CN204119004U - The stepping motor of Shape-based interpolation memorial alloy - Google Patents
The stepping motor of Shape-based interpolation memorial alloy Download PDFInfo
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- CN204119004U CN204119004U CN201420516494.4U CN201420516494U CN204119004U CN 204119004 U CN204119004 U CN 204119004U CN 201420516494 U CN201420516494 U CN 201420516494U CN 204119004 U CN204119004 U CN 204119004U
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- driving device
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- rotating driving
- stepping motor
- memory alloy
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Abstract
The utility model discloses a kind of stepping motor of Shape-based interpolation memorial alloy, comprise rotating shaft, the rotating driving device be made up of rotor, shape memory alloy spring, rolling element, roller holder, stator and clutch, bearing, housing and end cap.Motor adopts multiple rotating driving device be made up of rotor, the multiple shape memory alloy springs, rolling element, roller holder, stator and the clutch that distribute symmetrically and evenly about rotor center, utilize multiple rotating driving device drive current and clutch successively do action drive shaft rotate the method for stepping, realize 360 ° of stepping motor and rotate steppings and export.Compared to traditional shape memory alloy electric machine, the utility model has compact conformation, power to weight ratio is large, Driving Torque is large, operate steadily, low noise, fast response time and can realize the advantage of arbitrarily angled rotation, has promoted shape memory alloy electric machine and has driven field to apply more widely at precision optical machinery.
Description
Technical field
The utility model relates to the stepping motor that a kind of precision optical machinery drives field, a kind of stepping motor of Shape-based interpolation memorial alloy specifically.
Background technology
Marmem is a kind of after being changed lower than shape during its phase transition temperature, once temperature increases to over its phase transition temperature, and a kind of alloy material of reset condition before can alteration of form being returned to.The motor utilizing the shape memory effect of marmem to make is widely used in fields such as Aero-Space, microbe, robot, biomedicine, MEMSs.The existing motor utilizing marmem to drive generally adopts similar Chinese patent " a kind of driving device made of shape-memory alloy of revolute joint " (number of patent application: method 201120120071.7), the spring utilizing shape memory alloy material to make drives slide block as drive source, utilize the finite angle rotary motion that the transform linear motion of crank is crank by toggle, or the differential fixing runner both sides, center that pull such as the employing two rhizoid shape marmem being used in middle description such as the document " marmem stepping motor structure method for designing " delivered on " mechanical engineering journal " for 2010 in east etc. complete the rotation of round limited angle, or adopt the method for runner both sides, linear actuator side friction center to realize the rotation of limited angle,
Prior art exists following not enough: its volume of motor utilizing toggle to be rotary motion by marmem converts linear motion is comparatively large, structure is not compact, and little as its output rotating torque of driving element by two differential shape memory alloy springs; The actuating force of very large, the single thread driver of the same volume of driver adopting the both sides of two runners pulling center to fix to rotate is very little, and the rotating shaft of its disk while producing rotation torque can be subject to the effect of radial load, which results in the increase of frictional force between runner and rotating shaft, have impact on mechanical efficiency and the robust motion of driver; Adopt runner both sides, linear actuator side friction center to realize the motor of limited angle rotation, its output torque limits by the frictional force of linear actuator and runner, is difficult to realize high-torque and exports.The most important thing is all can only carry out the rotation of limited angle at present and the Arbitrary Rotation that can not realize as conventional motors based on the motor of above technology.
