CN111371341B - Micro-small SMA movable tooth transmission motor - Google Patents
Micro-small SMA movable tooth transmission motor Download PDFInfo
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- CN111371341B CN111371341B CN202010214912.4A CN202010214912A CN111371341B CN 111371341 B CN111371341 B CN 111371341B CN 202010214912 A CN202010214912 A CN 202010214912A CN 111371341 B CN111371341 B CN 111371341B
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- H—ELECTRICITY
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- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
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Abstract
本发明提供一种微小型SMA活齿传动的电机，其包括壳体、驱动部分和传动部分，驱动部分采用SMA丝缠绕在激波器螺纹外套和压簧共同驱动的方式，增加了SMA丝长度便于实现设定的偏心运动，压簧较以往的拉簧减少了拉紧机构便于实现微小型化，能提供更大的驱动力；传动部分采用活齿架固定中心轮输出的方式实现连续传动，实现了低速大转矩输出；活齿架由螺钉固定在上外筒与下外筒之间，并与激波器和中心轮间留有间隙，这种结构简化了结构，安装更加方便；中心轮作为可转动的输出装置，且加工有通孔用于安装输出轴，增加了普适性。
The invention provides a miniature SMA movable tooth transmission motor, which includes a casing, a driving part and a transmission part. The driving part adopts the way of winding the SMA wire around the threaded jacket of the shock wave and the compression spring to drive together, which increases the length of the SMA wire. It is easy to realize the set eccentric movement. Compared with the previous tension spring, the compression spring reduces the tension mechanism, which is convenient for miniaturization and can provide greater driving force; The low-speed high-torque output is realized; the movable gear frame is fixed between the upper outer cylinder and the lower outer cylinder by screws, and there is a gap between the shock wave and the center wheel. This structure simplifies the structure and makes the installation more convenient; the center The wheel is used as a rotatable output device, and a through hole is processed for installing the output shaft, which increases the universality.
Description
Technical Field
The invention belongs to the technical field of miniature integrated motors, and relates to a miniature SMA movable tooth transmission motor.
Background
The existing motor realizes the conversion from electric energy to kinetic energy through electromagnetic mutual conversion, has large volume and more consumed resources, and has increasingly wide requirements on the miniature integrated motor along with the continuous development of the fields of aerospace, intelligent robots and automobiles. The literature [ electromechanical integrated shape memory alloy harmonic transmission ] researches an SMA drive movable tooth transmission device, wherein a movable tooth transmission link of the device adopts radial movable tooth transmission, and because the radial meshing force limits the radial swing of a shock wave device, the continuous meshing of a movable tooth meshing pair under the SMA drive is difficult to realize; in addition, the balance spring of the device adopts an extension spring, a tensioning mechanism is required to be fixed, and the miniaturization of the device is difficult to realize; thirdly, the fixing mode of the memory alloy wire of the device limits the available length of the memory alloy wire, and the shorter memory alloy wire is very difficult to realize the swing of given eccentricity.
Disclosure of Invention
The invention aims to provide a speed reducing motor which can realize a new material smaller than the prior speed reducing motor, has compact structure, can realize stable continuous meshing transmission and increases output torque.
