CN106438244A - Shape memory alloy driving actuator and driving method thereof - Google Patents
Shape memory alloy driving actuator and driving method thereof Download PDFInfo
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- CN106438244A CN106438244A CN201610994595.6A CN201610994595A CN106438244A CN 106438244 A CN106438244 A CN 106438244A CN 201610994595 A CN201610994595 A CN 201610994595A CN 106438244 A CN106438244 A CN 106438244A
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- ring
- marmem
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- shape memory
- memory alloy
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
- F03G7/065—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like using a shape memory element
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Abstract
The invention discloses a shape memory alloy driving actuator and a driving method thereof, and belongs to the technical field of actuators. The shape memory alloy driving actuator comprises a driving unit and a shell. The driving unit comprises two shape memory alloy rings, a shape memory alloy spring and a pin shaft. The two ends of the shape memory alloy spring are connected with the first shape memory alloy ring and the second shape memory alloy ring correspondingly, and the first shape memory alloy ring is connected with the pin shaft. The shape memory alloy rings and the shape memory alloy spring are each made of a dual-stroke shape memory alloy material. A plurality of grooves are evenly formed in the side wall of an inner cavity of the shell in the axial direction. According to the shape memory alloy driving actuator, timing sequence motion of the driving unit cooperates with locating of the grooves in the shell to drive the pin shaft to achieve telescopic motion. The shape memory alloy driving actuator has the beneficial effects of being large in driving force, large and controllable in displacement, simple in structure, capable of achieving reciprocating motion, low in cost, free of noise and magnetism, convenient to mount and the like and can be widely applied to electromechanical systems.
Description
Technical field
The invention belongs to Actuator technique field and in particular to a kind of marmem drive actuator and its driving
Method.
Background technology
At present, in Mechatronic Systems and armament systems, promotional implement elongation activate and pin removal retraction actuating be two kinds common
The actuator of forms of motion, the type of drive of the actuator of above two forms of motion be mainly Motor drive, Electromagnetic Drive and
Gunpowder driving etc..Motor drive and the actuator of Electromagnetic Drive, have complex structure, expensive, electromechanical energy turns
Change the low problem of efficiency.The actuator that gunpowder drives mainly utilizes powder burning to produce gas driven piston acting, by structure, gas
The factor impact such as body pressure transmission direction and sealing, in practical engineering application, the actuator that gunpowder drives has reliability
Low, energy conversion efficiency is low, the problems such as be unable to Reusability.
Marmem is common actuator material, has driving with the actuator that shape memory alloy material makes
Voltage is low, small volume, noiseless, the advantages of nonmagnetic, driving force is big, had based on the actuator that marmem makes
Relevant report.Cheng Jinhong, Li Na, Zhou Yuansong pass through mechanism in " application study of memorial alloy renewable type insurance institution " literary composition
To heating plate energising, heating plate heated shape memory alloy spring reaches Reverse Martensitic Transformation Temperatures, and shape memory alloy spring returns
Multiple deformation, spring extends, and drives bumper bar motion, and when stopping power supply, shape memory alloy spring temperature reduces, and spring is retracted into
Originally do not had "on" position, this article achieves a kind of renewable type insurance institution.Refer to《Chinese military engineering can the 17th fuse
Art nd Annual Meeting collection》.But this mechanism's drive displacement is less, and after power-off, bumper bar is retracted, and bumper bar will be maintained at elongation
State, needs to be energized always.
Content of the invention
Disadvantages described above for prior art or Improvement requirement, the invention provides the work that a kind of marmem drives
Dynamic device and its driving method, have large driving force, big displacement, and in the event of a power failure, also can be maintained at a certain state at any time,
The technical pattern that the modes such as existing Motor drive, Electromagnetic Drive and gunpowder driving that solve exist is complicated and energy conversion efficiency is low
Technical problem, and the displacement that shape memory alloy actuator exists is little, and in the event of a power failure it is impossible to keep at any time
Problem in a certain state.
