CN203420842U - Micro drive system and clamping system with same - Google Patents
Micro drive system and clamping system with same Download PDFInfo
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- CN203420842U CN203420842U CN201320375800.2U CN201320375800U CN203420842U CN 203420842 U CN203420842 U CN 203420842U CN 201320375800 U CN201320375800 U CN 201320375800U CN 203420842 U CN203420842 U CN 203420842U
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- memory alloy
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- drive link
- alloy rod
- hinged
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Abstract
The utility model discloses a micro drive system and a clamping system with the micro drive system. Based on a shape memory effect, two perpendicular shape memory alloy rods are adopted to carry out driving, the first shape memory alloy rod carries out closing contraction and pushes a drive piston to move forward through a transmission rod component, the second shape memory alloy rod carries out closing contraction and drives the drive piston to reset, and meanwhile the two shape memory alloy rods can be stretching power sources generating plastic deformation of each other. The clamping system comprises the micro drive system and an internal reflux area differential travel amplification device, a reflowing hole is formed in an output piston, the differential effect is achieved, the effective action area of the output piston is only the cross section area of a piston rod, and therefore the amplification coefficient can be improved on the basis of reducing the size of the travel amplification device. Compared with a traditional drive clamping device, the clamping system is small in size, simple in structure, good in controllability, few in energy transformation link, high in energy use ratio, free of pollution and environmentally friendly.
Description
Technical field
The utility model belongs to mechanical grip technical field, the Clamping system that is specifically related to a kind of micro actuator and comprises this system.
Background technique
At present in manufacturing industry, be widely used hydraulic pressure or pneumatic mode clamps, however current clamping mode all come with some shortcomings, for example: 1, hydraulic fixture need to provide pressure oil pump, pneumatic fixture need to provide compressed-air actuated air compressor, driving source mechanism is complicated, and cost is high, and volume is larger; 2, provide the transformation of energy link of required clamping force more, energy loss is larger, and the utilization ratio of the energy is low; 3, the mechanical transmission that has High Rotation Speed, noise pollution is more serious, and in addition, hydraulic pressure installation also exists fluid to reveal the problem of befouling environment, easily causes environmental pollution.
Traditional area effect stroke amplification device is based on pascal's principle, take in the obturator that fluid is medium, and when promoting the little piston of diameter with the large piston of diameter, output displacement will be exaggerated, and be a stroke amplification device.The formula of stroke power gain is as follows:
Wherein, L
i, L
obe respectively the displacement amount of driven plunger and output piston, D, d is respectively the diameter of driven plunger and output piston.Its significant advantage is to obtain larger power gain, reaches considerable amplification effect.
Yet there is certain defect in traditional area effect stroke amplification device.When determining magnification factor, if the size of restriction driven plunger, output piston size is also thereupon fixing, in order to lay Returnning spring in rod chamber, must sacrifice the size of output piston bar, so just may cause piston rod undersized, insufficient rigidity, produces the problems such as strut buckling destruction; Otherwise, if guarantee the rigidity of output piston bar, must amplify the size of output piston, the size of driven plunger also increases thereupon, so that whole device volume is excessive, and cost is higher, operation inconvenience.
Marmem (SMA) is a kind of novel intelligent material with shape memory effect.When shape memory effect refers to that alloy is heated to austenite transformation temperature after martensitic state distortion, its recovery of shape is to the phenomenon of original shape.Give after the certain plastic deformation of SMA material, while being heated to a certain temperature, SMA will overcome plastic deformation and be returned to original form.
Problem in view of driving clamp device to exist in prior art, is necessary to propose a kind of driving clamp device based on marmem, and it is little that this device has volume, simple in structure, controllability is good, and transformation of energy link is few, the utilization ratio of the energy is high, does not have pollution problem, the feature of environmental protection.
Model utility content
In view of this, the utility model provides a kind of micro actuator based on marmem and the Clamping system that comprises this system.To realize, reduce transformation of energy link, improve the utilization ratio of the energy, reach volume little simultaneously, simple in structure, controllability is good, does not have pollution problem, the object of environmental protection.