The invention provides a microminiature SMA movable tooth transmission motor, which comprises a shell, a driving part and a transmission part, wherein the shell is provided with a plurality of through holes;
the shell comprises a base, a lower outer cylinder and an upper outer cylinder; the base is of a plane structure, the lower outer cylinder is arranged on the upper surface of the base, the movable rack is arranged on the upper portion of the lower outer cylinder, the upper outer cylinder is arranged on the movable rack, and the central wheel is arranged in the upper outer cylinder; the lower outer cylinder is provided with a first square through hole, a second square through hole, a third square through hole and a fourth square through hole in the circumferential direction of the outer surface, the central lines of the first through hole, the second through hole, the third through hole and the fourth through hole are tangent to the outer surface of the thread sleeve, a first tangent point, a second tangent point, a third tangent point and a fourth tangent point are respectively generated along the outer surface of the thread sleeve, the connecting line of the first tangent point and the third tangent point and the connecting line of the second tangent point and the fourth tangent point all penetrate through the central axis of the outer part of the thread sleeve, and the connecting line of the first tangent point and the third tangent point is perpendicular to the connecting line of the second tangent point and the fourth tangent point;
the driving part comprises an SMA wire, a pressure spring and a shock wave device; the SMA wires comprise a first SMA wire and a second SMA wire;
the shock wave device is a cylinder, and a shock wave device thread outer sleeve is sleeved on the circumferential surface of the cylinder; two groove planes are arranged at equal height positions of the shock wave device thread outer sleeve, and the central angle between the groove planes is 90 degrees; the pressure spring is propped between the groove and the lower outer cylinder, the lower surface of the shock wave device is connected with the base through a small balancing steel ball, the upper surface of the shock wave device is provided with a circular oscillating tooth track, and the inner surface of the oscillating tooth track is matched with the outer surface of the oscillating tooth;
the first end of the first SMA wire is connected with the first end of a first power supply, the second end of the first SMA wire penetrates through a first through hole of the lower outer barrel, and penetrates out of a third through hole after winding 180 degrees of a half circle of a shock wave device thread outer sleeve and is connected with the second end of the first power supply; the first end of the second SMA wire is connected with the first end of a second power supply, the second end of the second SMA wire penetrates through a second through hole of the lower outer barrel, and after winding 180 degrees of the half circle of the shock wave device thread outer sleeve, the second SMA wire penetrates through a fourth through hole and is connected with the second end of the second power supply; the current periods of the first power supply and the second power supply are different by a quarter period; the current cycle is equally divided into four stages, the SMA wire is electrified and preheated in the first stage, the SMA wire is continuously electrified to reach the phase change temperature in the second stage, the SMA wire performs phase change work, and the SMA wire is blown and cooled by power failure in the third stage and the fourth stage; the pressure spring is supported between the groove plane of the shock wave device thread outer sleeve and the lower outer cylinder, and can provide larger driving force; the shock wave device realizes creeping under the common tension action of the SMA wire and the pressure spring and provides power for the miniature speed reducing motor;
the transmission part comprises movable teeth, a movable tooth rack, a central wheel and an output shaft;
the movable teeth are spherical steel balls and move along a circumferential movable tooth track on the upper surface of the shock absorber under the constraint of the movable tooth rack, so that the central wheel is driven to rotate;
the movable tooth rack is in a ring shape with the upper surface and the lower surface being flat and is fixed between the upper outer cylinder shell and the lower outer cylinder shell, a gap is reserved between the lower surface of the movable tooth rack and the shock wave device, movable tooth through holes which are uniformly distributed along the circumference are processed in a manner of being vertical to the upper surface and the lower surface of the movable tooth rack, and the shape of each movable tooth through hole is matched with the outer surface of each movable tooth and is used for fixing the movable teeth to perform circumferential motion;
the central wheel is in a circular ring shape with the upper surface and the lower surface being planes, is arranged above the oscillating tooth rack and inside the upper outer cylinder, and is connected with the upper outer cylinder by utilizing a tapered roller bearing; the period number of the periodic sine waveform of the movable tooth track is determined by the number of movable teeth and the transmission ratio;
the axis of the output shaft is overlapped with the axis of the central wheel, and the output shaft is fixedly connected with the central wheel and used for outputting torque.
Preferably, the output shaft mounted inside the centre wheel is detachable.
Preferably, the current cycle of the first power supply and the second power supply is 4s, the current of the first second is 15.7mA, the current of the second is 14.5mA, the power is cut off for the third second and the fourth second, and the SMA wire is cooled by blowing air.
Preferably, the movable rack is fixed between the upper outer cylinder and the lower outer cylinder by screws.
Preferably, the shock wave device is small in diameter of an upper cylinder and large in diameter of a lower cylinder, and the thread outer sleeve is sleeved on the outer circumferential surface of the upper cylinder.
