotating driving devices that are comprised of rotor, a plurality of shape memory alloy springs, rolling element, roller holder and the stator that distribute symmetrically and evenly about rotor center, utilized a plurality of clutches and rotating driving device in conjunction with the method for asynchronous driving rotation stepping, a plurality of shape memory alloy springs act on the compact conformation that makes driver simultaneously, power to weight ratio is large, has greatly improved the output torque of motor; The symmetrical structure of shape memory alloy spring has been offset the radial load that rotating shaft is received, makes the operation of driver more steady, reduces wearing and tearing and operation noise; By the action of drive current in a plurality of rotating driving devices of loop control successively and clutch, can realize the rotation of 360 ° of motor.
Accompanying drawing explanation
Fig. 1 is the cross-sectional view that the present invention is based on the stepping motor of marmem;
Fig. 2 is the structural representation of rotating driving device of the present invention.
Embodiment
Below with reference to accompanying drawing 1, accompanying drawing 2 and a specific embodiment, to the present invention is based on the stepping motor of marmem, be further detailed;
As depicted in figs. 1 and 2 for the present invention is based on an embodiment of the stepping motor of marmem, stepping motor comprises rotating shaft 1, the rotating driving device 2a-2h being formed by rotor 201, shape memory alloy spring 202, rolling element 204, roller holder 205, stator 206 and clutch 203, bearing 3a, 3b, housing 4 and end cap 5.Rotating driving device 2a-2h rotor 201 coaxially and by rolling element 204 is connected with roller holder 205 formation revolute pairs with stator 203, shape memory alloy spring 202 one end connect rotor 201, other end connecting stator 203, angle between shape memory alloy spring 202 and the rotor corresponding rotor radius of 201 tie point and the axis of shape memory alloy spring 202 is obtuse angle, angle between shape memory alloy spring 202 and the stator corresponding stator radius of 203 tie point and the axis of shape memory alloy spring 202 is acute angle, a plurality of shape memory alloy springs 202 are uniformly distributed about rotor 201 Central Symmetries, when increasing its output torque, guarantee that rotating shaft 1 is not subject to radial load effect.Between the stator 203 of rotating driving device 2a-2h and housing 4 for being fixedly connected with, the rotor 201 of rotating driving device 2a-2h and rotating shaft 1 are coaxial relation, the rotor 201 of rotating driving device 2a-2h with clutch 206 outer rings for being coaxially fixedly connected with, clutch 206 can be by clutch 206 to rotating shaft 1 transmitting torque at the rotor of holding rotating driving device 2a-2h under state tightly, and clutch 206 is not subject to the effect of rotating driving device 2a-2h at releasing orientation lower rotary shaft 1.A plurality of rotating driving device 2a-2h adopt the method for drive shaft 1 rotation that circulates successively in time by the action of clutch 206, be when applying electric current and clutch 206 on the elastic memory alloy spring 202 of a rotating driving device in 2a-2h and hold tightly with drive shaft 1, other rotating driving device does not apply drive current and clutch 206 unclamps, when the corner output maximum of rotating driving device, disconnect its drive current loosen the clutch 206, another rotating driving device repeats above-mentioned action simultaneously, and circulation realizes the Arbitrary Rotation of motor successively.Rotating shaft 1 connects by forming revolute pair between two bearing 3a, 3b and housing 4, between end cap 5 and housing 4 for being detachably fixedly connected with, to facilitate assembling and the encapsulation of motor;
Centered by the present embodiment rotor, symmetry is discoid, is the moment of inertia of rotor while reducing stepping motor output torque itself simultaneously, increases its load capacity, and rotor structure has carried out loss of weight processing, is preferentially chosen as spoke-like.Shape memory alloy spring 202 is formed by the marmem coiling of large expansion and contraction, and carry out lower than the pre-stretching under its martensitic transformation temperature, to guarantee that it produces and shrink when the thermal effect heating by electric current surpasses its martensitic transformation temperature, thereby pull rotor 201 rotations, rotating driving device 2a-2h, after completing hard-over output power-off, relies on the elastic force of the rear shape memory alloy spring 202 of distortion to return to original shape;
Rotating driving device 2a-2h can arrange in many ways and be arranged in rotating shaft 1, and the preferential mounting means installation of selecting with the output torque opposite direction of adjacent rotating driving device of the present embodiment, to realize stepping motor in any rotation of both direction.At axial restraint, only there is the degree of freedom of rotating around its central axis in rotating shaft 1.The hollow cylinder shape that housing 4 is upper end open, end cap 5 and housing 4 upper end open are threaded connection fixing, so that the rotating driving device 2a-2h of stepping motor inside is encapsulated, strengthen its reliability;
