CN114523468B - Microminiature two-way rotary driver based on shape memory alloy wire - Google Patents
Microminiature two-way rotary driver based on shape memory alloy wire Download PDFInfo
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- CN114523468B CN114523468B CN202210233771.XA CN202210233771A CN114523468B CN 114523468 B CN114523468 B CN 114523468B CN 202210233771 A CN202210233771 A CN 202210233771A CN 114523468 B CN114523468 B CN 114523468B
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- shape memory
- memory alloy
- shell
- alloy wire
- fixed terminal
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a microminiature two-way rotation driver based on a shape memory alloy wire, which comprises an upper side shell, a lower side shell, an input gear shaft, an output gear shaft, a first fixed terminal, a first stud, a second fixed terminal, a second stud and the shape memory alloy wire. The shell is provided with a spiral groove, the shape memory alloy wire is arranged in the spiral groove, the length of the shape memory alloy wire is prolonged in a limited space, and then a larger rotation angle range can be achieved, the shape memory alloy wire is used for driving one larger gear to rotate, the other smaller gear is driven by the larger gear to rotate, and the rotation angle range of the driver is further increased. The upper and lower shape memory alloy wires can realize bidirectional rotation. The invention has the advantages that the shape memory alloy wire is integrated into a small-sized joint rotation driver, the shape memory alloy wire is combined with the traditional gear mechanism, and the output displacement of the driver is increased by utilizing the gear mechanism.
Description
Technical Field
The invention relates to the technical field of piezoelectric driving, in particular to a microminiature bidirectional rotary driver based on a shape memory alloy wire.
Background
With the vigorous development of shape memory alloy driving technology, shape memory alloy wires have been widely used in the driving of intelligent microminiature robots. At present, the shape memory alloy wire is compositely embedded into a robot body in a main application mode of the shape memory alloy wire drive in the robot field, and the arrangement mode is favorable for reducing the volume and the weight, but is very complicated to operate when the parameters of a part of the robot change or the driver needs to be replaced. In addition, most shape memory alloy drivers provide a large working range while ensuring miniaturization, and the output force is greatly reduced by adopting a shape memory alloy spring. Therefore, the shape memory alloy wire driver which has universality, microminiaturization and light weight and can ensure larger output force can be developed to meet the development requirement of the microminiature robot.
Disclosure of Invention
The invention aims to provide a microminiature bidirectional rotary driver based on a shape memory alloy wire, which has the advantages of universality, compact structure, small volume, large output angle and the like
The technical scheme adopted by the invention is as follows:
the invention provides a microminiature bidirectional rotary driver based on a shape memory alloy wire, which comprises an upper side shell, a lower side shell, an input gear shaft, an output gear shaft, a first fixed terminal, a first stud, a second fixed terminal, a second stud and the shape memory alloy wire;
the upper side shell and the lower side shell are vertically symmetrically and fixedly connected; the second double-head screw column is vertically arranged between the rear ends of the upper shell and the lower shell; the second fixing terminals are respectively arranged at the upper end and the lower end of the second double-end stud and are respectively fixedly connected with the upper shell and the lower shell; the input gear shaft is vertically hinged between the rear sides of the inner parts of the upper shell and the lower shell; the output gear shaft is vertically hinged between the front sides of the inner parts of the upper shell and the lower shell and is meshed with the input gear shaft; the outer end surfaces of the upper side shell and the lower side shell are respectively provided with reverse spiral grooves around the axis of the input gear shaft; the starting end of the spiral groove is connected with an arc through hole coaxial with the input gear shaft; the tail end of the spiral groove corresponds to the second fixed terminal; the first stud is vertically and fixedly connected to the inner circumference of the gear end face of the input gear shaft and corresponds to the initial end of the circular arc through hole; the first fixing terminal is arranged at the upper end of the first stud and is positioned in the circular arc through hole; the shape memory alloy wire is arranged in the spiral groove, the starting end is connected with the first fixed terminal, and the tail end is connected with the second fixed terminal; the shape memory alloy wire can slide in the spiral grooves of the upper and lower side shells.
Further, the upper side shell and the lower side shell are fixedly connected through a second stud, a pair of second fixing terminals and bolts.