Preferably, four uniformly distributed circular grooves are machined at the lower end of the shock wave device, and the grooves are used for containing the small balancing steel ball.
Preferably, the section of the inner surface of the sine wave-shaped oscillating tooth motion track on the lower surface of the central wheel is a quadrangle with a narrow upper part and a wide lower part; the section of the inner surface of the oscillating tooth track on the upper surface of the shock wave device is a quadrangle with a narrow bottom and a wide upper opening.
In the working process, when the SMA wire is heated by electrifying, reverse martensite phase transformation occurs inside the SMA wire, the tensile force of the SMA wire is increased due to the increase of the elastic modulus, the SMA wire contracts to overcome the thrust of the pressure spring to pull the shock device to move, when the SMA wire is cooled after power failure, normal martensite phase transformation occurs inside the SMA wire, the tensile force of the SMA wire is reduced due to the reduction of the elastic modulus of the SMA wire, the shock device moves towards the other direction under the thrust of the pressure spring, the shock device moves with the movable oscillating teeth under the combined action of the two ways of SMA wires forming the orthogonal directions and the pressure spring, the oscillating teeth drive the central wheel to move under the fixed constraint of the oscillating tooth rack, the output shaft is installed on the central wheel, and.
The invention has the following effects:
according to the motor driven by the microminiature SMA oscillating teeth, the driving part adopts a mode that an SMA wire is wound on a shock wave machine thread outer sleeve and a pressure spring is jointly driven, the length of the SMA wire is increased, the set eccentric motion is convenient to realize, and the pressure spring reduces a tensioning mechanism compared with the traditional tension spring, is convenient to realize microminiaturization and can provide larger driving force; the transmission part realizes continuous transmission by adopting a mode that the movable rack fixes the output of the central wheel, and realizes low-speed and high-torque output; the movable rack is fixed between the upper outer cylinder and the lower outer cylinder by screws, and a gap is reserved between the movable rack and the shock wave device and the central wheel, so that the structure is simplified, and the installation is more convenient; the centre wheel is as rotatable output device, and processing has the through-hole to be used for installing the output shaft, has increased the universality.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic sectional view taken along line A-A of FIG. 1;
FIG. 3 is an axial schematic view of an embodiment of the present invention;
FIG. 4 is an axial view of a shock absorber assembly according to an embodiment of the present invention;
FIG. 5 is a two-dimensional view of a shock absorber component according to an embodiment of the present invention;
FIG. 6 is an axial view of a loose-teeth carrier component according to an embodiment of the present invention;
FIG. 7 is a two-dimensional view of a loose-teeth carrier component of an embodiment of the present invention;
FIG. 8 is a schematic axial view of a center wheel assembly in accordance with an embodiment of the present invention; and
FIG. 9 is a two-dimensional view of a center wheel of an embodiment of the present invention.
In the figure: 1. the shock wave device comprises a base, 2, a shock wave device, 3, a shock wave device thread outer sleeve, 4, an SMA wire, 5, a movable tooth frame, 6, a lower outer cylinder, 7, an upper outer cylinder, 8, a central wheel, 9, a pressure spring, 10, a balance steel ball, 11, a groove plane, 12, a movable tooth motion track at the upper end of the shock wave device, 13, a movable tooth motion track at the lower end of the central wheel, 14, a movable tooth, 15, a tapered roller bearing, 16 and a movable tooth through hole.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the invention, for clearly describing each part, the names of the parts are added with "upper" and "lower" for distinguishing, the positions of the parts are changed in the actual installation process according to the positions of the attached drawings, the names of the orientations of the parts are changed accordingly, and the parts cannot be regarded as the limitation of the patent protection scope.
As shown in fig. 1, an embodiment of the present invention provides a micro SMA oscillating tooth driven motor, which includes a housing, a driving portion and a transmission portion.
The embodiment of the invention adopts the oscillating tooth for speed reduction, and the speed reduction transmission ratio is as follows:
i＝zK/(zK-zG)
wherein i is the gear ratio, zKNumber of movable teeth, zGIs the number of teeth of 7 waves of the upper outer cylinder.