A kind of micro actuator proposing according to the purpose of this utility model, this system comprises drive unit and control gear, described drive unit comprises pushing mechanism and resetting-mechanism;
Described pushing mechanism comprises the first shape-memory alloy rod that drives driven parts reach and the drive link assembly that is arranged at described the first shape-memory alloy rod two ends, described the first shape-memory alloy rod and described drive link assembly are hinged, described drive link assembly one end is fixed, the other end and driven parts are hinged, and described drive link assembly is at least two groups;
Described resetting-mechanism comprises the second shape-memory alloy rod, and described second shape-memory alloy rod one end is fixedly installed, and the other end is fixedly connected with driven parts;
Described control gear comprises respectively the logical electrically heated two groups of circuit of described first, second shape-memory alloy rod, and the diverter switch of controlling described two groups of connecting and disconnecting of the circuit electricity.
Preferably, described first, second shape-memory alloy rod vertical setting mutually.
Preferably, described drive link assembly comprises the first drive link and the second drive link, one end of one end of described the first drive link and described the second drive link is hinged, hinged being fixedly installed of the other end of described the second drive link, the other end of described the first drive link and driven parts are hinged fixing, the end of described the first shape-memory alloy rod is hinged and is connected to the hinged place of described first, second drive link, forms compound hinge.
Preferably, described drive link assembly comprises the first drive link, and one end of described the first drive link and described the first shape-memory alloy rod are hinged, and the other end and driven parts are hinged fixing, on described the first shape-memory alloy rod, be connected with positioning rod, one end of described positioning rod is fixed.
Preferably, described the second shape-memory alloy rod is connected in the central position of driven parts.
Preferably, described the second shape-memory alloy rod is two that symmetrical driven parts center arranges.
Preferably, described second shape-memory alloy rod one end is hinged fixing, and the other end and driven parts are hinged.
The Clamping system driving based on marmem, comprises described micro actuator and stroke amplification device, and described stroke amplification device comprises driven plunger, output piston and piston rod, and described upper cover of piston rod is provided with Returnning spring; Described driven plunger and described micro actuator are in transmission connection, and described output piston place oil hydraulic cylinder is connected in series mutually with the oil hydraulic cylinder at described driven plunger place.
Preferably, on described output piston, be provided with at least one or more return port.
Compared with prior art, the advantage of the disclosed micro actuator of the utility model and the Clamping system that comprises this system is:
Shape memory effect based on marmem, adopt orthogonal two shape-memory alloy rods to drive, the first shape-memory alloy rod energising is shunk and is moved forward by drive link components drive driven plunger, the second shape-memory alloy rod energising is shunk and is driven driven plunger to reset, realize the to-and-fro motion of driven plunger, two shape-memory alloy rods can produce the stretching power source of plastic deformation each other simultaneously, without external impetus effect.Compared with conventional ADS driving clamp device small volume, simple in structure, convenient operation, has reduced transformation of energy link, has improved the utilization ratio of the energy, and controllability is good, does not have pollution problem, environmental protection.
This Clamping system also comprises the differential stroke amplification device of a kind of interior backflow area, by return port is set on output piston, liquid medium can be flowed between rod chamber and rodless cavity, realize differential effect, the effective active area that makes output piston is only the cross-section area of piston rod, therefore can realize on the basis of volume that reduces stroke amplification device and improve power gain, realize the remarkable amplification of displacement.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technological scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the disclosed a kind of micro actuator embodiment's 1 of the utility model structural representation.
Fig. 2 is the disclosed a kind of micro actuator embodiment's 2 of the utility model structural representation.
Fig. 3 is the structural representation of the disclosed Clamping system driving based on marmem of the utility model.
The title of the numeral in figure or the corresponding part of alphabetical representative:
1, the first shape-memory alloy rod 2, the second shape-memory alloy rod 3, the first drive link 4, the second drive link 5, driven plunger 6, output piston 7, piston rod 8, return port 9, Returnning spring 10, positioning rod
Embodiment
At present in manufacturing industry, be widely used hydraulic pressure or pneumatic mode clamps, driving source mechanism is complicated, and cost is high, and energy loss is serious, and utilization ratio is low; Environment is caused to corresponding pollution, and there is certain defect in traditional area effect stroke amplification device.If guarantee the rigidity of output piston bar, the size of driven plunger also increases thereupon, so that whole device volume is excessive, and cost is higher, operation inconvenience.
The utility model is for deficiency of the prior art, and the utility model provides a kind of micro actuator based on marmem and the Clamping system that comprises this system.To realize, reduce transformation of energy link, improve the utilization ratio of the energy, reach volume little simultaneously, simple in structure, controllability is good, does not have pollution problem, the object of environmental protection.
