CN110701014B - Hierarchical progressive rotary driving device based on shape memory alloy and control method thereof - Google Patents
Hierarchical progressive rotary driving device based on shape memory alloy and control method thereof Download PDFInfo
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- CN110701014B CN110701014B CN201911030580.8A CN201911030580A CN110701014B CN 110701014 B CN110701014 B CN 110701014B CN 201911030580 A CN201911030580 A CN 201911030580A CN 110701014 B CN110701014 B CN 110701014B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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Abstract
The invention discloses a grading progressive rotary driving device based on shape memory alloy, which comprises: rotating the inner shaft of the shell; the rotary shell is rotatably sleeved outside the inner shaft of the rotary shell, and the rotary shell is provided with a first through hole and a second through hole; two shape memory alloy wires which are respectively wound on the rotary shell, wherein one ends of the two shape memory alloy wires are fixedly connected with the inner shaft of the rotary shell through a first through hole and a second through hole; one end of each node line is connected to the shape memory alloy wire of a specific stage number; and one end of the central controller is connected with the other ends of the node lines, and the other ends of the central controller are connected with the connecting nodes. The invention also discloses a control method of the grading progressive rotary driving device based on the shape memory alloy, which can realize grading progressive control through different driving angles.
Description
Technical Field
The invention relates to the technical field of driving devices, in particular to a grading progressive rotary driving device based on a shape memory alloy and a control method thereof.
Background
Along with the progress of science and technology, more and more intelligent technologies are widely applied in life, intelligent materials are also included in the intelligent technologies, the appearance of the intelligent materials simplifies the traditional structure, and convenience is brought to production and processing.
The traditional rotary driver mainly adopts electromagnetic driving and mainly comprises a sensor, a driver, a controller and the like, and has the defects of complex and heavy structure, high impact noise, low energy density and the like.
Chinese patent document CN208880718U provides a rotary driving device for a robot, the robot including a robot body and a rotating member, wherein the rotary driving device includes a mounting substrate, a driving wheel, a driving motor, a driven wheel, a transmission belt, a rotating shaft, a sleeve-shaped bearing housing, and a bearing. The mounting substrate is fixedly connected with the robot main body, the driving motor enables the driving wheel to rotate, and the driving motor is fixed on the mounting substrate; the transmission belt is wrapped between the driving wheel and the driven wheel; the rotating shaft is provided with a rotating part, a connecting part fixedly connected with the rotating part and a mounting part connected between the rotating part and the connecting part, and the driven wheel is sleeved on the mounting part in a mode of being unable to rotate relative to the mounting part; the bearing seat is sleeved on the outer side of the rotating part and is fixed with the mounting substrate. Compared with the prior art, the rotary driving device provided by the invention has the advantages of stable structure, reliable transmission, low cost, small whole volume and space saving.
However, the existing rotary driving device is too complicated in structure, difficult to manufacture and process and complicated to operate, and the larger size greatly reduces the occasions where the driver can be applied.
The appearance of intelligent materials provides a new idea for solving the problems. The memory alloy is used as a typical intelligent material, has the characteristics of super elasticity, shape memory, corrosion resistance, fatigue resistance and the like, and utilizes the transformation from martensite phase to austenite phase in the low-temperature to high-temperature process of the shape memory alloy to realize the extension from low temperature to high temperature shrinkage, so as to form displacement difference and restoring force, and the memory alloy is used as a driving element of a rotary driving device, and can realize the real-time extension and the retraction of a driven piece by combining a mechanical structure and an electric control unit.
Disclosure of Invention
The invention aims to design and develop a grading progressive rotary driving device based on shape memory alloy, which is characterized in that a central controller is used for electrifies a shape memory alloy wire, the generated restoring force drives a rotary shell to generate a driving angle relative to an inner shaft of the rotary shell, and after the shape memory alloy wire is de-electrified, the restoring force of a super-elastic shape memory alloy wire drives the rotary shell to return to an initial position.
The invention further aims to design and develop a control method of the grading progressive rotary driving device based on the shape memory alloy, and different driving angles can be generated by electrifying and heating the shape memory alloy wires with different grades, so that the grading progressive control of the device is realized.