The shell is the basis of the miniature speed reducing motor and comprises a base 1, a lower outer cylinder 6 and an upper outer cylinder 7, wherein the base 1 is used for supporting and installing the whole mechanism, the lower outer cylinder 6 is used for installing a driving part, and the upper outer cylinder 7 is used for installing an output part of the upper outer cylinder 7 and is an important part of the mechanism;
the shock wave device is connected with the base 1 through four bottom balance steel ball small balls 10 and keeps level and stable, the shock wave device creeps under the driving of the SMA wire 4 and the pressure spring 9 and the driving of the four bottom balance steel ball small balls 10, the bottom balance steel ball small balls 10 enable the motion of the shock wave device 2 to be on the same horizontal plane, and the transmission is stable;
the SMA wires 4 occupy small space by using the shape of SMA filaments, the SMA wires 4 are electrified to heat the inside of the SMA wires 4 to generate reverse martensite variable length contraction power-off, the inside of the SMA wires 4 is cooled to generate forward martensite variable length increase, the two SMA wires 4 are wound on the shock wave device thread outer sleeve 3 in a winding mode, the SMA wires 4 are in orthogonal distribution after installation, and a plane groove on the plane of the thread outer sleeve 3 is arranged between 11 folded SMA wires 4;
two groove planes 11 are processed on the thread outer sleeve 3, the shape of the groove planes 11 is rectangular, and the two groove planes 11 form an angle of 90 degrees on the thread outer sleeve 3.
The compression springs 9 are propped between the groove plane 11 on the shock wave machine thread outer sleeve 3 and the lower outer cylinder 6, two compression springs 9 are propped between the shock wave machine thread outer sleeve 3 and the lower outer cylinder 6 during installation, the springs adopt the compression springs 9 to provide larger driving force than the tension springs, and the installation mode has less tensioning and fixing structures, simplifies the structure and is convenient for realizing light weight and microminiaturization;
the shock wave device 2 is made into a circular boss type center of a flange, a circular through hole is processed at the center, a shock wave device thread outer sleeve 3 is sleeved at the position of a shock wave device boss, four uniformly distributed circular grooves are processed at the lower end of the shock wave device 2, four bottom balance steel ball small balls 10 enable the shock wave device 2 to move on a horizontal plane in the circular grooves, an installation working space is provided for a pressure spring 9 and an SMA wire 4, the driving radius of the shock wave device 2 can be made as large as possible, the output torque of a mechanism is increased, and a movable tooth movement track 12 is processed at the upper end of the shock wave device 2;
the material of the shock wave device thread outer sleeve 3 is plastic, the outer part of the shock wave device thread sleeve 3 is processed with threads, the inner part of the shock wave device thread sleeve 3 is processed into a round through hole with the inner diameter equal to the outer diameter of the shock wave device, the shock wave device thread outer sleeve is sleeved on the outer circumference of the upper part of the shock wave device 2 during installation, two groove planes 11 are processed on the shock wave device thread outer sleeve 3, the shape of the groove planes 11 is rectangular, the central angle between the groove planes 11 is 90 degrees, the SMA wire 4 and the shock wave device 2 are both metal, short circuit can be caused if the SMA wire 4 and the shock wave device 2 are directly connected when the SMA wire 4 is electrified and heated, the shock wave device thread outer sleeve 3 has the function of short circuit treatment to avoid the short circuit condition when the SMA wire 4 and;
as shown in fig. 6 and 7, the outer circumference of the oscillating tooth rack 5 is the same as the lower outer cylinder 6 and the upper outer cylinder 7, a round through hole is processed in the middle, 9 oscillating tooth through holes 16 are processed on the surface of the oscillating tooth rack 5, the radial dimension of the oscillating tooth through holes 16 on the upper and lower planes of the oscillating tooth rack 5 and the distance of two eccentric distances between the front and the rear of the oscillating tooth 14 are both kept, the dimension in the circumferential direction is equal to the diameter of the oscillating tooth 14, the oscillating tooth 14 moves on the oscillating tooth moving track 12 at the upper end of the shock wave device under the constraint of the 9 oscillating tooth through holes 16 of the oscillating tooth rack 5 during installation and drives the central wheel 8 to rotate and output torque, compared with the prior oscillating tooth rack 5, the structure is directly fixed between the upper outer cylinder 7 and the lower outer cylinder by screws, the structure also plays a role of supporting a conical roller bearing 15, a positioning mechanism is further processed on the oscillating tooth rack 5, an oscillating tooth groove is processed on the oscillating tooth rack 5 for circumferential positioning of the, the light weight is facilitated.