To the technical solution of the utility model, be clearly and completely described by embodiment below.Obviously, described embodiment is only the utility model part embodiment, rather than whole embodiments.Embodiment based in the utility model, those of ordinary skills are not making the every other embodiment who obtains under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 1, Fig. 1 is the structural representation of the disclosed a kind of micro actuator of the utility model.As shown in the figure, a kind of micro actuator, for microdisplacement is provided, drives driven parts operation, and wherein, driven parts are the driven plunger in stroke amplification device.
This system comprises drive unit and control gear, and drive unit comprises pushing mechanism and the resetting-mechanism being connected with driven plunger 5.
Pushing mechanism comprises the first shape-memory alloy rod 1 that drives driven plunger reach and the drive link assembly that is symmetricly set in the first shape-memory alloy rod 1 two ends, drive link assembly one end is fixed, the other end and driven plunger are hinged, and drive link assembly is at least two groups.Wherein the quantity of drive link assembly can be symmetrically arranged many groups, realizes driven plunger traveling priority, and concrete quantity does not limit.
Drive link assembly comprises be hinged the first fixing drive link 3 and the second drive link 4, the other end of the second drive link 4 is hinged fixing, the other end of the first drive link 3 and driven plunger are hinged fixing, the end of the first shape-memory alloy rod 1 is hinged and is connected to the hinged place of first, second drive link, forms compound hinge.
Resetting-mechanism comprises that second shape-memory alloy rod 2, the second shape-memory alloy rod 2 one end are fixedly installed, and the other end is fixedly connected with driven plunger; First, second shape-memory alloy rod is vertical setting mutually.
Control gear comprises respectively the logical electrically heated two groups of circuit of first, second shape-memory alloy rod, and the diverter switch of controlling two groups of connecting and disconnecting of the circuit electricity.
According to the shape-memory properties of marmem, by control gear, controlling the first shape-memory alloy rod switches on, the first shape-memory alloy rod is heated while reaching transition temperature, the first shape-memory alloy rod shrinks, because the two ends of drive link assembly and the first shape-memory alloy rod are hinged, in the process of shrinking at the first shape-memory alloy rod, the connecting end of the first drive link and the second drive link moves to centre respectively, thereby make the angle between drive link assembly and the first shape-memory alloy rod become gradually large, the displacement that generation moves forward, the reach of promotion driven plunger, meanwhile, the second shape-memory alloy rod is stretched under non-power status, produces plastic deformation, the displacement of moving along with driven plunger and being elongated gradually.When driven plunger resets, by the second shape-memory alloy rod is switched on, the second shape-memory alloy rod 2 is heated while reaching transition temperature, the the second shape-memory alloy rod 2 wherein heart shrinks, the active force shrinking drives driven plunger to reset, and under the effect of driven plunger displacement, the angle of drive link assembly and the first shape-memory alloy rod diminishes gradually simultaneously, thereby the first shape-memory alloy rod is stretched, realize the reset of driven plunger.
The disclosed micro actuator based on marmem of the utility model, because marmem has large recovery strain, exports stress, high response frequency and controlled overall characteristic greatly, is applicable to being applied in driver design field.It is little, simple in structure that device has volume compared with conventional ADS driving clamp device, and energy utilization rate is high, do not have pollution problem, the feature of environmental protection.
This micro actuator adopts two drive links to be hinged and forms the direction that pair toggle ，Shuan of mechanism toggle mechanism can change power, the pulling force of marmem is changed into the Driving force of driven plunger.Meanwhile, utilize stretch the each other characteristic of power source of two shape-memory alloy rods, realize two-way controlled driving effect, and without extra power.
Wherein, the second shape-memory alloy rod 2 is one, is connected in the central position of workpiece.Second shape-memory alloy rod one end is hinged fixing, and the other end and workpiece are hinged.Hinged fixing to avoid angle of arrival in the process of workpiece movable to be offset the damage that causes the second shape-memory alloy rod by adopting.
In addition, the second shape-memory alloy rod can be two or more that symmetrical work pieces center arranges, to avoid producing interference with the first shape-memory alloy rod.
