CN201500949U - Holding device based on shape memory alloy actuator - Google Patents
Holding device based on shape memory alloy actuator Download PDFInfo
- Publication number
- CN201500949U CN201500949U CN2009202363004U CN200920236300U CN201500949U CN 201500949 U CN201500949 U CN 201500949U CN 2009202363004 U CN2009202363004 U CN 2009202363004U CN 200920236300 U CN200920236300 U CN 200920236300U CN 201500949 U CN201500949 U CN 201500949U
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- sma
- slide block
- spring
- heat pump
- sma spring
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Abstract
The utility model discloses a holding device based on a shape memory alloy actuator, which comprises an actuation portion and a holding portion. The holding device is characterized in that the actuation portion comprises at least two SMA springs and a return spring, the SMA springs are in central symmetrical distribution relative to the return spring, and each SMA spring is coated with a semiconductor heat pump; the holding portion comprises a sliding block, a pair of curved bars and a pair of press heads, the curved bars are distributed symmetrically, opposite ends of the curved bars are slidably inserted in a slideway arranged in the sliding block, other ends of the curved bars are respectively connected with the press heads correspondingly, and fulcrums of the curved bars are respectively connected with an engine body via a supporting rack; and one end of the actuation portion is fixedly connected with the engine body while the other end is connected with the sliding block, and a workpiece holding space is arranged between the press heads. The combination of the semiconductor heat pumps and the SMA springs are used as an actuating source of the holding portion to realize use of shape memory alloy SMA in the actuating source. Besides, the holding device is easy in control and high in energy utilization without pollution.
Description
Technical field
The utility model relates to a kind of anchor clamps of holding workpiece processing, is specifically related to a kind of clamping device that drives based on marmem, is mainly used in the clamping location for the treatment of processing parts in the manufacturing industry.
Background technology
At present, widely used in the manufacturing industry is hydraulic pressure or air clamper, and the basic comprising of hydraulic pressure and air pressure clamping device is a drive unit, as hydraulic pump and pulsometer etc., and the transfer device of power such as piston rod and motion, energy conversion device etc.But all there are the shortcoming of himself in hydraulic pressure and air-actuated jaw: one, hydraulically operated fixture need provide pressure oil pump, and air-actuated jaw then needs to provide compressed-air actuated air compressor machine, thereby both drive source complexity, the cost height; Two, power conversion and controlling unit are many, whole clamping device complex structure, and the energy conversion utilization rate is low; Three, hydraulically operated fixture is revealed because of fluid and is caused environmental pollution, and air-actuated jaw causes noise pollution easily, and green degree is not high; Four, to realize hydraulic pressure, pneumatic intelligent control, must be through electricity-liquid, electricity-gas shift element, conversion links complexity, sigal transfering lag.Because the existence of above-mentioned all kinds of problems, we need seek a kind of new drive energy and replace in the past hydraulic pressure and pneumatic power.
Marmem (SMA) is a kind of SME (SME) that has, and collects driving, perception and is executed in one, and the novel intelligent material that the input heat can externally do work has obtained very fast development in recent years.So-called SME is meant and gives SMA material certain amount of plastic deformation in advance that then heat SMA to a certain temperature, because internal crystal structure changes, SMA will overcome plastic deformation and be returned to original form.In contraction process, will produce huge recovery stress, therefore it can be applied in the driver as driving force.Compare with the conventional ADS driving mode, with the Ti-Ni alloy be the marmem of representative have power/quality than high, reply displacement big (about 8%), recovery stress big (about 800MPa), characteristics that driving voltage is low.Owing to only need provide heat to drive, recovery stress that produces and answer displacement can act directly on the workpiece, reduced intermediate transmission mechanism, but therefore utilize the characteristics of Ti-Ni alloy inverse stress, strain effect, the Ti-Ni alloy is made into spring for realizing drive source, can remedies all kinds of problems of surging that have now with pneumatic power.
