CN108386329B - A kind of rotating mechanism of marmem driving - Google Patents

Abstract

The invention discloses a kind of rotating mechanisms of marmem driving, the rotating mechanism being fixed on pedestal III including one, the SMA wig-wag II for being used to control rotating mechanism rotation direction on pedestal III, and the sma actuator I for connecting with SMA wig-wag II and being used to that rotating mechanism fluted disc to be pushed to rotate are fixed on one；SMA wig-wag II includes two swinging frames；The SMA spring of energization is separately connected between swinging frame；Sma actuator includes SMA resilientiy stretchable mechanism；SMA telescopic spring after energization drives SMA wig-wag II to swing, and the SMA resilientiy stretchable mechanism of the sma actuator I after being powered is flexible, pushes fluted disc to make intermittent rotary by the push rod pawl on push rod.The structure is used as power source using SMA, and output work and weight ratio are very high, and driving voltage is low, small in size, structure is simple, noiseless, nonmagnetic, easy to control, with very high generalization.

Description

A kind of rotating mechanism of marmem driving

Technical field

The present invention relates to mechanical transmission fields, are related to a kind of rotating mechanism, in particular to a kind of driving of marmem Intermittent type rotation mechanism.

Background technique

Intermittent type rotation mechanism is generally used for the movement of transmitting parallel axes.It is needing the function such as to be intermittently sent into, brake and surmount It is widely applied in the mechanical equipment of energy, as the toothed type ratchet of feeding, indexing or indexing mechanism, bicycle rear axle in lathe surmounts Mechanism, anti-reverse ratchet mechanism etc..Have many advantages, such as that structure is simple, easily manufactured, movement is reliable, corner is adjustable.

Marmem (Shape Memory Alloy, abbreviation SMA) is a kind of with shape memory effect, super-elasticity The new function material of effect and sensing buoyancy effect.After residual deformation occurs under external force in it, when own temperature reaches When phase transition temperature, SMA silk material is undergone phase transition, and is the austenite of high temperature state by the martensite transfor mation of normal-temperature.Phase transition process is brought The variation of crystal structure is macroscopically the inverse metamorphism of SMA silk material.It is changed into displacement or torsion etc. compared to complicated mechanism To externally doing work, SMA silk material is externally done work using therein phase transformation for movement, can simplify structure significantly, reduce quality and It is taken up space.

Current main intermittent type rotation mechanism has gentle hydraulic-driven of motor driven, electromagnetic drive etc. several by driving method Seed type.The analysis found that there is following several limitations: first, motor-driven rotating mechanism need to design specific connection knot Structure, corner control structure and commutating structure etc., often make that rotating mechanism size is larger, mechanism is complicated.Second, electromagnetic drive is gentle The rotating mechanism of liquid driving, has the shortcomings that the device is complicated, expensive, electric energy-mechanical energy transfer efficiency is low etc..Third, tradition Reversible formula rotating mechanism, although fluted disc can carry out forward and backward, between push rod and fluted disc because connect reversing mechanism, need It contacts with each other, does not often have the lost motion functionality of fluted disc, this will lead to existing reversible formula rotating mechanism and deposits in the scope of application In certain limitation.

Existing sma actuator simultaneously, mainly using SMA element silk material or helical spring as driving element, wherein The power output of silk material is big, high-efficient, but stroke is small；The stroke of helical spring is big, but low efficiency, contributes small.Therefore, design it is existing compared with High thrust has the sma actuator of larger stroke again, is always the hot and difficult issue of SMA Applied research fields.

For the limitation for avoiding the above design scheme, the present invention devises a kind of batch-type rotary motivation of novel driving Structure --- the rotating mechanism of marmem driving.This rotating mechanism solves the problems, such as SMA element power output and stroke, has It is small in size, structure is simple, reliable and stable, driving voltage is low, noiseless, nonmagnetic, easy to control, output power etc. are a series of Advantage.

Summary of the invention

The rotating mechanism for being designed to provide a kind of driving of marmem of invention, can effectively realize rotating forward, Reversion, idle running and the adjustable function of rotational angle.

The present invention is realized by following technical proposals.