As shown in Figure 3, a kind of Clamping system driving based on marmem, comprises micro actuator and stroke amplification device, and stroke amplification device comprises driven plunger, output piston and piston rod, is arranged with Returnning spring 9 on piston rod 7; Output piston place oil hydraulic cylinder is connected in series mutually with the oil hydraulic cylinder at driven plunger place.On output piston 6, be provided with at least one or more return port 8, a plurality of return ports can evenly arrange.
After giving the drive displacement that driven plunger is certain, liquid medium passes to output piston by this displacement, produces stroke amplification effect.Owing to opening one or more return ports on output piston, liquid can intercommunication in rod chamber and rodless cavity, driven plunger promotes in the process of output piston, and the liquid in oil hydraulic cylinder rod chamber corresponding to output piston can be back to that in rodless cavity, to realize area differential.The formula of the stroke power gain of the differential stroke amplification device of interior backflow area is as follows:
Δ l in formula
i, Δ l
0be respectively the displacement amount of driven plunger and output piston, S
ifor the cross-section area of driven plunger, S
oeffective active area S for output piston
o=S
r, S
rfor the cross-section area of piston rod, the diameter that D is driven plunger, d is the diameter of output piston bar.Owing to having increased return port, when stroke amplifies, the effective active area of output piston is only the cross-section area of piston rod, so the size of output piston can not be subject to the constraint of magnification factor.
Suppose that the displacement that micro actuator gives driven plunger output is 3mm, the ratio of driven plunger and the cross-section area of output piston bar
according to above-mentioned formula, calculate by the final output displacement of stroke amplification device
can find out the microdisplacement 3mm that this device can produce micro actuator, carry out being output as remarkable displacement 300mm after stroke amplification.
In using, the differential stroke amplification device of backflow area is connected with micro actuator.Microdisplacement is enlarged into remarkable displacement.Compare with traditional stroke amplification device, power gain is not subject to the impact of output piston size simultaneously, has solved the problem that conventional area effect stroke amplification device exists.
Working principle of the present utility model is as follows:
(1) during, to Workpiece clamping, set of circuits to the first shape-memory alloy rod place is switched on, the first shape-memory alloy rod is heated and shrinks to centre, drive link assembly is under the effect of contractile motion, move to neutral position one end, and the angle between drive link assembly and the first shape-memory alloy rod becomes greatly gradually, promotes driven plunger reach, give the second shape-memory alloy rod tensile force simultaneously, make it produce plastic deformation;
(2), the motion of driven plunger is squeezed into the liquid in oil hydraulic cylinder in the rodless cavity of output piston place oil hydraulic cylinder, by effect driver output piston and the piston rod reach clamping work pieces of liquid;
(3) while, unclamping workpiece, set of circuits to the second shape-memory alloy rod place is switched on, the second shape-memory alloy rod is heated and shrinks to centre, because second shape-memory alloy rod one end is fixed, therefore by the effect of shrinking, drive driven plunger to reset, give the first shape-memory alloy rod tensile force simultaneously; In the oil hydraulic cylinder of the sucked back driven plunger gradually of the liquid in the process that driven plunger resets in rodless cavity, output piston and piston rod reset under the effect of Returnning spring, unclamp workpiece.
As shown in Figure 2, all the other are identical with embodiment 1, difference is, drive link assembly comprises the first drive link 3, one end of the first drive link and the first shape-memory alloy rod are hinged, the other end of the first drive link 3 and workpiece are hinged fixing, on the first shape-memory alloy rod 1, are connected with positioning rod 10, and one end of positioning rod 10 is fixed.By positioning rod being set to limit the position of the first shape-memory alloy rod 1, in the flexible process of the first shape-memory alloy rod, only by changing the corner dimension between the first shape-memory alloy rod and the first drive link, realize the reach of workpiece.
The advantage of the Clamping system that the utility model discloses a kind of micro actuator and comprise this system is:
Based on shape memory effect, adopt orthogonal two shape-memory alloy rods to drive, the first shape-memory alloy rod energising is shunk and is moved forward by drive link components drive driven plunger, the second shape-memory alloy rod energising is shunk and is driven driven plunger to reset, realize the to-and-fro motion of driven plunger, two shape-memory alloy rods can produce the stretching power source of plastic deformation each other simultaneously, without external impetus effect.Compared with conventional ADS driving clamp device small volume, simple in structure, convenient operation, has reduced transformation of energy link, has improved the utilization ratio of the energy, and controllability is good, does not have pollution problem, environmental protection.