Power output, displacement, the response speed of Ti-Ni SMA spring drive is subjected to the influence of drive current, cooling velocity, predeformation amount and load very big, will select suitable parameters during design.Because the temperature of SMA is subjected to the influence of environment very big, during with step mode heating SMA, only control output displacement and power that electric current is difficult to accurate control driver, so need provide parameters such as temperature, output displacement and power comprehensively electric current to be carried out FEEDBACK CONTROL, control is comparatively complicated; Maximum shortcoming is that low (＜1～5Hz), its main cause is that temperature-fall period is slow in the SMA thermal cycle process to response frequency, and method commonly used at present is the nature cooling and forces cooling.Naturally cooling refers to cool off in air, and cooling velocity is slow, has a strong impact on the response frequency of whole device.Force cooling to realize, improved cooling velocity as methods such as air-cooled, water-cooled, cooling bay or increase heat-absorbing materials, but complex structure.
Therefore, how good the applying in the clamping device of driving force of marmem (SMA) gone, further research and development await.
Summary of the invention
The utility model purpose provides a kind of clamping device that drives based on marmem, by the improvement to structure, makes apparatus structure simple, pollution-free and noise, and energy loss is little, and response frequency improves and is easy to be controlled.
For achieving the above object, the technical solution adopted in the utility model is: a kind of clamping device that drives based on marmem, comprise drive division and clamping part, described drive division comprises at least two SMA springs, a back-moving spring, described SMA spring is that the center is symmetrically distributed with described back-moving spring, and each described SMA spring is wrapped with thermoelectric heat pump; Described clamping part comprises a slide block, a pair of curved bar and a pair of pressure head, two described curved bars are symmetrically distributed, its opposite end cunning inserts in the slideway of offering in the described slide block, and the other end connects with corresponding described pressure head respectively, and described curved bar fulcrum place is connected with body through bracing frame respectively; One end of described drive division is fixedlyed connected with body, and the other end is connected with described slide block, is provided with the piece-holder space between the described a pair of pressure head.
In the technique scheme, described thermoelectric heat pump is a kind of heating/cooling module, mainly by many thermocouples that P type and N-type semiconductor electrode are formed, can realize after the energising that heat energy changes mutually, after connecting dc source, produce the temperature difference at the semiconductor two ends, one of them joint heat absorption, temperature reduces, and forms cold junction; Another joint heat release, temperature raises, and forms the hot junction.In the time of in applying to the utility model, heat SMA in the hot junction, and cold junction freezes to SMA, can realize that promptly heat exchanging process is reverse as long as change the sense of current, rate of heat exchange is directly relevant with the institute galvanization, therefore can be by the action of control Current Control SMA, realize that intellectuality controls.The SMA spring is surrounded by thermoelectric heat pump, and the very thin grease of one deck is set between SMA spring and thermoelectric heat pump, can strengthen lubricating between them when the SMA spring has big variation, thereby prevent to destroy half heat conduction pump, and can strengthen the heat exchange between them.Its operation principle is: when heat the SMA spring in the thermoelectric heat pump hot junction, the SMA spring produces contraction because internal crystal structure changes, the recovery stress that produces overcomes the motion of back-moving spring power post-tensioning movable slider, sliding insert in the curved bar end in the slider slideway since be subjected to the slideway sidewall extruding force and around support motion, the swing of drive curved bar, thereby the pressure head power output is acted on the workpiece that is positioned at the piece-holder space, realize clamping action.After machining, change the sense of current, the exchange of thermoelectric heat pump cool and heat ends, to the cooling of SMA spring, the SMA elongation under the motive force of back-moving spring, moves the slide block return simultaneously, under the swing that drives curved bar, unclamps workpiece by cold junction.So utilize thermoelectric heat pump heating/cooling SMA spring, be easy to control the displacement (feeding electric current by the control thermoelectric heat pump realizes) of SMA spring on the one hand, quicken the cool time of SMA spring on the other hand, quicken cold/heat exchange frequency, satisfy the needs of clamping operation.
In the technique scheme, being provided with the displacement space between described thermoelectric heat pump and the described slide block, matches with described SMA spring contraction shift length in this displacement space, and described SMA spring is fixedlyed connected with described slide block; Another kind of technical scheme is, the corresponding described thermoelectric heat pump of described slide block place is provided with groove, and the degree of depth of this groove matches with described SMA spring contraction shift length.