A kind of rotating mechanism of marmem driving, including pedestal, the rotating mechanism of a fixation on the base, and One fixation is used to control the SMA wig-wag of rotating mechanism rotation direction on the base, and connect and be used for SMA wig-wag Push the sma actuator of rotating mechanism fluted disc rotation；

The SMA wig-wag includes two swings with pedestal first support (14) and SMA wig-wag cage connection respectively Frame；The SMA spring of energization is separately connected between swinging frame；

The sma actuator includes a push rod for running through shell, and the top of push rod has the push rod pawl of spring leaf limit, pushes away The bottom rectangle plate in pole-footing portion connects a SMA resilientiy stretchable mechanism；

The flexible drive SMA wig-wag that SMA spring is controlled by control electric current is swung, and realizes rotating mechanism rotation direction Control.Similarly, by SMA in control SMA resilientiy stretchable mechanism current controls, it is flexible, the push rod on drive push rod Pawl pushes rotating mechanism fluted disc to make intermittent rotary.

For above-mentioned technical proposal, embodiment of the present invention there are also further optimizing:

Further, the rotating mechanism includes the central axis for torque output being connected in pedestal second support, Gu Fluted disc and spragging gear on center shaft is connect, further includes the spring catcher that installation connects with spragging gear on the base, To realize that the rotational angle of rotating mechanism immobilizes.

Further, the fluted disc, spragging gear are concentric, and to be connected with output shaft defeated as the torque of rotating mechanism at center Outlet.

Further, the SMA spring is symmetrically connected between two swinging frame swing arms of SMA wig-wag, and two swings It is connected by a hinge in the middle part of frame.

Further, SMA resilientiy stretchable mechanism is set inside the shell, including connecting simultaneously with the push rod lower curtate through shell The other end of coaxial elastic mesh grid, elastic mesh grid is connected on the bottom boss of resilient sleeve, elastic mesh grid Periphery be enclosed with resilient sleeve, spiral winding has SMA on resilient sleeve, and SMA both ends are respectively fixedly connected in resilient sleeve Both ends.

Further, stepped ramp type position limiting structure, the stepped ramp type limit knot are being equipped on the inside of the shell one end for having push rod Structure is made of m cuboid step, and is successively increased along push rod direction to the height of outer step.

Further, the push rod includes at the top of bottom rectangle plate, putter shaft and push rod, and bottom rectangle plate side is connected with First spring leaf, the first spring leaf are in contact with stepped ramp type position limiting structure, and the protrusion of excess-three side is formed with side wall of outer shell sliding slot Prismatic pair.

Further, symmetrical two push rod pawls at the top of the push rod, and hinged with push rod top respectively, a pair of push rods pawl Top end face be equipped with second spring piece.

Further, there are two protrusions for the two sides of the bottom symmetric design at the top of the push rod, and protrusion limitation push rod pawl is to remote Direction rotation from bottom protrusion.

Further, the elastic mesh grid is the diamond-mesh structure of tubular, is formed by steel wire strand weaving；It is described The section of resilient sleeve is hollow snail cable architecture；The resilient sleeve, shell, SMA, elastic mesh grid, push rod Axis on same center line.

Beneficial effects of the present invention:

When the SMA silk of 1.SMA driver is not powered on, push rod is in contraction state, and top is contacted with fluted disc disconnection, fluted disc Lost motion functionality can be realized.

The push rod of 2.SMA driver and stepped position limiting structure cooperate, and can control the displacement of push rod axial feed, i.e., Control the rotational angle of the fluted disc pushed by push rod.

The resilient sleeve and elastic weaving web frame that 3.SMA driver includes, solve SMA wire rows journey and power output be difficult it is simultaneous The problem of Gu.

The push rod pawl of 4.SMA driver contacts engagement with fluted disc, so that fluted disc be pushed to rotate, push rod pawl is designed as flexibility The problem of structure solves push rod pawl when axially withdrawing, and push rod pawl is touched with fluted disc, entire MECHANISM PRECISION is high and reliable.

5. driver and commutator are all made of SMA, as power source, power to weight ratio (output work and weight ratio) is very high, drives Dynamic voltage is low, small in size, structure is simple, noiseless, nonmagnetic, easy to control, has very high generalization.