The technical scheme provided by the invention is as follows:
a shape memory alloy based hierarchical progressive rotary drive device comprising:
rotating the inner shaft of the shell; and
the rotary shell is of a hollow cylindrical structure with two open ends, the rotary shell is rotatably sleeved on the outer side of the inner shaft of the rotary shell, and the rotary shell is provided with a first through hole and a second through hole;
the shape memory alloy wire is wound on the lower part of the rotary shell, and one end of the shape memory alloy wire passes through the first through hole and is fixedly connected with the inner shaft of the rotary shell;
the super-elastic shape memory alloy wire is wound on the upper part of the rotary shell, and one end of the super-elastic shape memory alloy wire passes through the second through hole and is fixedly connected with the inner shaft of the rotary shell;
wherein the other end of the shape memory alloy wire is connected with the other end of the super-elastic shape memory alloy wire to form a connecting node which is fixed on the rotary shell;
a plurality of node lines, one ends of which are respectively connected to the shape memory alloy wires according to the number of windings of the shape memory alloy;
a central controller, one end of which is simultaneously connected with the other ends of the node lines, and the other ends of which are connected with the connection nodes;
an auxiliary power supply connected to the central controller to form a closed circuit;
wherein the central controller is capable of controlling any one of the node lines to be connected into the closed circuit.
Preferably, the method further comprises:
and a resistor disposed between the central controller and the connection node.
Preferably, the maximum elongation of the shape memory alloy wire and the superelastic shape memory alloy wire is 5% -10%.
Preferably, the shape memory alloy wire and the superelastic shape memory alloy wire have the same rotation direction on the rotating shell, and the shape memory alloy wire and the superelastic shape memory alloy wire are wound by monofilaments.
Preferably, the superelastic shape memory alloy wire is initially in a pre-tensioned state and the shape memory alloy wire is initially in a stretched state.
A control method of a hierarchical progressive rotary driving device based on shape memory alloy, which uses the hierarchical progressive rotary driving device based on shape memory alloy, comprises the following steps:
after receiving the control signal, the central controller selects to connect the corresponding node line into the closed circuit, and the shape memory alloy wire connected into the closed circuit is electrified to heat and shrink the shape memory alloy wire, so that the rotating shell is driven to rotate to a driving angle relative to the inner shaft of the rotating shell, and the super-elastic shape memory alloy wire is stressed and stretched in the process to realize the driving effect;
after the connection between the central controller and the node line is disconnected, the super-elastic shape memory alloy wire enables the rotary shell to reversely rotate relative to the inner shaft of the rotary shell through restoring force, and meanwhile, the shape memory alloy wire is stretched to enable the rotary shell to return to the initial position.
Preferably, the driving angle satisfies:
wherein θ is the driving angle, n is the number of node line stages of the access circuit, l is the original length of the single-stage shape memory alloy wire, t is the elongation of the shape memory alloy wire, R is the radius of the inner shaft of the rotary shell, and d is the diameter of the bearing.
The beneficial effects of the invention are as follows:
(1) The grading progressive rotary driving device based on the shape memory alloy provided by the invention realizes the driving of the rotary shell relative to the inner shaft of the rotary shell through the restoring force of the shape memory alloy wire, realizes the return of the rotary shell through the restoring force of the super-elastic shape memory alloy, and has good durability and low cost.
(2) According to the control method of the grading progressive rotary driving device based on the shape memory alloy, provided by the invention, different driving angles can be generated by electrifying and heating the shape memory alloy wires with different grades, so that the grading control of the device is realized, and the device is simple, reliable and sensitive to control.
Drawings
FIG. 1 is a schematic structural view of a hierarchical progressive rotary driving device based on shape memory alloy according to the present invention.
Fig. 2 is a schematic diagram of a starting operation process of a control method of the hierarchical progressive rotary driving device based on the shape memory alloy.
Detailed Description
The present invention is described in further detail below to enable those skilled in the art to practice the invention by reference to the specification.
The invention provides a grading progressive rotary driving device based on shape memory alloy, which is characterized in that a shape memory alloy wire is electrified and heated to generate restoring force to drive a rotary shell to generate a driving angle relative to an inner shaft of the rotary shell, and the restoring force of the super-elastic shape memory alloy wire drives the rotary shell to return after the shape memory alloy wire is powered off, so that the driving device is realized.
As shown in fig. 1, the overall structure of the hierarchical progressive rotary driving device based on the shape memory alloy according to the present invention includes: the rotary case inner shaft 110, the rotary case 120, the plurality of bearings 121, the first through hole 122, the second through hole 123, the shape memory alloy wire 130, the super elastic shape memory alloy wire 140, the connection node 141, the plurality of node lines including, in the present embodiment, the first stage node line 181, the second stage node line 182, the third stage node line 183, the fourth stage node line 184, and the fifth stage node line 185, the central controller 150, the auxiliary power source 160, and the protection resistor 170.