Utility model content
The utility model provides a kind of stepping motor of Shape-based interpolation memorial alloy for the deficiencies in the prior art, and this stepping motor has compact conformation, power to weight ratio is large, Driving Torque is large, operate steadily, low noise, the speed of response are fast and can realize 360 ° of advantages of rotating;
For achieving the above object, the utility model proposes following technical scheme: a kind of stepping motor of Shape-based interpolation memorial alloy, comprise rotating shaft, the rotating driving device be made up of rotor, shape memory alloy spring, rolling element, roller holder, stator and clutch, bearing, housing and end cap.Whirligig rotor and stator are coaxial and form revolute pair by rolling element and roller holder and be connected, shape memory alloy spring one end connects rotor, other end connecting stator, shape memory alloy spring and the rotor radius corresponding to rotor tie point and the angle between the axis of shape memory alloy spring are obtuse angle, shape memory alloy spring and the stator radius corresponding to stator tie point and the angle between the axis of shape memory alloy spring are acute angle, multiple shape memory alloy spring distributes symmetrically and evenly about rotor center, while its Driving Torque of increase, ensure that rotating shaft is not by radial load effect.For being fixedly connected with between the stator of rotating driving device and housing, the rotor of rotating driving device and rotating shaft are coaxial relation, the rotor of rotating driving device with clutch outer for be coaxially fixedly connected with, the rotor of clutch rotating driving device under the state of holding tightly is by clutch to rotating shaft transmitting torque, and clutch in the loosened condition rotating shaft is not subject to the effect of rotating driving device.The method that multiple rotating driving device adopts circulation drive shaft successively to rotate by the action of clutch in time, namely on the elastic memory alloy spring of a rotating driving device, electric current is applied and in clutch holds tightly with drive shaft, other rotating driving device does not apply drive current and clutch unclamps, when the corner of rotating driving device exports maximum, disconnect its drive current and loosen the clutch, another rotating driving device repeats above-mentioned action simultaneously, and circulation realizes the Arbitrary Rotation of motor successively.Rotating shaft forms revolute pair by two and connects, for be detachably fixedly connected with between end cap and housing, to facilitate assembling and the encapsulation of motor between bearing and housing;
Centered by described rotor, symmetry is discoid, and be the moment of inertia of rotor during reduction stepping motor output torque itself, increase its load capacity, rotor structure can carry out loss of weight process, is designed to cellular or spoke-like simultaneously;
Described shape memory alloy spring is formed by the marmem coiling of large expansion and contraction, and carry out lower than the pre-stretching under its martensitic transformation temperature, to ensure that it produces contraction when the thermal effect by electric current is heated beyond its martensitic transformation temperature, thus pull rotor to rotate, rotating driving device is after completing hard-over output power-off, and after relying on distortion, the elastic force of shape memory alloy spring returns to original shape;
Described multiple rotating driving device can arrange in many ways and be arranged in rotating shaft, and when the mounting means identical with the output torque direction of rotating driving device is installed, stepping motor can only realize the rotation in a direction; When the mounting means contrary with the output torque direction of adjacent rotating driving device is installed, stepping motor can realize the rotation of both direction;
At axial restraint, only there is the degree of freedom around its center axis thereof in described rotating shaft;
Described housing is the hollow cylinder shape of upper end open, and end cap and housing upper end open are threaded connection fixing, to be encapsulated by the rotating driving device of stepping motor inside, strengthens its reliability;
The operation principle of the stepping motor of the utility model Shape-based interpolation memorial alloy is: the multiple shape memory alloy springs first distributed symmetrically and evenly about rotor center in first rotating driving device apply drive current and rotating shaft held tightly by clutch time, temperature due to the thermal effect marmem of electric current is increased beyond its martensitic transformation temperature and produces contraction restoring force, thus pull rotor to drive rotating shaft to rotate, when in first rotating driving device, the contraction deformation of shape memory alloy spring reaches maximum, disconnect first rotating driving device heating current and while loosening the clutch in second rotating driving device about applying drive current in the equally distributed multiple shape memory alloy spring of disc rotor Central Symmetry and rotating shaft held tightly by clutch, make second rotating driving device continue to continue drive shaft with identical or rightabout torque to rotate, first rotating driving device then returns to original shape under the elastic-restoring force effect of shape memory alloy spring, second rotating driving device be the same stepper drive identical or contrary by multiple rotating driving device travel directions below after completing the rotary actuation of a finite angle, can continue from first rotating driving device circulation after last rotating driving device completes stepper drive, realize stepping motor with this to rotate at any angle,
The stepping motor of the utility model Shape-based interpolation memorial alloy is compared traditional shape memory alloy electric machine and be it is advantageous that: have employed multiple rotating driving device be made up of rotor, the multiple shape memory alloy springs, rolling element, roller holder and the stator that distribute symmetrically and evenly about rotor center, make use of multiple clutch and rotating driving device and drive in conjunction with asynchronous the method rotating stepping, multiple shape memory alloy spring acts on the compact conformation making driver simultaneously, power to weight ratio is large, substantially increases the Driving Torque of motor; The radial load that the rotating shaft of the symmetrical structures counter of shape memory alloy spring receives, makes the operation of driver more steady, reduces wearing and tearing and run noise; The rotation of 360 ° of motor can be realized by the action of drive current in the multiple rotating driving device of loop control successively and clutch.
Accompanying drawing explanation
Fig. 1 is the cross-sectional view of the stepping motor of the utility model Shape-based interpolation memorial alloy;
Fig. 2 is the structural representation of the utility model rotating driving device.
