CN110878740A - Shape memory alloy executor - Google Patents
Shape memory alloy executor Download PDFInfo
- Publication number
- CN110878740A CN110878740A CN201811036891.0A CN201811036891A CN110878740A CN 110878740 A CN110878740 A CN 110878740A CN 201811036891 A CN201811036891 A CN 201811036891A CN 110878740 A CN110878740 A CN 110878740A
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- China
- Prior art keywords
- memory alloy
- shape memory
- driving
- metal
- connecting rod
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
Abstract
The invention relates to a shape memory alloy actuator, which comprises a fixed plate and an actuating mechanism, wherein a PCB (printed Circuit Board) is fixedly connected with the fixed plate through a metal screw, the actuating mechanism is connected with a driving unit and used for receiving a driving signal of the driving unit, and the driving signal controls the actuating mechanism to move so as to drive a metal sliding block of a feedback mechanism to move; the driving unit is arranged on one side of the PCB and used for sending a driving signal to the actuating mechanism; and the metal slide block of the feedback mechanism is fixedly connected with the actuating mechanism through a metal screw, and the displacement parameters of the shape memory alloy actuator are recorded through measuring the change of the resistance value. The flexible bionic robot has the advantages of strong driving capability, simple structure, low price, light weight and simple control, adopts a modular design form, is easy to maintain, has the functions of position protection and displacement feedback, can accurately record the driving displacement of the shape memory alloy, can be independently used as a robot power executing device, and is applied to the design of flexible bionic robots.
Description
Technical Field
The invention relates to the field of flexible bionic robot driving, in particular to a shape memory alloy actuator.
Background
The shape memory alloy is a novel flexible intelligent material, and can be contracted in a heating mode after being shaped, so that driving force is provided. Meanwhile, the intelligent material has a memory function, the size of the elastic deformation quantity of the intelligent material can be changed along with the change of the temperature, and the process can be repeatedly realized. Therefore, according to the memory characteristic of the shape memory alloy wire and the characteristics of high power density, strong flexibility and low noise, the shape memory alloy wire is often applied to the field of bionic robots and used as a power mechanism of the robots. Compared with the traditional motor driving and pneumatic artificial muscle driving modes, the shape memory alloy actuator has the advantages of smaller volume and lighter weight.
However, in the currently existing shape memory alloy actuators, a plurality of memory alloy wires are mostly drawn in parallel or drawn in a spiral manner through a pulley, and the aim is to obtain a larger driving stroke of the shape memory alloy wires in a minimum space. However, in practical application of the robot, the method is limited by the structural characteristics of the shape memory alloy actuator, and cannot meet the driving requirements of a practical system. The existing problems are mainly focused on the following aspects: 1) the output stroke of the shape memory alloy actuator is small; 2) when the memory alloy wire is fused in the actuator, the replacement is not easy to complete; 3) the shape memory alloy actuator has serious nonlinear characteristics, no feedback structure and difficult control. Therefore, the existing shape memory alloy actuators still face many challenges in the current flexible bionic robot application.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a shape memory alloy actuator, which solves the problem that the output stroke of the shape memory alloy actuator is small; when the memory alloy wire is fused in the actuator, the replacement is not easy to complete, the nonlinear characteristic of the shape memory alloy actuator is serious, no feedback structure exists, and the control is difficult.
The technical scheme adopted by the invention for realizing the purpose is as follows:
the shape memory alloy executor includes one fixing board and one other board
The PCB of the actuating mechanism is fixedly connected with the fixing plate through a metal screw, the actuating mechanism is connected with the driving unit and receives a driving signal of the driving unit, and the driving signal controls the actuating mechanism to move so as to drive the metal sliding block of the feedback mechanism to move;
the driving unit is arranged on one side of the PCB and used for sending a driving signal to the actuating mechanism;
and the metal slide block of the feedback mechanism is fixedly connected with the actuating mechanism through a metal screw, and the displacement parameters of the shape memory alloy actuator are recorded through measuring the change of the resistance value.