Further, the second fixed terminal comprises a first shaft section and a second shaft section arranged at the bottom of the first shaft section; the second fixed terminals are used in pairs, and the first shaft sections of the two second fixed terminals are respectively connected with corresponding through holes on the upper side shell and the lower side shell; the second shaft sections of the two second fixing terminals are respectively and fixedly connected with two ends of the second double-head screw column, and play a role in fixing the shells at two sides; the bottom of the second shaft section is provided with a thread groove for screwing with the thread of the second double-head screw column.
Further, the first shaft section of the second fixed terminal is provided with an axial threaded hole, and the side surface of the first shaft section is provided with a circular through hole communicated with the axial threaded hole; the tail end of the shape memory alloy wire passes through the circular through hole and is fixedly connected to the second fixing terminal through a bolt.
Further, the upper end face and the lower end face of the first fixed terminal are respectively provided with an axial threaded hole, and the side face of the threaded hole of the upper end face is provided with a circular through hole; the starting end of the shape memory alloy wire passes through the circular through hole on the first fixed terminal and is fixedly connected to the first fixed terminal through a bolt.
Further, the first stud comprises a first shaft section and a second shaft section arranged at one side of the first shaft section; the first shaft section is fixedly connected with the lower side of the first fixed terminal through threads; the second shaft section is fixedly connected with the gear end face of the input gear shaft through threads.
Further, the gear of the input gear shaft is a large gear; the gear of the output gear shaft is a pinion; the number of teeth of the input gear shaft is larger than that of the output gear shaft.
Compared with the prior art, the invention has the following beneficial effects:
compared with the traditional shape memory alloy wire driving mode on the microminiature robot, the invention has the advantages that: the shape memory alloy wire driving mode is integrated into a microminiature joint rotation driver, so that the microminiature joint rotation driver has universality and portability; the shape memory alloy wires are arranged in the spiral grooves, so that the lengths of the shape memory alloy wires are prolonged in a limited space, and a larger rotation angle range can be further realized; the shape memory alloy wire is combined with a traditional gear mechanism, and the rotation angle range of the driver is further increased by utilizing the gear mechanism; the shape memory alloy wires and the gear mechanism are arranged in parallel through the special structure, so that the size of the driver is effectively reduced, and the structure of the driver is more compact.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the overall semi-section structure of the present invention;
FIG. 3 is a schematic view of a first stud according to the present invention;
fig. 4 is a schematic structural view of a second fixing terminal according to the present invention;
fig. 5 is a schematic structural view of the upper case of the present invention.
Wherein, the reference numerals: 1-an upper side housing; 101-spiral grooves; 102-arc through holes; 2, inputting a gear shaft; 3-an output gear shaft; 4-a first fixed terminal; 401-a first circular through hole; 5-a first stud; 501-a first shaft section; 502-a second shaft section; 6-a second fixed terminal; 601 a first shaft section; 602-a second shaft section; 603-a second circular through hole; 7-a second stud; 8-shape memory alloy wire; 9-underside housing.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
It should be noted that, in the description of the present invention, the terms "upper", "lower", "top", "bottom", "one side", "another side", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and do not mean that the device or element must have a specific orientation, be configured and operated in a specific orientation.
Referring to fig. 1 to 5, there is shown a specific structure of one embodiment of a microminiature bi-directional rotary actuator based on a shape memory alloy wire according to the present invention, which comprises an upper housing 1, an input gear shaft 2, an output gear shaft 3, a first fixing terminal 4, a first stud 5, a second fixing terminal 6, a second stud 7, a shape memory alloy wire 8 and a lower housing 9.
The upper shell 1 and the lower shell 9 are arranged vertically symmetrically, and the outer side is provided with corresponding threaded holes; the second stud 7 is vertically arranged between the rear ends of the upper side shell 1 and the lower side shell 9; the second fixing terminals 6 are respectively arranged at the upper end and the lower end of the second stud 7 and are respectively fixedly connected with the upper side shell 1 and the lower side shell 9; the upper shell 1 and the lower shell 9 are fixedly connected through a second double-head screw column 7, a pair of second fixed terminals 6 and bolts.