Detailed description of the invention

The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, not Inappropriate limitation of the present invention is constituted, in the accompanying drawings:

Fig. 1 is the rotating mechanism schematic diagram of marmem driving；

Wherein, Fig. 1 (a) is rotating mechanism axis side view；Fig. 1 (b) is rotating mechanism front view；

Fig. 2 is SMA swinging frame schematic diagram；

Wherein, Fig. 2 (a) is swinging frame front view；Fig. 2 (b) is swinging frame top view；Fig. 2 (c) is swinging frame deflection signal Figure；

Fig. 3 is sma actuator schematic diagram；

Wherein, Fig. 3 (a) is shaft drive axis side view；Fig. 3 (b) is internal drive structure chart；

Fig. 4 is the elastic mesh grid schematic diagram of sma actuator；

Wherein, Fig. 4 (a) is the elastic mesh grid structural schematic diagram of no squeezing action；Fig. 4 (b) is the bullet for the effect of being squeezed Property woven mesh structure schematic diagram；Fig. 4 (c) is elastic mesh grid weaving manner partial schematic diagram；

Fig. 5 is the resilient sleeve structural schematic diagram of sma actuator；

Wherein, Fig. 5 (a) is resilient sleeve side view；Fig. 5 (b) is resilient sleeve front section view；

Fig. 6 is sma actuator push rod axis side view；

Fig. 7 is that push rod and fluted disc cooperate schematic diagram；

Wherein, Fig. 7 (a) is that push rod pushes fluted disc rotation front view；Fig. 7 (b) is that push rod is detached from fluted disc front view；

Fig. 8 is that spring catcher and spragging gear cooperate schematic diagram；

In figure, I .SMA driver；II .SMA wig-wag；III, pedestal.

1. shell, 101. outer casing bottoms, 102. side wall of outer shell, 103. cover top portions；2.SMA；3. resilient sleeve；4. bottom Portion's boss；5. elastic mesh grid；6. push rod, 601. bottom rectangle plates, 602. putter shafts, 603. push rods top；7. the first bullet Reed；8. second spring piece；9. push rod pawl；10. stepped ramp type position limiting structure；Swinging frame on 11.；12. bottom moving frame；13.SMA bullet Spring；14. first support；15. second support；16. bottom plate；17. fluted disc；18. spragging gear；19. central axis；20. output shaft； 21. spring catcher.

Specific embodiment

Below in conjunction with attached drawing and specific embodiment, the present invention will be described in detail, herein illustrative examples of the invention And explanation is used to explain the present invention, but not as a limitation of the invention.

(a), Fig. 1 (b) are shown refering to fig. 1, a kind of rotating mechanism of marmem driving of the invention, including one As the pedestal III of support construction, a rotating mechanism being fixed on pedestal III and one are fixed on pedestal III for controlling The SMA wig-wag II of rotating mechanism rotation direction processed, the sma actuator I for pushing rotating mechanism fluted disc 17 to rotate.Pedestal packet The first support 14 of affixed SMA wig-wag bottom moving frame is included, the second support 15 of fluted disc 17 is supported.

Wherein, rotating mechanism includes the central axis 19 being hinged on III second support frame 15 of pedestal, is fixed in central axis 19 On fluted disc 17, spragging gear 18, it further includes being mounted on base that 19 one end of central axis, which is connected with the output shaft 20 as torque output, The spring catcher 21 to connect on seat III with spragging gear 18.Spring catcher 21 is fixed on bottom plate 16, for fixing Fluted disc position.

As shown in Fig. 2 (a), 2 (b), the feature of SMA wig-wag II, including upper swinging frame 11, bottom moving frame 12 and right Claim to be connected to two groups of identical SMA springs 13 between swinging frame 11,12 swing arm of bottom moving frame and as power source, and upper pendulum It is connected by a hinge in the middle part of moving frame 11 and bottom moving frame 12.

Wherein, it is fixedly connected by the bottom moving frame 12 of SMA wig-wag II with the top of the first support 14 of pedestal III, Swinging frame 11 is fixedly connected with the shell 1 of sma actuator I on SMA wig-wag II.Sma actuator I pushes fluted disc by push rod 6 17 make intermittent rotary, meanwhile, in the spring catcher 21 being located at immediately below spragging gear 18 that the bottom plate 16 of pedestal III is installed The rotational angle for being able to achieve rotating mechanism immobilizes.