The executing mechanism comprises a plurality of groups of connecting rod mechanisms which are connected in series, each group of connecting rod mechanisms comprises a linear connecting rod and a shape memory alloy wire, wherein one end of the shape memory alloy wire is fixedly and tightly connected with the linear connecting rod through a buckle, and the other end of the shape memory alloy wire is fixedly and tightly connected with the linear connecting rod of the next group of connecting rod mechanisms through a buckle; the linear connecting rods in the first group of connecting rod mechanisms are provided with bulges which protrude out of the edge of the PCB and are used for being fixedly connected with the metal sliding block through metal screws, and the head metal screw is connected with the output end of the driving unit; the tail end of the shape memory alloy wire in the last group of the connecting rod mechanisms is connected to the PCB board through a buckle and is grounded. The actuator not only increases the stroke of the actuator, but also saves the quantity of the shape memory alloy wires and the cost by the mode that the memory alloy wires and the linear connecting rods are alternately connected in series, and simultaneously avoids the stress of the inflection point of the alloy wires relative to a linear winding structure, so that the memory alloy wires are more durable;
two ends of each linear connecting rod are connected with the PCB through metal screws, the metal screws and the PCB can slide relatively, and an input signal connecting piece is arranged on the PCB and used for connecting a power supply, the ground and a control signal end. By adopting the structure of the metal screw, the memory alloy wire can be well connected with the circuit board, and the stability of the actuator is effectively ensured;
the buckle is a red copper capillary.
The actuating mechanism also comprises a protection pin which is made of conductive metal, the bottom end of the protection pin is connected with the PCB, and the protection pin is connected to a protection detection port of the driving unit through a PCB wire; when the shape memory alloy wire contracts to drive the first linear connecting rod to move to the preset maximum position, the first linear connecting rod is connected with the protection pin, and the circuit is conducted.
The driving unit includes:
the base electrode of the transistor Q3 is connected with the input end of the control signal, the emitter electrode is grounded, the driving resistors R31 and R32 are connected in parallel, one end of the driving resistor is connected with the collector electrode of the transistor Q3, and the other end of the driving resistor R2 is connected with the power supply; the source electrode of the MOS transistor Q1 is connected with the gate electrode of the MOS transistor Q2 and is connected to the driving resistors R2, R31 and R32; the drain electrode of the MOS tube Q1 is connected with a power supply, and one end of the source electrode is connected with the power supply through a resistor; the other end is connected to the protection detection port SW through parallel resistors R41 and R42; the drain of the MOS transistor Q2 is connected to the power supply, and the source is the output of the driving unit. The driving circuit is small in size, easy to integrate, high in corresponding speed, capable of rapidly amplifying weak driving signals, capable of rapidly starting the shape memory alloy actuator, and capable of preventing the memory alloy wire from being damaged due to overlarge driving distance.
The feedback mechanism includes:
the resistor disc is placed on the surface of the fixing plate;
the binding post is arranged at one end of the resistance card and used for outputting the current resistance value;
the sliding guide rail is laid on the edge of the resistance card along the sliding direction of the metal slider;
and the bottom of the metal sliding block is connected with the resistance card, and two ends of the metal sliding block are embedded in the sliding guide rail and can slide in the sliding guide rail.
The motion direction of the shape memory alloy wire or the linear connecting rod is parallel to the sliding direction of the metal sliding block.