The input gear shaft 2 is vertically hinged between rear side areas inside the upper side casing 1 and the lower side casing 9; the output gear shaft 3 is vertically hinged between the front side areas inside the upper side casing 1 and the lower side casing 9, and both ends extend to the outside of the upper side casing 1 and the lower side casing 9 respectively; the gears of the output gear shaft 3 are meshed with the gears of the input gear shaft 2; the gears of the input gear shaft 2 are large gears, the gears of the output gear shaft 3 are small gears, and the number of teeth of the input gear shaft 2 is larger than that of the output gear shaft 3.
The outer end surfaces of the upper shell 1 and the lower shell 9 are respectively provided with a spiral groove 101 around the axle center of the input gear shaft 2; the starting end of the spiral groove 101 is provided with an arc through hole 102 coaxial with the input gear shaft 2, and the inner end of the arc through hole 102 is intersected with the starting end of the spiral groove 101; the end of the spiral groove 101 corresponds to the second fixed terminal 6.
The first studs 5 are symmetrically and vertically fixedly connected to the upper side and the lower side of the inner circumference of the gear end face of the input gear shaft 2, and the first studs 5 on the upper side and the lower side respectively correspond to the longitudinal positions of the inner ends of the circular arc through holes 102 on the upper side shell 1 and the lower side shell 9; the first fixing terminal 4 is arranged at the outer end of the first stud 5, is respectively and correspondingly positioned in the circular arc through holes 102 on the upper side shell 1 and the lower side shell 9, and can slide in the circular arc through holes 102; the shape memory alloy wire 8 is correspondingly arranged in the spiral groove 101, the starting end of the shape memory alloy wire 8 is connected with the first fixed terminal 4, and the tail end of the shape memory alloy wire 8 is connected with the second fixed terminal 6; the shape memory alloy wire 8 is slidable within the helical groove 101.
Wherein the second fixed terminal 6 comprises a first shaft section 601 and a second shaft section 602 arranged at the bottom of the first shaft section 601; the second fixed terminals 6 are used in pairs, and the first shaft sections 601 of the two second fixed terminals 6 are respectively connected with corresponding mounting through holes on the upper side shell and the lower side shell; the second shaft sections 602 of the two second fixed terminals 6 are respectively and fixedly connected with the two ends of the second double-head screw posts 7, and play a role in fixing the shells on the two sides; the bottom of the second shaft section 602 is provided with a threaded groove for screwing with the second double-head screw 7. An axial threaded hole is formed in the first shaft section 601 of the second fixed terminal 6, and a second circular through hole 603 communicated with the axial threaded hole is formed in the side face of the second fixed terminal; the tail end of the shape memory alloy wire 8 passes through the second round through hole 603 and is fixedly connected to the second fixed terminal 6 through a bolt.
Axial threaded holes are formed in the upper end face and the lower end face of the first fixed terminal 4, and a first circular through hole 401 is formed in the side face of the threaded hole in the upper end face; the starting end of the shape memory alloy wire 8 passes through the first round through hole 401 on the first fixed terminal 4 and is fixed on the first fixed terminal 4 through bolting. The first stud 5 comprises a first shaft section 501 and a second shaft section 502 arranged at one end of the first shaft section; the lower sides of the first shaft section 501 and the first fixed terminal 4 are fixedly connected through threads; the second shaft section 502 is fixedly connected with the gear end face of the input gear shaft 2 through threads.
In this embodiment, the overall size of the driver is 41.5x32 x 18mm; the inner profile equation of the spiral groove 101 is r=0.55θ, the groove width of the spiral groove 101 is 1.5mm, and the groove depth is 2mm; the diameter of the central line of the circular arc through hole 102 is 10.5mm, and the width is 3mm; the wire diameter of the shape memory alloy wire 8 is 0.3mm, the length is 120mm, and the shrinkage rate is 3%; the modulus of the input gear shaft 2 and the output gear shaft 3 is 0.5, and the number of teeth is 50 and 20 respectively; the output shaft diameter of the output gear shaft 3 is 6mm.