The actuator that a kind of marmem drives, including driver element and housing, driver element is placed in housing；
Described driver element includes two marmem rings, shape memory alloy spring and bearing pin；Shape memory closes
The two ends of golden spring connect first, second marmem ring respectively, and wherein first shape memorial alloy ring is connected with bearing pin；
Marmem ring and shape memory alloy spring adopt two-pass memory alloy material；
The internal cavities side-wall shaft of described housing to uniformly having multiple grooves, the external diameter of every layer of groove be more than be not powered on plus
The external diameter of marmem ring during Warm status, the internal diameter of every layer of groove is less than and is not powered on marmem ring during heated condition
External diameter, and the internal diameter of groove be more than electrified regulation state when marmem ring external diameter.
Further, described shape memory alloy spring is using the two-pass memorial alloy material by thermal stretching or shortening of being heated
Material.
Further, described two marmem rings are circular ring, wherein first shape memorial alloy ring
The threaded bearing pin of centre bore, and pin shaft thread connects one end of shape memory alloy spring；Second marmem ring
Centre bore branch sleeve, and the other end of the threaded shape memory alloy spring of blind internal bore of sleeve.
Further, the two-pass shape memory alloy spring that described shape memory alloy spring extends for high temperature, will drive
Moving cell loads the bottom of housing, drives according to following type of drive：
B1) it is energized first to first shape memorial alloy ring, first shape memorial alloy ring diameter reduces, the groove on housing
Release the locking to first shape memorial alloy ring；Again to shape memory alloy spring electrified regulation, shape memory alloy spring
Elongation promotes bearing pin and first shape memorial alloy ring thereon to move up to another groove on housing；
B2) to first shape memorial alloy ring power-off, the second marmem ring energising, now first shape memory is closed
Jin Huan recovers former length and is relocked by groove, and the second marmem ring diameter reduces, and the groove on housing releases to second
The locking of marmem ring；
B3) after the second marmem ring unlocks, to shape memory alloy spring 1-2 power-off, the shape of elongation
Shape memory alloys spring recovers former length, drives the second marmem ring to move up to the next groove on housing；
B4) to the second marmem ring power-off, the second marmem block recovers former length and stretches into corresponding groove,
Again it is locked.
Further, the two-pass shape memory alloy spring that described shape memory alloy spring shortens for high temperature, will drive
Moving cell loads the bottom of housing, drives according to following type of drive：
C1) first give the second marmem ring energising, the second marmem ring diameter reduces, the groove on housing
Release the locking to the second marmem ring；Again to shape memory alloy spring electrified regulation, shape memory alloy spring
Shorten and pull the second marmem ring to move up to another groove on housing；
C2) to the second marmem ring power-off, first shape memorial alloy ring is energized, and now the second shape memory closes
Jin Huan recovers former length and is relocked by groove, and first shape memorial alloy ring diameter reduces, and the groove on housing releases to first
The locking of marmem ring；
C3) after first shape memorial alloy ring unlocks, to shape memory alloy spring power-off, the shape note of shortening
Recall alloy spring and recover former length, promote first shape memorial alloy ring to move up to the next groove on housing；
C4) to first shape memorial alloy ring power-off, first shape memorial alloy block recovers former length and stretches into corresponding groove,
Again it is locked.
Further, the two-pass shape memory alloy spring that described shape memory alloy spring extends for high temperature, will drive
Moving cell loads the top of housing, drives according to following type of drive：
D1) first give the second marmem ring energising, the second marmem ring diameter reduces, the groove on housing
Release the locking to the second marmem ring；Again to shape memory alloy spring electrified regulation, shape memory alloy spring
Elongation promotes the second marmem ring to move downwardly to another groove on housing；
D2) to the second marmem ring power-off, first shape memorial alloy ring is energized, and now the second shape memory closes
Jin Huan recovers former length and is relocked by groove, and first shape memorial alloy ring diameter reduces, and the groove on housing releases to first
The locking of marmem ring；
D3) after first shape memorial alloy ring unlocks, to shape memory alloy spring power-off, the shape note of elongation
Recall alloy spring and recover former length, pull first shape memorial alloy ring to move downwardly to the next groove of housing；
D4) to first shape memorial alloy ring power-off, first shape memorial alloy block recovers former length and stretches into corresponding groove,
Again it is locked.