Embodiment
Be further detailed below with reference to accompanying drawing 1, accompanying drawing 2 and the stepping motor of a specific embodiment to the utility model Shape-based interpolation memorial alloy;
Be an embodiment of the stepping motor of the utility model Shape-based interpolation memorial alloy as depicted in figs. 1 and 2, stepping motor comprises rotating shaft 1, the rotating driving device 2a-2h be made up of rotor 201, shape memory alloy spring 202, rolling element 204, roller holder 205, stator 206 and clutch 203, bearing 3a, 3b, housing 4 and end cap 5.Rotating driving device 2a-2h rotor 201 and stator 203 are coaxial and form revolute pair by rolling element 204 with roller holder 205 and be connected, shape memory alloy spring 202 one end connects rotor 201, other end connecting stator 203, shape memory alloy spring 202 and the rotor radius corresponding to rotor 201 tie point and the angle between the axis of shape memory alloy spring 202 are obtuse angle, shape memory alloy spring 202 and the stator radius corresponding to stator 203 tie point and the angle between the axis of shape memory alloy spring 202 are acute angle, multiple shape memory alloy spring 202 is uniformly distributed about rotor 201 Central Symmetry, while its Driving Torque of increase, ensure that rotating shaft 1 is not by radial load effect.For being fixedly connected with between the stator 203 of rotating driving device 2a-2h and housing 4, rotor 201 and the rotating shaft 1 of rotating driving device 2a-2h are coaxial relation, the rotor 201 of rotating driving device 2a-2h with clutch 206 outer ring for be coaxially fixedly connected with, the rotor of clutch 206 rotating driving device 2a-2h under the state of holding tightly is by clutch 206 to rotating shaft 1 transmitting torque, and clutch 206 in the loosened condition rotating shaft 1 is not subject to the effect of rotating driving device 2a-2h.The method that multiple rotating driving device 2a-2h adopts circulation drive shaft successively 1 to rotate by the action of clutch 206 in time, namely in 2a-2h a rotating driving device elastic memory alloy spring 202 on apply electric current and clutch 206 hold tightly with drive shaft 1 time, other rotating driving device does not apply drive current and clutch 206 unclamps, when the corner of rotating driving device exports maximum, disconnect its drive current and loosen the clutch 206, another rotating driving device repeats above-mentioned action simultaneously, and circulation realizes the Arbitrary Rotation of motor successively.Rotating shaft 1 connects, for be detachably fixedly connected with between end cap 5 and housing 4, to facilitate assembling and the encapsulation of motor by forming revolute pair between two bearings 3a, 3b and housing 4;
Centered by the present embodiment rotor, symmetry is discoid, and be the moment of inertia of rotor during reduction stepping motor output torque itself, increase its load capacity, rotor structure has carried out loss of weight process, and prioritizing selection is spoke-like simultaneously.Shape memory alloy spring 202 is formed by the marmem coiling of large expansion and contraction, and carry out lower than the pre-stretching under its martensitic transformation temperature, to ensure that it produces contraction when the thermal effect by electric current is heated beyond its martensitic transformation temperature, thus pull rotor 201 to rotate, rotating driving device 2a-2h is after completing hard-over output power-off, and after relying on distortion, the elastic force of shape memory alloy spring 202 returns to original shape;
Rotating driving device 2a-2h can arrange in many ways and be arranged in rotating shaft 1, and the present embodiment prioritizing selection is installed with the mounting means that the output torque direction of adjacent rotating driving device is contrary, to realize any rotation of stepping motor in both direction.At axial restraint, only there is the degree of freedom around its center axis thereof in rotating shaft 1.Housing 4 is the hollow cylinder shape of upper end open, and end cap 5 and housing 4 upper end open are threaded connection fixing, to be encapsulated by the rotating driving device 2a-2h of stepping motor inside, strengthen its reliability;
When in first rotating driving device 2a about the equally distributed multiple shape memory alloy spring 202 of rotor 201 Central Symmetry applies drive current and rotating shaft 1 held tightly by clutch 206 time, temperature due to the thermal effect marmem of electric current is increased beyond its martensitic transformation temperature and produces contraction restoring force, thus pull rotor 201 to drive rotating shaft 1 to rotate, when in first rotating driving device 2a, the contraction deformation of shape memory alloy spring 202 reaches maximum, disconnect first rotating driving device 2a heating current and to loosen the clutch while 206 in second rotating driving device 2b about applying drive current in the equally distributed multiple shape memory alloy spring 202 of rotor 201 Central Symmetry and rotating shaft 1 held tightly by clutch 206, make second rotating driving device 2b continue to continue drive shaft 1 with identical or rightabout torque to rotate, first rotating driving device 2a then returns to original shape under the elastic-restoring force effect of shape memory alloy spring 202, second rotating driving device 2b be the same stepper drive identical or contrary by multiple rotating driving device 2c-2h travel directions below after completing the rotary actuation of a finite angle, can continue after last rotating driving device 2h completes stepper drive to circulate from first rotating driving device 2a, realize stepping motor with this to rotate at any angle,
Rotating driving device 2a-2h also can install with the mounting means of identical torque outbound course, and now motor can only carry out the rotation in a direction;
Should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model principle; some improvements and modifications can also be made; these improvements and modifications also should be considered as protection range of the present utility model, and part not clear and definite in the utility model belongs to the known technology of this area.