As shown in fig. 8 and 9, the lower end of the center wheel 8 is provided with a movable tooth movement track 13 with 8 sine waves, the movable tooth movement track is connected with the upper outer cylinder 7 through a tapered roller bearing 15, and a through hole is formed in the middle of the center wheel for installing a detachable output shaft.
The movable teeth 14 are arranged in 9 movable tooth through holes 16 of the movable tooth rack 5, the SMA wire 4 and the pressure spring 9 drive the shock wave device 2 to move, and the movable teeth 14 move in a movable tooth movement track 12 at the upper end of the shock wave device and drive the central wheel 8 to rotate under the constraint of the 9 movable tooth through holes 16 of the movable tooth rack 5 and the drive of the shock wave device 2.
The working process of the invention is as follows:
when the miniature motor works, the driving force of the miniature motor is mainly that the length of the SMA wire 4 is changed in the phase change process in the power-on and power-off processes of the SMA wire 4, the SMA wire 4 is electrified and heated, the martensite reverse change is generated in the SMA wire 4, the elastic modulus in the SMA wire 4 is increased, the tension is increased, the compression spring 9 shock device is compressed to move towards one side, the SMA wire 4 is electrified and cooled, the martensite forward change is generated in the SMA wire, the elastic modulus in the SMA wire is reduced, the tension is reduced, the compression spring 9 in the same path pushes the shock device 2 to move towards the other side, the same installation modes of the SMA wire 4 and the compression spring 9 are processed in the orthogonal direction, the difference is that the current with the period of 1/4 is switched on the SMA wire 4, the shock device creeps under the comprehensive driving of the two paths of the SMA wire 4 and the compression spring 9 and drives the movable teeth 14 to move together, and the movable teeth 14 are, Between 9 oscillating tooth through holes 16 of the oscillating tooth rack 5 and the oscillating tooth moving track 13 at the lower end of the central wheel, the oscillating tooth moving track 13 at the lower end of the central wheel is in a sine wave shape, so that the oscillating teeth 14 push the central wheel 8 to rotate under the driving of the shock wave machine 2 and the constraint of the oscillating tooth through holes of the oscillating tooth rack 5, and torque is output. The motor is driven by the oscillating tooth reducing mechanism to output low-speed and high-torque motion.
The internal direction of the SMA wire is changed into a constitutive model:
reverse constitutive relation of martensite: reverse variable condition
The transformation process from the non-twin crystal martensite to the austenite occurs, wherein T is the internal temperature of the SMA wire 4, As is the temperature at which the austenite starts to transform, AfIs an austenite finish phaseTemperature in time CAThe austenite transformation modulus is 9 MPa/DEG C.
The reverse transformation one-dimensional constitutive relation of martensite is as follows:
in the formula EMIs the martensite phase transformation modulus, EA is the austenite phase transformation modulus, formula εas、εaf、εms、εmfIs σas、σaf、σms、σafCorresponding elastic strains, which are austenite, magnitude of stress at the beginning of the martensite transformation, ξdIs the volume fraction of martensite,. epsilonmaxIs the maximum elastic strain, T0Ambient temperature, Δ η0The amount of change J/(Kg ℃ C.) from the entropy at the initial temperature.
Martensite positive metamorphic relation: forward variation condition:
the process of austenite to non-twin crystal martensite transformation occurs, in the formula CMIs the martensite transformation modulus.