The invention has the following beneficial effects and advantages:
1. the actuator of the invention increases the stroke of the actuator, saves the quantity of shape memory alloy wires and the cost by the way of alternately connecting the memory alloy wires and the linear connecting rods in series, and simultaneously avoids the stress of the inflection point of the alloy wires relative to a linear winding structure, so that the memory alloy wires are more durable;
2. by adopting the structure of the metal screw, the memory alloy wire can be well connected with the circuit board, and the stability of the actuator is effectively ensured;
3. the memory alloy wire is in a spiral structure, so that the volume of the actuator is effectively reduced on the premise of ensuring the output force;
4. the invention provides a driving circuit with a quick amplification function, which has the advantages of small circuit volume, easy integration, high corresponding speed, capability of quickly amplifying a weak driving signal to quickly start a shape memory alloy actuator, and position protection function to prevent a memory alloy wire from being damaged due to overlarge driving distance;
5. in the implementation process of the invention, the linear sliding potentiometer is added in the shape memory alloy actuator, so that the driving distance of the shape memory alloy is recorded in real time through the resistance value change of the potentiometer, the method has the advantages of good stability, high measurement precision and sensitive response, can effectively record position information, realizes the feedback function of the actuator, enhances the controllability of the shape memory alloy actuator, and simultaneously improves the safety of the actuator;
6. the shape memory alloy actuator has the advantages of low price, light weight and simple control and realization, and the alloy wires among the actuators are mutually independent, form a modular structure, are easy to maintain, have good stability, can meet the power requirement of a robot, and can be independently used as a power mechanism in the field of bionic robots.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of an actuator according to the present invention;
FIG. 3 is a circuit diagram of a driving unit according to the present invention;
FIG. 4 is a schematic view of the feedback mechanism of the present invention;
the device comprises a base, a driving unit, a feedback mechanism, a fixing plate, a metal slide block, a resistor disc, a sliding guide rail, a wiring terminal and a connecting rod, wherein 1 is an actuating mechanism, 1-1 is a linear connecting rod, 1-2 is a shape memory alloy wire, 1-3 is a metal screw, 1-4 is a buckle, 1-5 is a PCB (printed circuit board), 1-6 is a protective pin, 1-7 is an input signal connecting piece, 2 is the driving unit, 3 is the feedback mechanism, 3-1 is the fixing plate, 3-2 is the metal slide block, 3-3 is.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying the drawings are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Fig. 1 is a schematic view of the overall structure of the present invention. The shape memory alloy actuator comprises three parts of an actuating mechanism 1, a driving unit 2 and a feedback mechanism 3. The actuating mechanism 1 is used for realizing the structural composition of the shape memory alloy actuator; the driving unit 2 is responsible for amplifying the driving signal and providing enough driving current for the actuator; the feedback mechanism 3 is responsible for positioning the position information of the actuator.
Fig. 2 is a schematic diagram of the actuator of the present invention. The executing mechanism is composed of a linear connecting rod 1-1, a shape memory alloy wire 1-2, a screw 1-3, a buckle 1-4, a PCB 1-5, a protection pin 1-6 and an input signal connecting piece 1-7. The two ends of the shape memory alloy wire 1-2 are respectively fixed and clamped through the buckles 1-4 and are alternately connected with the linear connecting rod 1-1 end to end in a welding mode, namely: one end of a memory alloy wire 1-2 is fixed through a buckle 1-4 and is welded to one side of the linear connecting rod, and the other end of the memory alloy wire is connected with the next linear connecting rod; and are connected in this manner in sequence with the extreme ends connected to the PCB boards 1-5 by means of snaps. The stroke and the output force of the shape memory alloy actuating mechanism can be determined by the memory alloy wires and the number of the linear connecting rods connected in series, meanwhile, the alloy wires are mutually independent and form a modular structure, when the shape memory alloy actuating mechanism is damaged, only one section of the alloy wire needs to be replaced, and the shape memory alloy actuating mechanism is easier to maintain. The linear connecting rod 1-1 is connected with the PCB board 1-5 through a metal screw 1-3 to play a role in fixing and electrifying. The PCB boards 1-5 are circuit boards for bearing the driving mechanism; the protection pins 1-6 are made of metal conductive materials, the bottom ends of the protection pins are connected to the protection detection port SW of the driving unit 2 through PCB wiring in the PCB boards 1-5, when the shape memory alloy contracts to drive the first linear connecting rod to move to the preset maximum position, the linear connecting rod 1-1 is connected with the protection pins 1-6, the circuit is conducted, and the driving unit 2 can achieve the position protection function according to the voltage change of the protection detection port. The input signal connectors 1-7 are used for connecting the power supply, the ground and the control signal of the system. Wherein, the input range of the power voltage is 5-30V, the control signal can be PWM wave, and the driving speed of the shape memory alloy actuator is controlled by the duty ratio.