The working principle of the invention is as follows: the two shape memory alloy wires 8 are respectively arranged in the spiral grooves 101 of the two side shells; the starting end of the positive shape memory alloy wire 8 is fixed on the upper side of the input gear shaft 2 through the first fixed terminal 4 and the first stud 5, and the tail end is fixed on the shell through the second fixed terminal 6 and the second stud 7. The starting end of the reverse shape memory alloy wire is fixed on the lower side of the input gear shaft 2 through a first fixed terminal 4 and a first double-end stud 5, and the tail end of the reverse shape memory alloy wire is fixed on the lower side shell 1 through a second fixed terminal 6 and a second double-end stud 7. In the initial state, the forward shape memory alloy wire 8 is in a pre-extension state, the reverse shape memory alloy wire 8 is in a contraction state, the reverse shape memory alloy wire 8 is powered off in the forward stroke, the forward shape memory alloy wire 8 is electrified and contracted, the first fixed terminal 4 and the first stud 5 drive the input gear shaft 2 to rotate, and the gear mechanism drives the output gear shaft 3 to rotate, so that the rotation angle range of the driver is further increased because the number of teeth of the input gear shaft 2 is larger than that of the output gear shaft 3. At the same time, the input gear shaft 2 rotates through the first stud 5 and the first fixed terminal 4 at the other side, so that the reverse shape memory alloy wire 8 is elongated. During the reverse stroke, the forward shape memory alloy wire 8 is powered off, the reverse shape memory alloy wire 8 is powered on and contracted, and the working principle is the same. According to the above driving sequence, bidirectional rotation of the driver is achieved.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (3)
1. A microminiature bi-directional rotation driver based on shape memory alloy wire is characterized in that: the driver comprises an upper side shell, a lower side shell, an input gear shaft, an output gear shaft, a first fixed terminal, a first stud, a second fixed terminal, a second stud and a shape memory alloy wire;
the upper side shell and the lower side shell are vertically symmetrically and fixedly connected; the second double-head screw column is vertically arranged between the rear ends of the upper shell and the lower shell; the second fixing terminals are respectively arranged at the upper end and the lower end of the second double-end stud and are respectively fixedly connected with the upper shell and the lower shell; the input gear shaft is vertically hinged between the rear sides of the inner parts of the upper shell and the lower shell; the output gear shaft is vertically hinged between the front sides of the inner parts of the upper shell and the lower shell and is meshed with the input gear shaft; the outer end surfaces of the upper side shell and the lower side shell are respectively provided with reverse spiral grooves around the axis of the input gear shaft; the starting end of the spiral groove is connected with an arc through hole coaxial with the input gear shaft; the tail end of the spiral groove corresponds to the second fixed terminal; the first stud is vertically and fixedly connected to the inner circumference of the gear end face of the input gear shaft and corresponds to the initial end of the circular arc through hole; the first fixing terminal is arranged at the upper end of the first stud and is positioned in the circular arc through hole; the shape memory alloy wire is arranged in the spiral groove, the starting end is connected with the first fixed terminal, and the tail end is connected with the second fixed terminal; the shape memory alloy wire can slide in the spiral grooves of the upper shell and the lower shell;
the second fixed terminal comprises a first shaft section and a second shaft section arranged at the bottom of the first shaft section; the second fixed terminals are used in pairs, and the first shaft sections of the two second fixed terminals are respectively connected with corresponding through holes on the upper side shell and the lower side shell; the second shaft sections of the two second fixing terminals are respectively and fixedly connected with two ends of the second double-head screw column, and play a role in fixing the shells at two sides; the bottom of the second shaft section is provided with a thread groove for screwing with the thread of the second double-head screw column;
the first shaft section of the second fixed terminal is provided with an axial threaded hole, and the side surface of the first shaft section is provided with a circular through hole communicated with the axial threaded hole; the tail end of the shape memory alloy wire passes through the circular through hole and is fixedly connected to the second fixed terminal through a bolt;
axial threaded holes are formed in the end faces of the upper side and the lower side of the first fixed terminal, and round through holes are formed in the side faces of the threaded holes of the end face of the upper side; the starting end of the shape memory alloy wire passes through a circular through hole on the first fixed terminal and is fixedly connected to the first fixed terminal through a bolt;
the first stud comprises a first shaft section and a second shaft section arranged on one side of the first shaft section; the first shaft section is fixedly connected with the lower side of the first fixed terminal through threads; the second shaft section is fixedly connected with the gear end face of the input gear shaft through threads.