Further, the two-pass shape memory alloy spring that described shape memory alloy spring shortens for high temperature, will drive
Moving cell loads the top of housing, drives according to following type of drive：
E1) it is energized first to first shape memorial alloy ring, first shape memorial alloy ring diameter reduces, the groove on housing
Release the locking to first shape memorial alloy ring；Again to shape memory alloy spring electrified regulation, shape memory alloy spring
Shorten and pull first shape memorial alloy ring to move downwardly to another groove on housing；
E2) to first shape memorial alloy ring power-off, the second marmem ring energising, now first shape memory is closed
Jin Huan recovers former length and is relocked by groove, and the second marmem ring diameter reduces, and the groove on housing releases to second
The locking of marmem ring；
E3) after the second marmem ring unlocks, to shape memory alloy spring power-off, the shape note of shortening
Recall alloy spring and recover former length, promote the second marmem ring to move downwardly to the next groove of housing；
E4) to the second marmem ring power-off, the second marmem block recovers former length and stretches into corresponding groove,
Again it is locked.
The Advantageous Effects of the present invention are embodied in：
The present invention utilizes the sequential motion of driver element, the positioning of cooperation housing inner groovy, and driving bearing pin realizes flexible fortune
Dynamic.Actuator of the present invention has the function that promotional implement elongation activates and pin removal retraction activates concurrently, and has large driving force, big position
Move, and in the event of a power failure, also can be maintained at any time a certain state, structure simple, can Reusability, reliability be high, cost
Low, noiseless, nonmagnetic, the advantages of be easily installed.
Brief description
Fig. 1 is the actuator configurations schematic diagram that a kind of marmem drives；
Fig. 2 is the actuator structure of driving unit schematic diagram that a kind of marmem drives；
Fig. 3 be driver element shape memory alloy spring extend for high temperature CuZnAl memory alloy spring when, move
The operating diagram of a cycle；
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with accompanying drawing and being embodied as
Example, is described in further detail to the present invention.It should be appreciated that specific embodiment described herein is only in order to explain this
Bright, it is not intended to limit the present invention.Additionally, involved technical characteristic in each embodiment of invention described below
As long as the conflict of not constituting each other just can be mutually combined.
Refer to Fig. 1, the actuator that a kind of marmem drives includes driver element 1 and housing 2.
Refer to Fig. 2, a kind of better embodiment of described driver element 1 includes two marmem ring 1-1, shapes
Shape memory alloys spring 1-2, bearing pin 1-3 and sleeve 1-4.Described two marmem ring 1-1 are circular ring, in ring
There is internal thread, marmem ring 1-1 is round trip CuZnAl memorial alloy, after there is electrified regulation, diametrically contraction, thickness
The characteristic that degree increases；Described shape memory alloy spring 1-2 material is CuZnAl two-pass memorial alloy, its electroplating surfaces with tin.Institute
Stating bearing pin 1-3 is stepped cylindrical body structure, is made up of big cylinder and small column, big cylinder one end has shrinkage pool, and shrinkage pool has
There is screw thread, big cylinder outer end also has screw thread, screw thread and the cooperation of shape memory alloy spring 1-2 screw thread on shrinkage pool is fixed, great circle
The screw thread of post outer end coordinates fixation with the internal thread screw thread of marmem ring 1-1, and the material of bearing pin 3 is thermal insulation and intensity
Preferably gyroscope processing ceramic.Described sleeve 1-4 is a cylindrical structure, and inside has a blind hole, blind hole has
Screw thread, this screw thread is fixed with the cooperation of shape memory alloy spring 1-2 screw thread, has external screw thread, with shape memory outside sleeve 1-4
The internal thread screw thread cooperation of alloy hoop 1-1 is fixed, and sleeve 1-4 material is thermal insulation and intensity preferable gyroscope processing pottery
Porcelain.Described two marmem ring 1-1 and shape memory alloy spring 1-2 draw alone two wires respectively.