Fig. 3 is a circuit diagram of the driving mechanism of the present invention. The driving circuit comprises MOS transistors Q1 and Q2, a transistor Q3 and driving resistors R1, R2, R31, R32, R41 and R42. The base electrode of the transistor Q3 is connected with the input end of the control signal, the emitter electrode is grounded, the driving resistors R31 and R32 are connected in parallel, one end of the driving resistor is connected with the collector electrode of the transistor Q3, and the other end of the driving resistor R2 is connected with the power supply; the source electrode of the MOS transistor Q1 is connected with the gate electrode of the MOS transistor Q2 and is connected to the driving resistors R2, R31 and R32; the drain electrode of the MOS tube Q1 is connected with a power supply, and one end of the source electrode is connected with the power supply through a resistor; the other end is connected to the protection detection port SW through parallel resistors R41 and R42; when the level on the protection detection port SW is changed from low to high, no current flows in the circuit, so that the signal at the driving end is disconnected, and at the moment, the level on the protection detection port SW is changed from high to low, the circuit is restored to a conducting state, so that the memory alloy actuator is always kept at the maximum stroke position. The drain of the MOS transistor Q2 is connected with a power supply, the source is connected with one end of the shape memory alloy actuator 1, and the other end of the shape memory alloy actuator 1 is connected with the electric ground. The whole driving circuit consists of transistors, and can quickly amplify weak driving signals according to the working principle of the driving circuit so as to meet the driving requirement of the shape memory alloy actuator.
Fig. 4 is a schematic view of the feedback mechanism of the present invention. The feedback mechanism is composed of a fixed plate 3-1, a metal sliding block 3-2, a resistance sheet 3-3, a sliding guide rail 3-4 and a binding post 3-5. The fixing plate 3-1 is used for fixing the resistance chip 3-3, the binding post 3-5 and the actuating mechanism. Wherein, the actuating mechanism is separated from the fixing plate and can be connected to the fixing plate 3-1 through a screw. The resistance card 3-3 is placed on the surface of the fixing plate, and the binding post 3-5 is positioned at one end of the resistance card. Two ends of the metal sliding block 3-2 are embedded in the sliding guide rail 3-4 and can freely slide; the top end of the metal sliding block 3-2 is connected with a first linear connecting rod of the actuating mechanism 1, when the memory alloy contracts, the first linear connecting rod and the metal sliding block can be driven at the same time, the bottom end of the metal sliding block is connected with a resistance card, and the resistance value measured at the end of the connecting post is changed through the movement of the metal sliding block; the resistance value is in linear relation with the driving displacement of the shape memory alloy actuator; the sliding direction of the metal sliding block 3-2 is parallel to the motion direction of the shape memory alloy and the linear connecting rod; therefore, the displacement change information of the shape memory alloy actuator can be accurately recorded by measuring the resistance value change at the two ends of the binding post, so that the accurate control of the position information is realized.
Claims (8)
1. The shape memory alloy actuator comprises a fixing plate and is characterized by also comprising
The PCB of the actuating mechanism is fixedly connected with the fixing plate through a metal screw, the actuating mechanism is connected with the driving unit and receives a driving signal of the driving unit, and the driving signal controls the actuating mechanism to move so as to drive the metal sliding block of the feedback mechanism to move;
the driving unit is arranged on one side of the PCB and used for sending a driving signal to the actuating mechanism;
and the metal slide block of the feedback mechanism is fixedly connected with the actuating mechanism through a metal screw, and the displacement parameters of the shape memory alloy actuator are recorded through measuring the change of the resistance value.
2. The shape memory alloy actuator of claim 1, wherein: the executing mechanism comprises a plurality of groups of connecting rod mechanisms which are connected in series, each group of connecting rod mechanisms comprises a linear connecting rod and a shape memory alloy wire, wherein one end of the shape memory alloy wire is fixedly and tightly connected with the linear connecting rod through a buckle, and the other end of the shape memory alloy wire is fixedly and tightly connected with the linear connecting rod of the next group of connecting rod mechanisms through a buckle; the linear connecting rods in the first group of connecting rod mechanisms are provided with bulges which protrude out of the edge of the PCB and are used for being fixedly connected with the metal sliding block through metal screws, and the head metal screw is connected with the output end of the driving unit; the tail end of the shape memory alloy wire in the last group of the connecting rod mechanisms is connected to the PCB board through a buckle and is grounded.