This Clamping system also comprises the differential stroke amplification device of a kind of interior backflow area, by return port is set on output piston, liquid medium can be flowed between rod chamber and rodless cavity, realize differential effect, the effective active area that makes output piston is only the cross-section area of piston rod, therefore can realize on the basis of volume that reduces stroke amplification device and improve power gain, realize the remarkable amplification of displacement.
Above-mentioned explanation to the disclosed embodiments, makes professional and technical personnel in the field can realize or use the utility model.To these embodiments' multiple modification, will be apparent for those skilled in the art, General Principle as defined herein can, in the situation that not departing from spirit or scope of the present utility model, realize in other embodiments.Therefore, the utility model will can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. a micro actuator, is characterized in that, this system comprises drive unit and control gear, and described drive unit comprises pushing mechanism and resetting-mechanism;
Described pushing mechanism comprises the first shape-memory alloy rod that drives driven parts reach and the drive link assembly that is arranged at described the first shape-memory alloy rod two ends, described the first shape-memory alloy rod and described drive link assembly are hinged, described drive link assembly one end is fixed, the other end and driven parts are hinged, and described drive link assembly is at least two groups;
Described resetting-mechanism comprises the second shape-memory alloy rod, and described second shape-memory alloy rod one end is fixedly installed, and the other end is fixedly connected with driven parts;
Described control gear comprises respectively the logical electrically heated two groups of circuit of described first, second shape-memory alloy rod, and the diverter switch of controlling described two groups of connecting and disconnecting of the circuit electricity.
2. micro actuator as claimed in claim 1, is characterized in that, described first, second shape-memory alloy rod is vertical setting mutually.
3. micro actuator as claimed in claim 1, it is characterized in that, described drive link assembly comprises the first drive link and the second drive link, one end of one end of described the first drive link and described the second drive link is hinged, hinged being fixedly installed of the other end of described the second drive link, the other end of described the first drive link and driven parts are hinged fixing, and the end of described the first shape-memory alloy rod is hinged and is connected to the hinged place of described first, second drive link, forms compound hinge.
4. micro actuator as claimed in claim 1, it is characterized in that, described drive link assembly comprises the first drive link, one end of described the first drive link and described the first shape-memory alloy rod are hinged, the other end and driven parts are hinged fixing, on described the first shape-memory alloy rod, be connected with positioning rod, one end of described positioning rod is fixed.
5. micro actuator as claimed in claim 1, is characterized in that, described the second shape-memory alloy rod is connected in the central position of driven parts.
6. micro actuator as claimed in claim 1, is characterized in that, described the second shape-memory alloy rod is two that symmetrical driven parts center arranges.
7. micro actuator as claimed in claim 1, is characterized in that, described second shape-memory alloy rod one end is hinged fixing, and the other end and driven parts are hinged.
8. the Clamping system driving based on marmem, it is characterized in that, comprise micro actuator and stroke amplification device described in claim 1-7 any one, described stroke amplification device comprises driven plunger, output piston and piston rod, and described upper cover of piston rod is provided with Returnning spring; Described driven plunger and described micro actuator are in transmission connection, and described output piston place oil hydraulic cylinder is connected in series mutually with the oil hydraulic cylinder at described driven plunger place.
9. the Clamping system driving based on marmem as claimed in claim 8, is characterized in that, is provided with at least one or more return port on described output piston.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320375800.2U CN203420842U (en) | 2013-06-27 | 2013-06-27 | Micro drive system and clamping system with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320375800.2U CN203420842U (en) | 2013-06-27 | 2013-06-27 | Micro drive system and clamping system with same |
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| Publication Number | Publication Date |
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| CN203420842U true CN203420842U (en) | 2014-02-05 |
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| CN201320375800.2U Expired - Fee Related CN203420842U (en) | 2013-06-27 | 2013-06-27 | Micro drive system and clamping system with same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2592002A (en) * | 2020-02-06 | 2021-08-18 | Cambridge Mechatronics Ltd | A shape memory alloy apparatus |
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2013
- 2013-06-27 CN CN201320375800.2U patent/CN203420842U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2592002A (en) * | 2020-02-06 | 2021-08-18 | Cambridge Mechatronics Ltd | A shape memory alloy apparatus |
| GB2592002B (en) * | 2020-02-06 | 2022-04-20 | Cambridge Mechatronics Ltd | A shape memory alloy apparatus |
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