In the technique scheme, the nearly slider end of described curved bar is provided with roller, and rolling with described slideway one sidewall is connected another sidewall matched in clearance.Adopt roller transmission campaign, make mechanism's symmetry height, friction loss is little; Roller rolls, and workpiece can be realized the heart is clamped, and can guarantee the centrad of processing work easily.
Because the technique scheme utilization, the advantage that the utility model compared with prior art has is:
1, because the utility model adopts thermoelectric heat pump heating/cooling SMA spring, drive clamping part by the convergent force after the heating of SMA spring, behind a spot wobble, drive pressure head by the curved bar displacement, thereby clamping work pieces, opposite, by changing the current phase of thermoelectric heat pump, the SMA spring extends and promotes clamping part by back-moving spring, the pressure head return unclamps, with the pneumatic or drive source that surges in the past, the drive source of thermoelectric heat pump and SMA spring assembly, structure is more simple, heat/freeze and be easy to control energy utilization rate height and pollution-free;
2, adopt thermoelectric heat pump heating/cooling SMA spring, on the one hand the SMA spring is added heat displacement amount and be easier to control (the electrical current amount of control thermoelectric heat pump), can accelerate the cooling velocity of SMA spring on the other hand, thereby improve response frequency, to adapt to manufacturing use needs.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment one;
Fig. 2 is a thermoelectric heat pump model schematic diagram among the utility model embodiment one.
Wherein: 1, thermoelectric heat pump; 2, SMA spring; 3, back-moving spring; 4, slide block; 5, slideway; 6, roller; 7, curved bar; 8, bracing frame; 9, pressure head; 10, workpiece; 11, body.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further described:
Embodiment one: referring to Fig. 1, shown in 2, a kind of clamping device that drives based on marmem, comprise drive division and clamping part, described drive division comprises the SMA spring 2 of 8 Ni-Ti base marmems, a back-moving spring 3, described SMA spring 2 is that the center is symmetrically distributed with described back-moving spring 3, each described SMA spring 2 is wrapped with thermoelectric heat pump 1, thermoelectric heat pump 1 is by many thermocouples that P type and N-type semiconductor electrode are formed, as shown in Figure 2, after applying electric current, cold junction will absorb heat, and will dispel the heat in the hot junction, the rate of heat exchange size is directly relevant with the size of current of being led to, and after applying reversing the current, heat exchanging process is realized oppositely.Be provided with one deck grease between thermoelectric heat pump and the SMA spring 2, when SMA spring 2 has big variation, can strengthen lubricating between them, thereby prevent to destroy half heat conduction pump, and can strengthen the heat exchange between them;
Described clamping part comprises a slide block 4, a pair of curved bar 7 and a pair of pressure head 9, two described curved bars 7 are symmetrically distributed up and down, be respectively equipped with roller 6 on its opposite end, sliding inserting in the rectangle slideway of offering in the described slide block 5, roll with described slideway 5 sidewalls and be connected in roller 6 right sides, the left side cooperates with slideway 5 sidewall spacers, the end of oppisite phase of two curved bars 7 respectively with corresponding described pressure head 9 connections, the fulcrum place is connected with body 11 through bracing frame 8 respectively, is provided with workpiece 10 grasping parts between the described upper and lower pressure head 9;
The left end of described drive division is fixedlyed connected with body 11, and the right-hand member place is stated between thermoelectric heat pump 1 and the described slide block 4 and is provided with the displacement space, matches with described SMA spring 2 contraction shift lengths in this displacement space, and described SMA spring 2 is fixedlyed connected with described slide block 4.