The rotary shell inner shaft 110 is a fixing piece, the rotary shell 120 is of a hollow cylindrical structure with two open ends, the rotary shell 120 is rotatably sleeved outside the rotary shell inner shaft 110 through a plurality of bearings 121, and a first through hole 122 and a second through hole 123 are formed in the side wall of the rotary shell 120; a shape memory alloy wire 130 is wound around the lower portion of the outer side of the sidewall of the rotary housing 120, and one end of the shape memory alloy wire 130 is fixedly connected with the rotary housing inner shaft 110 through a first through hole 122; a super elastic shape memory alloy wire 140 is wound around an upper portion of the outer side of the sidewall of the rotary case 120, and one end of the super elastic shape memory alloy wire 140 is fixedly connected with the rotary case inner shaft 110 through a second through hole 123; wherein the other end of the shape memory alloy wire 130 is connected with the other end of the super elastic shape memory alloy wire 140 to form a connection node 141, and the connection node 141 is fixed on the rotary shell 120; a plurality of node lines, one ends of which are respectively connected to the shape memory alloy wires 130 of different turns, wherein the shape memory alloy wires 130 of different turns are the shape memory alloy wires 130 of every other turn apart from the connection node 141; a plurality of nodes respectively provided on the shape memory alloy wire 130 every other turn from the connection node 141, and one ends of the plurality of node lines respectively connected to the plurality of nodes in one-to-one correspondence, the plurality of node lines respectively connected to the shape memory alloy wire 130 through the plurality of nodes; a central controller 150 having one end connected to the other ends of the plurality of node lines and the other end connected to the connection node 141; the auxiliary power supply 160 is connected with the central controller 150 to form a closed circuit, wherein an auxiliary power switch is arranged in the central controller 150, and any node line of the plurality of node lines can be controlled to be connected into the closed circuit; and a protection resistor 170 disposed in the closed circuit to prevent overload of the closed circuit due to excessive current in the closed circuit.
In this embodiment, a first node 191 is disposed on the shape memory alloy wire 130 separated from the connection node 141 by one turn, one end of the first-stage node line 181 is connected to the first node 191, the other end is connected to an auxiliary power switch in the central controller 150, a second node 192 is disposed on the shape memory alloy wire 130 separated from the first node 191 by one turn, one end of the second-stage node line 182 is connected to the second node 192, the other end is connected to the auxiliary power switch in the central controller 150, a third node 193 is disposed on the shape memory alloy wire 130 separated from the second node 192 by one turn, one end of the third-stage node line 183 is connected to the third node 193, the other end is connected to the auxiliary power switch in the central controller 150, a fourth node 194 is disposed on the shape memory alloy wire 130 separated from the third node 193 by one turn, one end of the fourth-stage node line 184 is connected to the fourth node 194, the other end is connected to the auxiliary power switch in the central controller 150, a fifth node 185 is disposed on the shape memory alloy wire 130 separated from the fourth node 194 by one turn, and the fifth node line 195 is connected to the other end of the auxiliary power switch in the central controller 150.
In the device of the invention, the super-elastic shape memory alloy wire 140 is in a pre-tightening state at the beginning, the shape memory alloy wire 130 is in a stretching state at the beginning, the maximum stretching rate of the shape memory alloy wire 130 and the super-elastic shape memory alloy wire 140 is between 5% and 10%, the rotation directions of the shape memory alloy wire 130 and the super-elastic shape memory alloy wire 140 on the rotating shell 120 are the same, and the filament winding is adopted, so that the purpose of better heat dissipation is achieved; in this embodiment, the material of the shape memory alloy wire 130 is a ni—ti alloy, and preferably, the material of the shape memory alloy wire 130 may be selected from au—cd alloy, cu—zn-A1 alloy, cu—zn-Sn alloy, or ni—ti—pd alloy.
The grading progressive rotary driving device based on the shape memory alloy realizes the driving of the rotary shell relative to the inner shaft of the rotary shell through the restoring force of the shape memory alloy wire, and realizes the return of the rotary shell through the restoring force of the super-elastic shape memory alloy.
The invention also provides a control method of the grading progressive rotary driving device based on the shape memory alloy, which comprises the following steps:
after the central controller receives the control signal, the auxiliary power switch selectively connects the corresponding node line into the closed circuit, and the shape memory alloy wire connected into the closed circuit is electrified, so that the shape memory alloy wire is heated and contracted, the rotating shell is driven to rotate to a driving angle relative to the inner shaft of the rotating shell, and in the process, the super-elastic shape memory alloy wire is stressed and stretched, so that the driving effect is realized, as shown in figure 2.