Several grooves are uniform-distribution with the internal diameter of described housing 2, the external diameter of groove is more than and does not heat in the axial direction
The external diameter of marmem ring 1-1 during state, when the internal diameter of groove is less than non-heated condition, marmem ring 1-1's is outer
Footpath, and the external diameter more than marmem ring 1-1 during heated condition for the internal diameter of groove.
Described shape memory alloy material is not limited to CuZnAl two-pass memorial alloy, other such as NiTi two-pass note
Recall the two-pass memory alloy material such as alloy also may be used.
As shown in figure 3, the driving method of the actuator of described marmem driving is as follows：
A) make driver element 1, give two marmem ring 1-1 electrified regulation of driver element 1 simultaneously, make shape
When the external diameter of memorial alloy ring 1-1 is less than the internal diameter of housing 2 groove, driver element 1 is loaded in housing 2, driver element 1 power-off
Afterwards, two marmem ring 1-1 restore to the original state, and are locked in the corresponding groove of housing 2, two shapes in driver element 1
The wire that shape memory alloys ring 1-1 and shape memory alloy spring 1-2 each draws is passed by corresponding cable hole, and from shell
The cable hole of body 2 is drawn, and wire is contained in sufficiently long one section of the cabling in the hole of housing 2, does not hinder driver element 1 to move, shell
The cabling bore ends glue of body 2 seals；
B) when actuator is for promotional implement, driver element 1 loads the bottom of housing 2, described shape memory alloy spring 1-2
For the CuZnAl memory alloy spring of high temperature elongation, it is in the phase transition temperature of elongation state and is 80 DEG C～95 DEG C, according to as follows
Type of drive drives：
B1) first it is energized to the marmem ring 1-1 installing on bearing pin 1-3, marmem ring 1-1 diameter contracts
Little, the groove on housing 2 releases the locking to this marmem ring 1-1, then shape memory alloy spring 1-2 energising is added
Heat, is allowed to extend, and promotes bearing pin 1-3 and marmem ring 1-1 thereon to move upwards a segment distance, on bearing pin 1-3
Marmem ring 1-1 moves in another groove on housing 2；
B2) the marmem ring 1-1 power-off on bearing pin 1-3, the marmem ring 1-1 energising on sleeve 1-4,
Now the marmem ring 1-1 locking driver element 1 on bearing pin 1-3 no longer travels forward, and the shape note on sleeve 1-4
Recall alloy hoop 1-1 then to unlock；
B3) after the marmem ring 1-1 on sleeve 1-4 unlocks, continue to keep the shape note on sleeve 1-4
Recall alloy hoop 1-1 energising, shape memory alloy spring 1-2 power-off simultaneously, the shape memory alloy spring 1-2 of elongation recovers former
Shape, moves up to the next groove on housing 2 with the marmem ring 1-1 on moving sleeve 1-4；
B4) the marmem ring 1-1 power-off on sleeve 1-4, two marmem ring 1-1 relock entirely
Mechanism, now, driver element 1 completes the motion of a cycle, and actuator is moved a stroke upwards, when needing actuator bigger
Stroke when, repeating several cycles can achieve.