Forward-to-one-dimensional constitutive relation:
the SMA wire is electrified, heated and cooled in a power-off mode, and the relationship between the temperature, stress, strain and tension in the SMA wire can be obtained by the one-dimensional constitutive model under the condition that the size of the electrified current is known.
The forced cooling of the blower for powering off and cooling the SMA wire shortens the cooling time, and if the motor is naturally cooled for too long time, the continuous rotation of the motor is not easy to realize, and forced cooling measures are adopted to be beneficial to the continuous output of the torque of the motor.
The embodiment of the invention has the advantages that:
1. the embodiment of the invention adopts the novel intelligent material SMA wire to replace the traditional mechanism for electromagnetic transformation of the motor, simplifies the structure, is convenient for the light weight of the structure and saves resources.
2. The SMA of the embodiment of the invention adopts a mode of winding on the thread outer sleeve of the shock absorber, increases the length of the SMA wire and is convenient for realizing given eccentric motion.
3. Compared with a tension spring, the compression spring is adopted to provide larger driving force, so that tensioning and fixing mechanisms are reduced, the mounting structure is simplified, and the light weight of the mechanism is facilitated;
4. the embodiment of the invention adopts the oscillating tooth speed reduction transmission, combines a novel intelligent material with the oscillating tooth transmission, and realizes microminiaturized low-speed large-torque output;
5. in the embodiment of the invention, the four small balancing steel ball balls are used at the bottom of the shock wave device, so that the shock wave device moves stably in the horizontal direction, the structure is exquisite, the microminiaturization is convenient to realize, the shock wave device only has revolution around the movement center and does not have rotation, the motion of the shock wave device is simplified, and the driving loss is reduced.
6. The embodiment of the invention is an optimized and simplified process on the structure of the oscillating tooth rack, the outer circle radius of the oscillating tooth rack is directly enlarged, the oscillating tooth rack not only plays a role of circumferential constraint on the oscillating tooth, but also plays a role of supporting the tapered roller bearing, the structure of the motor is greatly simplified, the installation is convenient, the space is saved, the light weight and microminiaturization of the motor are convenient to realize, the installation firmness of the motor is increased, and the motor is favorable for being put into use.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (7)
1. A microminiature SMA oscillating tooth transmission motor is characterized by comprising a shell, a driving part and a transmission part;
the shell comprises a base, a lower outer cylinder and an upper outer cylinder; the base is of a plane structure, the lower outer cylinder is arranged on the upper surface of the base, the movable rack is arranged on the upper portion of the lower outer cylinder, the upper outer cylinder is arranged on the movable rack, and the central wheel is arranged in the upper outer cylinder; the lower outer cylinder is provided with a first square through hole, a second square through hole, a third square through hole and a fourth square through hole in the circumferential direction of the outer surface, the central lines of the first through hole, the second through hole, the third through hole and the fourth through hole are tangent to the outer surface of the thread sleeve, a first tangent point, a second tangent point, a third tangent point and a fourth tangent point are respectively generated along the outer surface of the thread sleeve, the connecting line of the first tangent point and the third tangent point and the connecting line of the second tangent point and the fourth tangent point all penetrate through the central axis of the outer part of the thread sleeve, and the connecting line of the first tangent point and the third tangent point is perpendicular to the connecting line of the second tangent point and the fourth tangent point;
the driving part comprises an SMA wire, a pressure spring and a shock wave device; the SMA wires comprise a first SMA wire and a second SMA wire;
the shock wave device is a cylinder, and a shock wave device thread outer sleeve is sleeved on the circumferential surface of the cylinder; two groove planes are arranged at equal height positions of the shock wave device thread outer sleeve, and the central angle between the groove planes is 90 degrees; the pressure spring is propped between the groove and the lower outer cylinder, the lower surface of the shock wave device is connected with the base through a small balancing steel ball, the upper surface of the shock wave device is provided with a circular oscillating tooth track, and the inner surface of the oscillating tooth track is matched with the outer surface of the oscillating tooth;