The displacement of SMA spring 2 outputs mainly is made up of the phase variable displacement of SMA silk and deformational displacement two parts of spring.For guaranteeing the access times of SMA, generally with the phase transformation offset qualification of SMA silk between 2%-4%, and the output displacement design of the deformational displacement of spring during by final clamping work pieces tried to achieve, influenced by the shear modulus G of material, the number of active coils n and the spring material diameter d of curling up than C, spring, designing and calculating can be carried out by the clamping force that clamping process needs in the footpath in the diameter of the quantity of required SMA spring 2 and silk and the SMA spring 2, obtains related data.In the present embodiment, take 8 SMA springs 2 and evenly be connected between left side body 11 and the right side slide block 4, SMA spring 2 diameter d=2mm, footpath D=20mm curls up than C=10 in the SMA spring 2, and the phase variable displacement gets 3%, and SMA spring 2 initial lengths are L
0=100mm, the length of the long part of curved bar 7 is L
1=300mm is L by power arm
2=100mm, when SMA spring 2 was subjected to thermal contraction, its amount of contraction was L
0* 3%, establishing the angle that curved bar 7 turns over is θ, the displacement that can get curved bar 7 outputs according to geometrical relationship
When X=1mm, it is 2mm that this device is gone up the living displacement of push-down head 9 common properties.
Embodiment 2: in the present embodiment, its structure and embodiment 1 are similar substantially, difference is: the corresponding described thermoelectric heat pump of described slide block place is provided with, and the degree of depth of this groove is shunk shift length with described SMA spring and matched, after the SMA spring is subjected to thermal contraction, slide block moves to drive division, stretch in the groove of thermoelectric heat pump end on slide block, after the cooling of SMA spring, the elongation of SMA spring, back-moving spring is passed slide block to workpiece side, thermoelectric heat pump end return.
Claims (4)
1. clamping device that drives based on marmem, comprise drive division and clamping part, it is characterized in that: described drive division comprises at least two SMA springs, a back-moving spring, described SMA spring is that the center is symmetrically distributed with described back-moving spring, and each described SMA spring is wrapped with thermoelectric heat pump; Described clamping part comprises a slide block, a pair of curved bar and a pair of pressure head, two described curved bars are symmetrically distributed, its opposite end cunning inserts in the slideway of offering in the described slide block, and the other end connects with corresponding described pressure head respectively, and described curved bar fulcrum place is connected with body through bracing frame respectively; One end of described drive division is fixedlyed connected with body, and the other end is connected with described slide block, is provided with the piece-holder space between the described a pair of pressure head.
2. the clamping device that drives based on marmem according to claim 1, it is characterized in that: be provided with the displacement space between described thermoelectric heat pump and the described slide block, match with described SMA spring contraction shift length in this displacement space, described SMA spring is fixedlyed connected with described slide block.
3. the clamping device that drives based on marmem according to claim 1 is characterized in that: the corresponding described thermoelectric heat pump of described slide block place is provided with groove, and the degree of depth of this groove is shunk shift length with described SMA spring and matched.
4. the clamping device that drives based on marmem according to claim 1, it is characterized in that: the nearly slider end of described curved bar is provided with roller, and rolling with described slideway one sidewall is connected another sidewall matched in clearance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202363004U CN201500949U (en) | 2009-09-27 | 2009-09-27 | Holding device based on shape memory alloy actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202363004U CN201500949U (en) | 2009-09-27 | 2009-09-27 | Holding device based on shape memory alloy actuator |
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| Publication Number | Publication Date |
|---|---|
| CN201500949U true CN201500949U (en) | 2010-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009202363004U Expired - Fee Related CN201500949U (en) | 2009-09-27 | 2009-09-27 | Holding device based on shape memory alloy actuator |
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| CN (1) | CN201500949U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011163259A2 (en) | 2010-06-22 | 2011-12-29 | Neil Tice | Thermal engine capable of utilizing low-temperature sources of heat |
| CN102927158A (en) * | 2011-12-31 | 2013-02-13 | 苏州大学 | Secondary reinforcement centrifugal clutch |
-
2009
- 2009-09-27 CN CN2009202363004U patent/CN201500949U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011163259A2 (en) | 2010-06-22 | 2011-12-29 | Neil Tice | Thermal engine capable of utilizing low-temperature sources of heat |
| EP2585686A4 (en) * | 2010-06-22 | 2018-04-04 | Neil Tice | Thermal engine capable of utilizing low-temperature sources of heat |
| CN102927158A (en) * | 2011-12-31 | 2013-02-13 | 苏州大学 | Secondary reinforcement centrifugal clutch |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100609 Termination date: 20120927 |