C) when actuator is for promotional implement, driver element 1 loads the bottom of housing 2, described shape memory alloy spring 1-2
The CuZnAl memory alloy spring shortening for high temperature, it is in the phase transition temperature of shortening state and is 65 DEG C～85 DEG C, according to as follows
Type of drive drives：
C1) first it is energized to the marmem ring 1-1 installing on sleeve 1-4, marmem ring 1-1 diameter contracts
Little, the groove on housing 2 releases the locking to this marmem ring 1-1, then shape memory alloy spring 1-2 energising is added
Heat, is allowed to shorten, and pulls sleeve 1-4 and marmem ring 1-1 thereon to move upwards a segment distance, on sleeve 1-4
Marmem ring 1-1 moves in another groove on housing 2；
C2, after) shape memory alloy spring 1-2 shortening puts in place, continue to keep the feelings of shape memory alloy spring 1-2 energising
Under condition, to the marmem ring 1-1 power-off on sleeve 1-4, the marmem ring 1-1 on bearing pin 1-3 is energized, now
Marmem ring 1-1 locking driver element on sleeve 1-4, the marmem ring 1-1 on bearing pin 1-3 releases lock
Fixed；
C3) after the marmem ring 1-1 on bearing pin 1-3 unlocks, break to shape memory alloy spring 1-2
Electricity, the shape memory alloy spring 1-2 of shortening restores to the original state, and promotes bearing pin 1-3 and marmem ring 1-1 thereon upwards
Move to the next groove on housing 2；
C4) the marmem ring 1-1 power-off on bearing pin 1-3, two marmem ring 1-1 relock entirely
Mechanism, now, driver element 1 completes the motion of a cycle, and actuator is moved a stroke upwards, when needing actuator bigger
Stroke when, driver element 1 repeats several cycles and can achieve.
D) when actuator is for pin removal, driver element 1 loads the top of housing 2, former according to step b), driving c)
Reason, also can achieve pin removal motion.
The above be only the preferred embodiment of the present invention it should be pointed out that：Ordinary skill people for the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
1. the actuator that a kind of marmem drives, including driver element (1) and housing (2), driver element (1) is placed in shell
In body (2) it is characterised in that：
Described driver element (1) includes two marmem rings, shape memory alloy spring (1-2) and bearing pin (1-3)；Shape
The two ends of shape memory alloys spring (1-2) connect first, second marmem ring, wherein first shape memorial alloy respectively
Ring is connected with bearing pin (1-3)；Marmem ring and shape memory alloy spring (1-2) adopt two-pass memorial alloy material
Material；
The internal cavities side-wall shaft of described housing (2) to uniformly having multiple grooves, the external diameter of every layer of groove be more than be not powered on plus
The external diameter of marmem ring during Warm status, the internal diameter of every layer of groove is less than and is not powered on marmem ring during heated condition
External diameter, and the internal diameter of groove be more than electrified regulation state when marmem ring external diameter.
2. marmem according to claim 1 drives actuator it is characterised in that：Described marmem
Spring (1-2) is using the two-pass memory alloy material by thermal stretching or shortening of being heated.
3. marmem according to claim 1 drives actuator it is characterised in that：Described two shape memories
Alloy hoop is circular ring, the threaded bearing pin of the centre bore (1-3) of wherein first shape memorial alloy ring, and bearing pin
(1-3) one end of threaded shape memory alloy spring (1-2)；The centre bore branch sleeve of the second marmem ring
(1-4), and the threaded shape memory alloy spring of the blind internal bore (1-2) of sleeve (1-4) the other end.
4. the actuator that any one big marmem drives by claim (1-3) applies the driving side for promotional implement
Method, will it is characterised in that the two-pass shape memory alloy spring that extends for high temperature of described shape memory alloy spring (1-2)
Driver element loads the bottom of housing (2), drives according to following type of drive：
B1) it is energized first to first shape memorial alloy ring, first shape memorial alloy ring diameter reduces, the groove on housing (2)
Release the locking to first shape memorial alloy ring；Again to shape memory alloy spring (1-2) electrified regulation, marmem
Spring (1-2) elongation promote bearing pin (1-3) and first shape memorial alloy ring thereon move up to another on housing (2)
Individual groove；
B2) to first shape memorial alloy ring power-off, the second marmem ring energising, now first shape memorial alloy ring
Recover former length to be relocked by groove, the second marmem ring diameter reduces, the groove on housing (2) releases to the second shape
The locking of shape memory alloys ring；
B3) after the second marmem ring unlocks, to shape memory alloy spring (1-2) power-off, the shape of elongation
Memory alloy spring (1-2) recovers former length, drives the next one that the second marmem ring moves up on housing (2) recessed
Groove；
B4) to the second marmem ring power-off, the second marmem block recovers former length and stretches into corresponding groove, again
Locked.