2. A miniature bi-directional rotary actuator based on shape memory alloy wires as set forth in claim 1, wherein: the upper side shell and the lower side shell are fixedly connected through a second stud and a pair of second fixing terminals and bolts.
3. A miniature bi-directional rotary actuator based on shape memory alloy wires as set forth in claim 1, wherein: the gear of the input gear shaft is a large gear; the gear of the output gear shaft is a pinion; the number of teeth of the input gear shaft is larger than that of the output gear shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210233771.XA CN114523468B (en) | 2022-03-10 | 2022-03-10 | Microminiature two-way rotary driver based on shape memory alloy wire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210233771.XA CN114523468B (en) | 2022-03-10 | 2022-03-10 | Microminiature two-way rotary driver based on shape memory alloy wire |
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| Publication Number | Publication Date |
|---|---|
| CN114523468A CN114523468A (en) | 2022-05-24 |
| CN114523468B true CN114523468B (en) | 2023-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210233771.XA Active CN114523468B (en) | 2022-03-10 | 2022-03-10 | Microminiature two-way rotary driver based on shape memory alloy wire |
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| CN (1) | CN114523468B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006333653A (en) * | 2005-05-27 | 2006-12-07 | Konica Minolta Holdings Inc | Motor and lens drive mechanism using the same |
| WO2009068250A1 (en) * | 2007-11-29 | 2009-06-04 | Roche Diagnostics Gmbh | Drug delivery device with shape memory actuator, lead screw and ratchet mechanism |
| CN103080543A (en) * | 2010-08-20 | 2013-05-01 | 株式会社青电舍 | Shock-driven actuator |
| KR20150013017A (en) * | 2013-07-25 | 2015-02-04 | 크루셜텍 (주) | Actuator Using Shape Memory Alloy Wire |
| CN104942790A (en) * | 2015-06-16 | 2015-09-30 | 天津理工大学 | Mini-type soft modularized reconfigurable robot unit module |
| KR101574664B1 (en) * | 2014-08-27 | 2015-12-04 | 국방과학연구소 | Separation device using a shape memory alloy wire |
| JP2017024117A (en) * | 2015-07-21 | 2017-02-02 | キヤノン株式会社 | Spirally deformable soft device and robot system using the same |
| CN208057327U (en) * | 2018-04-24 | 2018-11-06 | 西安航空学院 | SMA actuator |
-
2022
- 2022-03-10 CN CN202210233771.XA patent/CN114523468B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006333653A (en) * | 2005-05-27 | 2006-12-07 | Konica Minolta Holdings Inc | Motor and lens drive mechanism using the same |
| WO2009068250A1 (en) * | 2007-11-29 | 2009-06-04 | Roche Diagnostics Gmbh | Drug delivery device with shape memory actuator, lead screw and ratchet mechanism |
| CN103080543A (en) * | 2010-08-20 | 2013-05-01 | 株式会社青电舍 | Shock-driven actuator |
| KR20150013017A (en) * | 2013-07-25 | 2015-02-04 | 크루셜텍 (주) | Actuator Using Shape Memory Alloy Wire |
| KR101574664B1 (en) * | 2014-08-27 | 2015-12-04 | 국방과학연구소 | Separation device using a shape memory alloy wire |
| CN104942790A (en) * | 2015-06-16 | 2015-09-30 | 天津理工大学 | Mini-type soft modularized reconfigurable robot unit module |
| JP2017024117A (en) * | 2015-07-21 | 2017-02-02 | キヤノン株式会社 | Spirally deformable soft device and robot system using the same |
| CN208057327U (en) * | 2018-04-24 | 2018-11-06 | 西安航空学院 | SMA actuator |
Non-Patent Citations (1)
| Title |
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| 基于形状记忆合金的变刚度外骨骼设计与建模;丛明等;华中科技大学学报（自然科学版）;第49卷(第4期);第26-31页 * |
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