Claims (6)
1. the stepping motor of a Shape-based interpolation memorial alloy, it is characterized in that: a kind of stepping motor of Shape-based interpolation memorial alloy, comprise rotating shaft, the rotating driving device be made up of rotor, shape memory alloy spring, rolling element, roller holder, stator and clutch, bearing, housing and end cap; Whirligig rotor and stator are coaxial and form revolute pair by rolling element and roller holder and be connected, shape memory alloy spring one end connects rotor, other end connecting stator, shape memory alloy spring and the rotor radius corresponding to rotor tie point and the angle between the axis of shape memory alloy spring are obtuse angle, shape memory alloy spring and the stator radius corresponding to stator tie point and the angle between the axis of shape memory alloy spring are acute angle, and multiple shape memory alloy spring distributes symmetrically and evenly about rotor center; For being fixedly connected with between the stator of rotating driving device and housing, the rotor of rotating driving device and rotating shaft are coaxial relation, the rotor of rotating driving device with clutch outer for be coaxially fixedly connected with; Clutch is interference fit between rotating driving device and rotating shaft under the state of holding tightly, and clutch in the loosened condition rotating shaft and rotating driving device is matched in clearance; Rotating shaft forms revolute pair by two and connects, for be detachably fixedly connected with between end cap and housing between bearing and housing.
2. based on the stepping motor of a kind of Shape-based interpolation memorial alloy according to claim 1, it is characterized in that: centered by described rotor, symmetry is discoid, it is the moment of inertia of rotor during reduction stepping motor output torque itself simultaneously, increase its load capacity, rotor structure can be the cellular or spoke-like after loss of weight process.
3. based on the stepping motor of a kind of Shape-based interpolation memorial alloy according to claim 1, it is characterized in that: described shape memory alloy spring is formed by the marmem coiling of large expansion and contraction, and carry out lower than the pre-stretching under its martensitic transformation temperature, to ensure that it produces contraction when the thermal effect by electric current is heated beyond its martensitic transformation temperature, thus pull rotor to rotate, rotating driving device is after completing hard-over output power-off, and after relying on distortion, the elastic force of shape memory alloy spring returns to original shape.
4. based on the stepping motor of a kind of Shape-based interpolation memorial alloy according to claim 1, it is characterized in that: described multiple rotating driving device can arrange in many ways and be arranged in rotating shaft, when the mounting means identical with the output torque direction of rotating driving device is installed, stepping motor can only realize the rotation in a direction; When the mounting means contrary with the output torque direction of adjacent rotating driving device is installed, stepping motor can realize the rotation of both direction.
5. based on the stepping motor of a kind of Shape-based interpolation memorial alloy according to claim 1, it is characterized in that: described rotating shaft, at axial restraint, only exists the degree of freedom around its center axis thereof.
6. based on the stepping motor of a kind of Shape-based interpolation memorial alloy according to claim 1, it is characterized in that: described housing is the hollow cylinder shape of upper end open, end cap and housing upper end open are threaded connection fixing, to be encapsulated by the rotating driving device of stepping motor inside, strengthen its reliability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420516494.4U CN204119004U (en) | 2014-09-10 | 2014-09-10 | The stepping motor of Shape-based interpolation memorial alloy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420516494.4U CN204119004U (en) | 2014-09-10 | 2014-09-10 | The stepping motor of Shape-based interpolation memorial alloy |
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| Publication Number | Publication Date |
|---|---|
| CN204119004U true CN204119004U (en) | 2015-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420516494.4U Expired - Fee Related CN204119004U (en) | 2014-09-10 | 2014-09-10 | The stepping motor of Shape-based interpolation memorial alloy |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104184298A (en) * | 2014-09-10 | 2014-12-03 | 六安源创电机制造科技有限公司 | Stepping motor based on shape memory alloy |
| CN104214063A (en) * | 2014-09-15 | 2014-12-17 | 六安源创电机制造科技有限公司 | Shape memory alloy based rotary actuator |
| CN104953893A (en) * | 2015-06-23 | 2015-09-30 | 刘淮祥 | Piezoelectric driving stepping motor |
-
2014
- 2014-09-10 CN CN201420516494.4U patent/CN204119004U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104184298A (en) * | 2014-09-10 | 2014-12-03 | 六安源创电机制造科技有限公司 | Stepping motor based on shape memory alloy |
| CN104214063A (en) * | 2014-09-15 | 2014-12-17 | 六安源创电机制造科技有限公司 | Shape memory alloy based rotary actuator |
| CN104214063B (en) * | 2014-09-15 | 2019-11-01 | 六安源创电机制造科技有限公司 | Rotating driver based on marmem |
| CN104953893A (en) * | 2015-06-23 | 2015-09-30 | 刘淮祥 | Piezoelectric driving stepping motor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150121 Termination date: 20180910 |