When applying drive current and clutch 206 on about the equally distributed a plurality of shape memory alloy springs 202 of rotor 201 Central Symmetry hold rotating shaft 1 tightly in first rotating driving device 2a, because the temperature of the thermal effect marmem of electric current rises, surpass its martensitic transformation temperature and produce and shrink restoring force, thereby pull rotor 201 to drive rotating shaft 1 to be rotated, when in first rotating driving device 2a, the contraction deformation of shape memory alloy spring 202 reaches maximum, when disconnecting first rotating driving device 2a heating current and loosen the clutch 206 in second rotating driving device 2b about applying drive current in the equally distributed a plurality of shape memory alloy springs 202 of rotor 201 Central Symmetry and clutch 206 is held rotating shaft 1 tightly, making second rotating driving device 2b continue to continue drive shaft 1 with identical or rightabout torque rotates, first rotating driving device 2a returns to original shape under the elastic-restoring force effect of shape memory alloy spring 202, the rotary actuation that second rotating driving device 2b completes a finite angle is afterwards equally by the identical or contrary stepper drive of a plurality of rotating driving device 2c-2h travel direction below, last rotating driving device 2h can continue to circulate from first rotating driving device 2a after completing stepper drive, with this, realizing stepping motor rotates at any angle,
Rotating driving device 2a-2h also can install with the mounting means of identical torque outbound course, and now motor can only carry out the rotation of a direction;
Should be understood that; for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications; these improvements and modifications also should be considered as protection scope of the present invention, and in the present invention, not clear and definite part belongs to the known technology of this area.
Claims (6)
1. the stepping motor based on marmem, it is characterized in that: a kind of stepping motor based on marmem, comprise rotating shaft, the rotating driving device being formed by rotor, shape memory alloy spring, rolling element, roller holder, stator and clutch, bearing, housing and end cap; Whirligig rotor coaxially and by rolling element and roller holder formation revolute pair is connected with stator, shape memory alloy spring one end connects rotor, other end connecting stator, angle between shape memory alloy spring and the corresponding rotor radius of rotor tie point and the axis of shape memory alloy spring is obtuse angle, angle between the corresponding stator radius of shape memory alloy spring and stator tie point and the axis of shape memory alloy spring is acute angle, and a plurality of shape memory alloy springs distribute symmetrically and evenly about rotor center; Between the stator of rotating driving device and housing, for being fixedly connected with, the rotor of rotating driving device and rotating shaft are coaxial relation, the rotor of rotating driving device with clutch outer for being coaxially fixedly connected with; Clutch is interference fit holding tightly under state between rotating driving device and rotating shaft, and clutch is matched in clearance at releasing orientation lower rotary shaft and rotating driving device; Rotating shaft connects by forming revolute pair between two bearings and housing, between end cap and housing for being detachably fixedly connected with.
2. based on a kind of stepping motor based on marmem claimed in claim 1, it is characterized in that: centered by described rotor, symmetry is discoid, it is the moment of inertia of rotor while reducing stepping motor output torque itself simultaneously, increase its load capacity, rotor structure can be the cellular or spoke-like after loss of weight processing.
3. based on a kind of stepping motor based on marmem claimed in claim 1, it is characterized in that: described shape memory alloy spring is formed by the marmem coiling of large expansion and contraction, and carry out lower than the pre-stretching under its martensitic transformation temperature, to guarantee that it produces and shrink when the thermal effect heating by electric current surpasses its martensitic transformation temperature, thereby pull rotor, rotating driving device, after completing hard-over output power-off, relies on the elastic force of the rear shape memory alloy spring of distortion to return to original shape.
4. based on a kind of stepping motor based on marmem claimed in claim 1, it is characterized in that: described a plurality of rotating driving devices can be arranged in many ways and be arranged in rotating shaft, when the identical mounting means of the output torque direction with rotating driving device is installed, stepping motor can only be realized the rotation of a direction; When the mounting means of the output torque opposite direction with adjacent rotating driving device is installed, stepping motor can be realized the rotation of both direction.