5. the actuator that any one big marmem drives by claim (1-3) applies the driving side for promotional implement
Method, will it is characterised in that the two-pass shape memory alloy spring that shortens for high temperature of described shape memory alloy spring (1-2)
Driver element loads the bottom of housing (2), drives according to following type of drive：
C1) first give the second marmem ring energising, the second marmem ring diameter reduces, the groove on housing (2)
Release the locking to the second marmem ring；Again to shape memory alloy spring (1-2) electrified regulation, marmem
Spring (1-2) shortens pulling the second marmem ring and moves up to another groove on housing (2)；
C2) to the second marmem ring power-off, first shape memorial alloy ring is energized, now the second marmem ring
Recover former length to be relocked by groove, first shape memorial alloy ring diameter reduces, the groove on housing (2) releases to the first shape
The locking of shape memory alloys ring；
C3) after first shape memorial alloy ring unlocks, to shape memory alloy spring (1-2) power-off, the shape of shortening
Memory alloy spring (1-2) recovers former length, promotes the next one that first shape memorial alloy ring moves up on housing (2) recessed
Groove；
C4) to first shape memorial alloy ring power-off, first shape memorial alloy block recovers former length and stretches into corresponding groove, again
Locked.
6. the actuator that any one big marmem drives by claim (1-3) applies the driving side for pin removal
Method, will it is characterised in that the two-pass shape memory alloy spring that extends for high temperature of described shape memory alloy spring (1-2)
Driver element loads the top of housing (2), drives according to following type of drive：
D1) first give the second marmem ring energising, the second marmem ring diameter reduces, the groove on housing (2)
Release the locking to the second marmem ring；Again to shape memory alloy spring (1-2) electrified regulation, marmem
Spring (1-2) elongation promotes the second marmem ring to move downwardly to another groove on housing (2)；
D2) to the second marmem ring power-off, first shape memorial alloy ring is energized, now the second marmem ring
Recover former length to be relocked by groove, first shape memorial alloy ring diameter reduces, the groove on housing (2) releases to the first shape
The locking of shape memory alloys ring；
D3) after first shape memorial alloy ring unlocks, to shape memory alloy spring (1-2) power-off, the shape of elongation
Memory alloy spring (1-2) recovers former length, and the next one that pulling first shape memorial alloy ring moves downwardly to housing (2) is recessed
Groove；
D4) to first shape memorial alloy ring power-off, first shape memorial alloy block recovers former length and stretches into corresponding groove, again
Locked.