the first end of the first SMA wire is connected with the first end of a first power supply, the second end of the first SMA wire penetrates through a first through hole of the lower outer barrel, and penetrates out of a third through hole after winding 180 degrees of a half circle of a shock wave device thread outer sleeve and is connected with the second end of the first power supply; the first end of the second SMA wire is connected with the first end of a second power supply, the second end of the second SMA wire penetrates through a second through hole of the lower outer barrel, and after winding 180 degrees of the half circle of the shock wave device thread outer sleeve, the second SMA wire penetrates through a fourth through hole and is connected with the second end of the second power supply; the current periods of the first power supply and the second power supply are different by a quarter period; the current cycle is equally divided into four stages, the SMA wire is electrified and preheated in the first stage, the SMA wire is continuously electrified to reach the phase change temperature in the second stage, the SMA wire performs phase change work, and the SMA wire is blown and cooled by power failure in the third stage and the fourth stage; the pressure spring is supported between the groove plane of the shock wave device thread outer sleeve and the lower outer cylinder, and can provide larger driving force; the shock wave device realizes creeping under the common tension action of the SMA wire and the pressure spring and provides power for the miniature speed reducing motor;
the transmission part comprises movable teeth, a movable tooth rack, a central wheel and an output shaft;
the movable teeth are spherical steel balls and move along a circumferential movable tooth track on the upper surface of the shock absorber under the constraint of the movable tooth rack, so that the central wheel is driven to rotate;
the movable tooth rack is in a ring shape with the upper surface and the lower surface being flat and is fixed between the upper outer cylinder shell and the lower outer cylinder shell, a gap is reserved between the lower surface of the movable tooth rack and the shock wave device, movable tooth through holes which are uniformly distributed along the circumference are processed in a manner of being vertical to the upper surface and the lower surface of the movable tooth rack, and the shape of each movable tooth through hole is matched with the outer surface of each movable tooth and is used for fixing the movable teeth to perform circumferential motion;
the central wheel is in a circular ring shape with the upper surface and the lower surface being planes, is arranged above the oscillating tooth rack and inside the upper outer cylinder, and is connected with the upper outer cylinder by utilizing a tapered roller bearing; the period number of the periodic sine waveform of the movable tooth track is determined by the number of movable teeth and the transmission ratio;
the axis of the output shaft is overlapped with the axis of the central wheel, and the output shaft is fixedly connected with the central wheel and used for outputting torque.
2. The microminiature SMA oscillating tooth driven motor according to claim 1, wherein the output shaft installed inside the center wheel is detachable.
3. The microminiature SMA oscillating tooth transmission motor according to claim 1, wherein the current cycle of the first power supply and the second power supply is 4s, the current of the first second is 15.7mA, the current of the second is 14.5mA, and the SMA wire is cooled by blowing after the power is cut off for the third second and the fourth second.
4. The microminiature SMA oscillating tooth driven motor according to claim 1, wherein the oscillating tooth holder is fixed between the upper outer cylinder and the lower outer cylinder by screws.
5. The microminiature SMA oscillating tooth driven motor according to claim 1, wherein the shock absorber has a smaller diameter of the upper cylinder and a larger diameter of the lower cylinder, and the outer thread sleeve is sleeved on the outer circumferential surface of the upper cylinder.
6. The microminiature SMA oscillating tooth driven motor according to claim 1, wherein four evenly distributed circular grooves are processed at the lower end of the shock absorber, and the grooves are used for accommodating the balancing steel ball balls.
7. The microminiature SMA oscillating tooth driven motor according to claim 1, wherein the section of the inner surface of the sine wave-shaped oscillating tooth motion track of the lower surface of the center wheel is a quadrangle with a narrow upper part and a wide lower part; the section of the inner surface of the oscillating tooth track on the upper surface of the shock wave device is a quadrangle with a narrow bottom and a wide upper opening.
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| CN111371341B true CN111371341B (en) | 2021-04-30 |
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| CN115264025B (en) * | 2022-07-22 | 2024-12-06 | 燕山大学 | A small steel ball movable tooth actuator based on shape memory alloy wire |
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