When two groups of SMA springs 13 are not powered on, upper swinging frame 11 does not generate rotation, is located at intermediate equilibria position.Work as SMA When the 13 energization temperature of SMA spring of wig-wag side is increased to phase transition temperature, which shrinks, swinging frame 11 in driving It is rotated to the side.And after the upper swinging frame 11 of SMA wig-wag II turns to designated position, upper swinging frame 11, bottom moving frame 12 It mutually touches, keeps II angular position of SMA wig-wag constant, as shown in Fig. 2 (c).Not ipsilateral SMA spring 13 is powered and drives Sma actuator I is rotated to the side, and the sma actuator I for being connected in swinging frame 11 can push fluted disc 17 to rotate, and realizes rotation The positive and negative rotating function of mechanism, meanwhile, if the SMA silk 2 of sma actuator I is not powered on, 603 contact with the disconnection of fluted disc 17 at the top of push rod, Lost motion functionality may be implemented in rotating mechanism.

As shown in Fig. 3 (a), Fig. 3 (b), the structure feature of sma actuator I, the shell 1 including supporting internal structure；Also wrap The push rod 6 through shell 1 is included, the top of push rod 6 has the push rod pawl 9 of spring leaf limit, and the root of push rod connects SMA elasticity Telescopic mechanism；SMA resilientiy stretchable mechanism is located in shell 1, including radial contraction squeezes resilient sleeve 3 after energization, as The spiral helicine SMA silk 2 of power source；Be wrapped in SMA silk 2, can with the extruding of SMA silk 2 and radial compression deform, thus The resilient sleeve 3 of even radial compression elastic mesh grid 5；The elastic mesh grid 5 axially elongated by radial compression；It is compiled by elasticity Axially reciprocating is realized in the effect of knitmesh 5, thus the intermittent push rod 6 for pushing fluted disc 17 to rotate；With push rod bottom rectangle plate 601 the first spring leafs of side 7 are in contact, and generate different size of frictional force as 6 resistance of motion of push rod, realize that push rod 6 is axial Feed the stepped ramp type position limiting structure 10 of Bit andits control.

Wherein, 5 one end of elastic mesh grid is connected in the bottom boss 4 of resilient sleeve 3, and the other end is connected in bottom rectangle plate 601 center；Resilient sleeve 3 is wrapped in 5 outside of elastic mesh grid, and the bottom boss 4 of bottom centre is connected in outer casing bottom 101 center；SMA silk 2 is spirally wound on 3 outer surface of resilient sleeve, and both ends are respectively fixedly connected at the both ends of resilient sleeve 3；Bottom The center of portion's rectangular slab 601 and the top of elastic mesh grid 5 are connected, and constitute multiple groups prismatic pair with shell 1.Stepped ramp type limit Structure 10 is fixed in side wall of outer shell 102 close to the inner side of cover top portion 103, and squeezing the first spring leaf 7 becomes its elasticity Shape.

As shown in Fig. 4 (a), Fig. 4 (b) and Fig. 4 (c), elastic mesh grid 5 is the diamond-mesh structure of tubular, rigid by multiply Biggish silk material (such as steel wire) weaving is spent to form, wherein per share silk material is made of side by side n=5 (n=1~6) root silk material, Shown in specific weaving manner such as Fig. 4 (c).When the elastic mesh grid 5 of tubular is by radial compression, per share silk material generates elasticity and becomes Shape becomes smaller with axis angle, so that elastic mesh grid 5 is along axis elongation, as shown in Fig. 4 (a), Fig. 4 (b).To make elastic weaving The thrust of net 5 is bigger, needs the material for selecting more rigidity big as one silk material.Meanwhile needing undeformed elastic weaving Angle in net 5 between per share silk material and axis is smaller.

As shown in Fig. 5 (a), Fig. 5 (b), the section of resilient sleeve 3 is hollow snail cable architecture, can be radially Flexible deformation occurs.Resilient sleeve 3 is wrapped in the outer surface of elastic mesh grid 5, and when radial contraction can uniformly squeeze elastic volume Knitmesh 5.The bottom centre of resilient sleeve 3, which designs, bottom boss 4, the center of the connected outer casing bottom 101 in 4 bottom end of bottom boss, 4 top of bottom boss is connected elastic mesh grid 5, so that resilient sleeve 3 and elastic mesh grid 5 be when being squeezed and shrinking, It is constant to be able to maintain axial location, as shown in Fig. 5 (b).