3. The shape memory alloy actuator of claim 2, wherein: two ends of each linear connecting rod are connected with the PCB through metal screws, the metal screws and the PCB can slide relatively, and an input signal connecting piece is arranged on the PCB and used for connecting a power supply, the ground and a control signal end.
4. The shape memory alloy actuator of claim 2, wherein: the buckle is a red copper capillary.
5. The shape memory alloy actuator of claim 1, wherein: the actuating mechanism also comprises a protection pin which is made of conductive metal, the bottom end of the protection pin is connected with the PCB, and the protection pin is connected to a protection detection port of the driving unit through a PCB wire; when the shape memory alloy wire contracts to drive the first linear connecting rod to move to the preset maximum position, the first linear connecting rod is connected with the protection pin, and the circuit is conducted.
6. The shape memory alloy actuator of claim 1, wherein: the driving unit includes:
the base electrode of the transistor Q3 is connected with the input end of the control signal, the emitter electrode is grounded, the driving resistors R31 and R32 are connected in parallel, one end of the driving resistor is connected with the collector electrode of the transistor Q3, and the other end of the driving resistor R2 is connected with the power supply; the source electrode of the MOS transistor Q1 is connected with the gate electrode of the MOS transistor Q2 and is connected to the driving resistors R2, R31 and R32; the drain electrode of the MOS tube Q1 is connected with a power supply, and one end of the source electrode is connected with the power supply through a resistor; the other end is connected to the protection detection port SW through parallel resistors R41 and R42; the drain of the MOS transistor Q2 is connected to the power supply, and the source is the output of the driving unit.
7. The shape memory alloy actuator of claim 1, wherein: the feedback mechanism includes:
the resistor disc is placed on the surface of the fixing plate;
the binding post is arranged at one end of the resistance card and used for outputting the current resistance value;
the sliding guide rail is laid on the edge of the resistance card along the sliding direction of the metal slider;
and the bottom of the metal sliding block is connected with the resistance card, and two ends of the metal sliding block are embedded in the sliding guide rail and can slide in the sliding guide rail.
8. The shape memory alloy actuator of claim 2, wherein: the motion direction of the shape memory alloy wire or the linear connecting rod is parallel to the sliding direction of the metal sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811036891.0A CN110878740A (en) | 2018-09-06 | 2018-09-06 | Shape memory alloy executor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811036891.0A CN110878740A (en) | 2018-09-06 | 2018-09-06 | Shape memory alloy executor |
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| CN110878740A true CN110878740A (en) | 2020-03-13 |
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| CN201811036891.0A Pending CN110878740A (en) | 2018-09-06 | 2018-09-06 | Shape memory alloy executor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114109755A (en) * | 2021-11-26 | 2022-03-01 | 吉林大学 | Stepping linear actuator based on shape memory alloy driving |
| GB2610704A (en) * | 2021-08-02 | 2023-03-15 | Cambridge Mechatronics Ltd | Actuator assembly |
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2018
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| US5107716A (en) * | 1988-08-11 | 1992-04-28 | Fanuc Ltd. | Horizontal revolute robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2610704A (en) * | 2021-08-02 | 2023-03-15 | Cambridge Mechatronics Ltd | Actuator assembly |
| GB2610704B (en) * | 2021-08-02 | 2023-12-27 | Cambridge Mechatronics Ltd | Actuator assembly |
| CN114109755A (en) * | 2021-11-26 | 2022-03-01 | 吉林大学 | Stepping linear actuator based on shape memory alloy driving |
| CN114109755B (en) * | 2021-11-26 | 2024-01-30 | 吉林大学 | Marching linear actuator based on shape memory alloy drive |
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