After the connection between the central controller and the node line is disconnected, the super-elastic shape memory alloy wire enables the rotary shell to reversely rotate relative to the inner shaft of the rotary shell through restoring force, and meanwhile, the shape memory alloy wire is stretched to enable the rotary shell to return to the initial position.
The driving angle satisfies:
wherein θ is the driving angle, n is the number of node line stages of the access circuit, l is the original length of the single-stage shape memory alloy wire, t is the elongation of the shape memory alloy wire, R is the radius of the inner shaft of the rotary shell, and d is the diameter of the bearing.
According to the control method of the grading progressive rotary driving device based on the shape memory alloy, provided by the invention, different driving angles can be generated by electrifying and heating the shape memory alloy wires with different grades, so that the grading control of the device is realized, and the device is simple, reliable and sensitive to control.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown, it is well suited to various fields of use for which the invention is suited, and further modifications may be readily made by one skilled in the art, and the invention is therefore not to be limited to the particular details and examples shown and described herein, without departing from the general concepts defined by the claims and the equivalents thereof.
Claims (7)
1. A hierarchical progressive rotary drive device based on shape memory alloy, comprising:
rotating the inner shaft of the shell; and
the rotary shell is of a hollow cylindrical structure with two open ends, the rotary shell is rotatably sleeved on the outer side of the inner shaft of the rotary shell, and the rotary shell is provided with a first through hole and a second through hole;
the shape memory alloy wire is wound on the lower part of the rotary shell, and one end of the shape memory alloy wire passes through the first through hole and is fixedly connected with the inner shaft of the rotary shell;
the super-elastic shape memory alloy wire is wound on the upper part of the rotary shell, and one end of the super-elastic shape memory alloy wire passes through the second through hole and is fixedly connected with the inner shaft of the rotary shell;
wherein the other end of the shape memory alloy wire is connected with the other end of the super-elastic shape memory alloy wire to form a connecting node which is fixed on the rotary shell;
a plurality of node lines, one ends of which are respectively connected to the shape memory alloy wires according to the number of windings of the shape memory alloy;
a central controller, one end of which is simultaneously connected with the other ends of the node lines, and the other ends of which are connected with the connection nodes;
an auxiliary power supply connected to the central controller to form a closed circuit;
wherein the central controller is capable of controlling any one of the node lines to be connected into the closed circuit.
2. The shape memory alloy-based progressive rotary drive of claim 1, further comprising:
and a resistor disposed between the central controller and the connection node.
3. The shape memory alloy-based hierarchical progressive rotary drive device according to claim 2, wherein the maximum elongation of the shape memory alloy wire and the superelastic shape memory alloy wire is 5% -10%.
4. A progressive rotary drive device based on shape memory alloy as recited in claim 3, wherein said shape memory alloy wire and said superelastic shape memory alloy wire are of the same spin direction on said rotary housing, and wherein said shape memory alloy wire and said superelastic shape memory alloy wire are both monofilament wound.
5. The shape memory alloy-based hierarchical progressive rotary drive device of claim 1 wherein the superelastic shape memory alloy wire is initially in a pre-tensioned state and the shape memory alloy wire is initially in a stretched state.
6. A control method of a shape memory alloy-based hierarchical progressive rotary drive apparatus using the shape memory alloy-based hierarchical progressive rotary drive apparatus according to any one of claims 1 to 5, characterized by comprising the steps of:
after receiving the control signal, the central controller selects to connect the corresponding node line into the closed circuit, and the shape memory alloy wire connected into the closed circuit is electrified to heat and shrink the shape memory alloy wire, so that the rotating shell is driven to rotate to a driving angle relative to the inner shaft of the rotating shell, and the super-elastic shape memory alloy wire is stressed and stretched in the process to realize the driving effect;
after the connection between the central controller and the node line is disconnected, the super-elastic shape memory alloy wire enables the rotary shell to reversely rotate relative to the inner shaft of the rotary shell through restoring force, and meanwhile, the shape memory alloy wire is stretched to enable the rotary shell to return to the initial position.
7. The method for controlling a hierarchical progressive rotary drive based on a shape memory alloy according to claim 6, wherein the drive angle satisfies:
wherein θ is the driving angle, n is the number of node line stages of the access circuit, l is the original length of the single-stage shape memory alloy wire, t is the elongation of the shape memory alloy wire, R is the radius of the inner shaft of the rotary shell, and d is the diameter of the bearing.
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