As shown in fig. 6,603 at the top of the structure feature of push rod 6, including bottom rectangle plate 601, putter shaft 602, push rod, First spring leaf 7, second spring piece 8 and push rod pawl 9.Wherein, 601 side of bottom rectangle plate is connected with the first spring leaf 7, with platform Rank type position limiting structure 10 is in contact, and realizes the control to push rod feeding displacement.The protrusion of its excess-three side of bottom rectangle plate 601 Prismatic pair is formed with the sliding slot inside side wall of outer shell 102, putter shaft 602 and the through-hole of cover top portion 103 also form prismatic pair. Two push rod pawls 9 are symmetrically distributed at the top of push rod 603 two sides, and hinged at the top of push rod 603 respectively.At the top of the push rod For 603 two sides of the bottom symmetric design there are two protrusion, which can limit the rotation direction of push rod pawl 9, make it can only be to remote Direction rotation from bottom protrusion.603 are also devised with second spring piece 8 at the top of push rod, positioned at the outside of push rod pawl 9, work as push rod When pawl 9 is rotated toward the direction far from bottom protrusion, the second spring piece 8 contacted is pushed to bend deformation, seen shown in Fig. 7 (b), To which second spring piece 8 can make the push rod pawl 9 of rotation return to the position being in contact with bottom protrusion.

Temperature is increased to phase transition temperature after the SMA silk 2 of sma actuator I is powered, and radial contraction is forced by the winding of SMA silk 2 Resilient sleeve 3 is shunk, thus uniform radial compression elastic mesh grid 5, make its axial elongation push push rod 6 make axially outward into To movement, fluted disc rotation is pushed.

As shown in Fig. 7 (a), wherein driving push rod pawl 9 is inserted into the tooth socket of fluted disc 17, because the limit of its bottom protrusion is made With so that push rod pawl 9 can push fluted disc 17 to turn over respective angles with certain rigidity.Wherein, spragging gear 18 and fluted disc 17 is concentric, and is all connected with central axis 19.At this point, the top of spring-loaded brake 21 is slided on the back of tooth of spragging gear 18. After SMA silk 2 powers off, temperature is reduced, and restores original shape, and the resilient sleeve 3 being extruded, elastic mesh grid 5 restore originally therewith Shape drives push rod 6 to move axially inward.Wherein, because push rod pawl 9 is in contact with the flank of tooth of fluted disc 17 and generates phase interaction With push rod pawl 9 is rotated toward the direction far from push rod bottom 601, so that the back of tooth along fluted disc 17 slides, as shown in Fig. 7 (b).This When, spring-loaded brake 21 prevents the rotation of spragging gear 18.When push rod pawl 9 is detached from fluted disc 17, in the effect of second spring piece 8 Under, and the position being in contact with bottom protrusion can be come back to.I.e. by energization, the power-off to SMA silk 2, so that push rod 6 makees edge Axial reciprocating motion, so that fluted disc 17 be pushed to make intermittent rotary toward a direction.

As shown in Fig. 3 (b), stepped ramp type position limiting structure 10 is made of a cuboid step of m (m >=0), and along 6 direction of push rod Successively increase to the height of outer step, and the distance of every stage rank and height can be set according to the rotating requires of rotating mechanism Meter.The structure of stepped ramp type, rectangular cross-section structure, the deformation when its surface is slided of the first spring leaf 7 is consistent, and frictional force is not yet It can change, avoid in 6 motion process of push rod that there is a situation where velocity jumps.

First spring leaf 7 of push rod bottom rectangle plate 601 is contacted with step can generate elastic deformation, the step contacted Height more high resiliency deformation is bigger, and the frictional force for hindering push rod 6 to move is bigger.It can be controlled by controlling the contraction of SMA silk 2 The thrust size of elastic mesh grid 5, i.e. thrust suffered by control push rod 6 and the size pass by 10 frictional force of stepped ramp type position limiting structure System determines the axial feed displacement of push rod 6, is controlled to realize by the rotational angle for the fluted disc 17 that push rod 6 pushes.

As shown in figure 8, being frustum cone structure at the top of spring catcher 21, and it is in contact with the flank of tooth of spragging gear 18, by The elastic force that spring deformation generates squeezes the flank of tooth, makes its effect by power, when the push rod 6 of sma actuator I back makees axial move When dynamic, the power that second spring piece 8 generates is less than the power that spring catcher 21 generates, and realizes that 18 turned position of spragging gear is solid Fixed, i.e. the position of fluted disc 17 is fixed.

The present invention is not limited to the above embodiments, on the basis of technical solution disclosed by the invention, the skill of this field For art personnel according to disclosed technology contents, one can be made to some of which technical characteristic by not needing creative labor A little replacements and deformation, these replacements and deformation are within the scope of the invention.