5. based on a kind of stepping motor based on marmem claimed in claim 1, it is characterized in that: described rotating shaft, at axial restraint, only exists the degree of freedom of rotating around its central axis.
6. based on a kind of stepping motor based on marmem claimed in claim 1, it is characterized in that: the hollow cylinder shape that described housing is upper end open, end cap and housing upper end open are threaded connection fixing, so that the rotating driving device of stepping motor inside is encapsulated, strengthen its reliability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410456641.8A CN104184298A (en) | 2014-09-10 | 2014-09-10 | Stepping motor based on shape memory alloy |
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| CN201410456641.8A CN104184298A (en) | 2014-09-10 | 2014-09-10 | Stepping motor based on shape memory alloy |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104214063A (en) * | 2014-09-15 | 2014-12-17 | 六安源创电机制造科技有限公司 | Shape memory alloy based rotary actuator |
| CN108462406A (en) * | 2018-04-17 | 2018-08-28 | 深圳市宏讯实业有限公司 | SMA bidirectional variable speed becomes torque SMA motors |
| CN110701014A (en) * | 2019-10-28 | 2020-01-17 | 吉林大学 | Hierarchical progressive rotation driving device based on shape memory alloy and control method thereof |
| CN113635188A (en) * | 2021-10-15 | 2021-11-12 | 徐州东坤耐磨材料有限公司 | Passive heat dissipation is from fixed ore surface appearance of polishing of discernment laminating |
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| CN102969934A (en) * | 2012-11-07 | 2013-03-13 | 上海交通大学 | Micro thread linear motor based on magnetostrictive effect |
| CN103444062A (en) * | 2011-03-16 | 2013-12-11 | 概念及设计有限公司 | A planetary push-pull electric motor |
| CN204119004U (en) * | 2014-09-10 | 2015-01-21 | 六安源创电机制造科技有限公司 | The stepping motor of Shape-based interpolation memorial alloy |
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2014
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Patent Citations (7)
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| JPH04217885A (en) * | 1990-06-26 | 1992-08-07 | Tokyo Electric Co Ltd | Stepping motor |
| CN1698252A (en) * | 2003-03-14 | 2005-11-16 | C.R.F.阿西安尼顾问公司 | Discrete step rotary actuator |
| JP2007057311A (en) * | 2005-08-23 | 2007-03-08 | Hitachi Metals Ltd | Compound magnetic head and torque detection device for rotary shaft |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104214063A (en) * | 2014-09-15 | 2014-12-17 | 六安源创电机制造科技有限公司 | Shape memory alloy based rotary actuator |
| CN104214063B (en) * | 2014-09-15 | 2019-11-01 | 六安源创电机制造科技有限公司 | Rotating driver based on marmem |
| CN108462406A (en) * | 2018-04-17 | 2018-08-28 | 深圳市宏讯实业有限公司 | SMA bidirectional variable speed becomes torque SMA motors |
| CN110701014A (en) * | 2019-10-28 | 2020-01-17 | 吉林大学 | Hierarchical progressive rotation driving device based on shape memory alloy and control method thereof |
| CN110701014B (en) * | 2019-10-28 | 2023-08-18 | 吉林大学 | Hierarchical progressive rotary driving device based on shape memory alloy and control method thereof |
| CN113635188A (en) * | 2021-10-15 | 2021-11-12 | 徐州东坤耐磨材料有限公司 | Passive heat dissipation is from fixed ore surface appearance of polishing of discernment laminating |
| CN113635188B (en) * | 2021-10-15 | 2022-02-22 | 徐州东坤耐磨材料有限公司 | Passive heat dissipation is from fixed ore surface appearance of polishing of discernment laminating |
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Address after: 237000 Luan Economic and Technological Development Zone, Luan City, Anhui Province, via the east side of the Third Road (Kechuang Center) Applicant after: LU'AN YUANCHUANG MOTOR MANUFACTURING TECHNOLOGY CO., LTD. Address before: 237000 Xinbei Road, Chengbei Industrial Park, Luan City, Anhui Province (in the courtyard of Hongye Company) Applicant before: LU'AN YUANCHUANG MOTOR MANUFACTURING TECHNOLOGY CO., LTD. |
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Inventor after: Liu Huaixiang Inventor before: Si Hongkang Inventor before: Liu Huaixiang Inventor before: Zhou Yue |
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| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20191220 |
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