7. the actuator that any one big marmem drives by claim (1-3) applies the driving side for pin removal
Method, will it is characterised in that the two-pass shape memory alloy spring that shortens for high temperature of described shape memory alloy spring (1-2)
Driver element loads the top of housing (2), drives according to following type of drive：
E1) it is energized first to first shape memorial alloy ring, first shape memorial alloy ring diameter reduces, the groove on housing (2)
Release the locking to first shape memorial alloy ring；Again to shape memory alloy spring (1-2) electrified regulation, marmem
Spring (1-2) shortens pulling first shape memorial alloy ring and moves downwardly to another groove on housing (2)；
E2) to first shape memorial alloy ring power-off, the second marmem ring energising, now first shape memorial alloy ring
Recover former length to be relocked by groove, the second marmem ring diameter reduces, the groove on housing (2) releases to the second shape
The locking of shape memory alloys ring；
E3) after the second marmem ring unlocks, to shape memory alloy spring (1-2) power-off, the shape of shortening
Memory alloy spring (1-2) recovers former length, and the next one that promotion the second marmem ring moves downwardly to housing (2) is recessed
Groove；
E4) to the second marmem ring power-off, the second marmem block recovers former length and stretches into corresponding groove, again
Locked.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610994595.6A CN106438244B (en) | 2016-11-11 | 2016-11-11 | A kind of actuator and its driving method of marmem driving |
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| CN201610994595.6A CN106438244B (en) | 2016-11-11 | 2016-11-11 | A kind of actuator and its driving method of marmem driving |
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| CN108730453A (en) * | 2018-06-12 | 2018-11-02 | 湖北三江航天红林探控有限公司 | A kind of big stroke actuator based on electromagnetic drive |
| CN108916334A (en) * | 2018-06-12 | 2018-11-30 | 湖北三江航天红林探控有限公司 | One kind being based on memory alloy driven renewable type actuator |
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| CN109668656A (en) * | 2018-12-25 | 2019-04-23 | 北京航空航天大学 | A kind of marmem floating device for the small power measurement of super-conductive magnetic suspension |
| CN111980876A (en) * | 2020-09-18 | 2020-11-24 | 韩亚兰 | Memory alloy type electric heating push rod |
| CN113002743A (en) * | 2021-04-25 | 2021-06-22 | 三亚学院 | Underwater vehicle buoyancy adjusting device based on shape memory alloy |
| CN113351743A (en) * | 2021-07-07 | 2021-09-07 | 宁夏海力电子有限公司 | Aluminum foil-combining online speed regulating device |
| CN115139079A (en) * | 2022-05-30 | 2022-10-04 | 长光卫星技术股份有限公司 | Large-stroke pin puller based on shape memory alloy and satellite-rocket separation device |
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| CN108087662B (en) * | 2017-03-23 | 2019-06-21 | 大连大学 | For driving the Marmem heat engine of pipe robot |
| CN108916334A (en) * | 2018-06-12 | 2018-11-30 | 湖北三江航天红林探控有限公司 | One kind being based on memory alloy driven renewable type actuator |
| CN108730453A (en) * | 2018-06-12 | 2018-11-02 | 湖北三江航天红林探控有限公司 | A kind of big stroke actuator based on electromagnetic drive |
| CN109027159A (en) * | 2018-06-12 | 2018-12-18 | 湖北三江航天红林探控有限公司 | A kind of big stroke actuator based on dielectric elastomer driving |
| CN108581935A (en) * | 2018-06-12 | 2018-09-28 | 湖北三江航天红林探控有限公司 | A kind of big stroke actuator based on gunpowder driving |
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| CN109611300A (en) * | 2018-12-04 | 2019-04-12 | 大连大学 | A kind of Ti-Ni marmem joule hot actuating device |
| CN109668656A (en) * | 2018-12-25 | 2019-04-23 | 北京航空航天大学 | A kind of marmem floating device for the small power measurement of super-conductive magnetic suspension |
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| CN111980876A (en) * | 2020-09-18 | 2020-11-24 | 韩亚兰 | Memory alloy type electric heating push rod |
| CN113002743A (en) * | 2021-04-25 | 2021-06-22 | 三亚学院 | Underwater vehicle buoyancy adjusting device based on shape memory alloy |
| CN113351743A (en) * | 2021-07-07 | 2021-09-07 | 宁夏海力电子有限公司 | Aluminum foil-combining online speed regulating device |
| CN115139079A (en) * | 2022-05-30 | 2022-10-04 | 长光卫星技术股份有限公司 | Large-stroke pin puller based on shape memory alloy and satellite-rocket separation device |
| CN115139079B (en) * | 2022-05-30 | 2024-01-30 | 长光卫星技术股份有限公司 | Large-stroke pin puller and satellite and arrow separation device based on shape memory alloy |
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