Claims (10)

1. a kind of rotating mechanism of marmem driving, it is characterised in that: including pedestal (III), one is fixed on pedestal (III) rotating mechanism on and one are fixed on pedestal (III) for controlling the SMA wig-wag of rotating mechanism rotation direction (II), the sma actuator (I) for and with SMA wig-wag (II) connecting and being used to that rotating mechanism fluted disc to be pushed to rotate；

The SMA wig-wag (II) include two respectively with pedestal (III) first support (14) and SMA wig-wag (II) shell (1) The swinging frame of connection；The SMA spring (13) of energization is separately connected between swinging frame；

The sma actuator (I) includes a push rod (6) for running through shell, and the top of push rod (6) has the push rod of spring leaf limit The root of pawl (9), push rod connects a SMA resilientiy stretchable mechanism；

SMA spring (13) flexible drive SMA wig-wag (II) is controlled by control electric current to swing, and realizes rotating mechanism rotation side To control；And the SMA resilientiy stretchable mechanism of the sma actuator (I) after being powered is flexible, passes through the push rod pawl on push rod (6) (9) rotating mechanism fluted disc (17) are pushed to make intermittent rotary.

2. a kind of rotating mechanism of marmem driving according to claim 1, it is characterised in that: the rotating machine Structure includes the central axis (19) for torque output being connected in pedestal (III) second support (15), is fixed in central axis (19) On fluted disc (17) and spragging gear (18), further include being mounted on the spring braking to connect on pedestal (III) with spragging gear (18) Device (21), to realize that the rotational angle of rotating mechanism immobilizes.

3. a kind of rotating mechanism of marmem driving according to claim 2, it is characterised in that: the fluted disc (17), spragging gear (18) is concentric, and central axis (19) is connected to torque output end of the output shaft (20) as rotating mechanism.

4. a kind of rotating mechanism of marmem driving according to claim 1, it is characterised in that: the SMA bullet Spring (13) is symmetrically connected between two swinging frame swing arms of SMA wig-wag (II), and is connected in the middle part of two swinging frames by hinge It connects.

5. a kind of rotating mechanism of marmem driving according to claim 1, it is characterised in that: the SMA bullet Property telescopic mechanism be located in shell (1), including connect with push rod (6) end through shell (1) and with push rod (6) it is coaxial The other end of elastic mesh grid (5), elastic mesh grid (5) is connected on the bottom boss of resilient sleeve (3), elastic mesh grid (5) periphery is enclosed with resilient sleeve (3), there is SMA (2) spiral winding on resilient sleeve (3), and SMA (2) both ends difference It is connected in resilient sleeve both ends.

6. a kind of rotating mechanism of marmem driving according to claim 5, it is characterised in that: pushed away running through Stepped ramp type position limiting structure (10) are equipped on the inside of shell (1) one end of bar (6), the stepped ramp type position limiting structure is by m rectangular object table Rank composition, and successively increase along push rod direction to the height of outer step.

7. a kind of rotating mechanism of marmem driving according to claim 1, it is characterised in that: the push rod It (6) include bottom rectangle plate (601), putter shaft (602) and push rod top (603), bottom rectangle plate (601) side is connected with First spring leaf (7), the first spring leaf (7) are in contact with stepped ramp type position limiting structure (10), the protrusion and shell side of excess-three side Wall sliding slot forms prismatic pair.

8. a kind of rotating mechanism of marmem driving according to claim 1, it is characterised in that: the shell (1) the symmetrical two push rod pawls (9) in top, and two push rod pawls (9) are hinged with push rod (6) top respectively, a pair of push rods pawl (9) top end face is equipped with second spring piece (8).

9. a kind of rotating mechanism of marmem driving according to claim 8, it is characterised in that: the push rod (6) there are two protrusion, which limits push rod pawl (9) and turns to the direction far from bottom protrusion the two sides of the bottom symmetric design at the top of It is dynamic.

10. a kind of rotating mechanism of marmem driving according to claim 5, it is characterised in that: the elasticity Mesh grid (5) is the diamond-mesh structure of tubular, is formed by steel wire strand weaving；

The section of the resilient sleeve (3) is hollow snail cable architecture；

The resilient sleeve (3), shell (1), SMA (2), elastic mesh grid (5), push rod (6) axis at same center On line.