CN214776666U - Bidirectional driver adopting flexible stable structure - Google Patents
Bidirectional driver adopting flexible stable structure Download PDFInfo
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- CN214776666U CN214776666U CN202120643963.9U CN202120643963U CN214776666U CN 214776666 U CN214776666 U CN 214776666U CN 202120643963 U CN202120643963 U CN 202120643963U CN 214776666 U CN214776666 U CN 214776666U
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Abstract
The utility model provides an adopt flexible stable state structure's two-way driver. The driver realizes bidirectional driving by two oppositely-pulled SMA wires and maintains a stable state by a flexible beam structure consisting of double beams or multiple beams. When the state needs to be switched, the active SMA wire is electrified to be heated and contracted, so that the sliding pin is driven to move, after the sliding pin moves for a certain distance, the flexible beam jumps and bends, the beam structure is unstable, a negative rigidity effect occurs, then the active SMA wire is stopped to be electrified, under the deformation force of the flexible beam, the sliding pin continues to move until the flexible beam bends to the maximum deflection, and the driver enters a stable state. The utility model has no need of continuous power supply in a stable state; the automatic resetting and repeated work can be realized, the driving forces for extending and retracting the sliding pin are basically the same, and the reliability is high; the driving force and the driving displacement are adjustable, the weight is light, the inertia is small, the power-weight ratio is large, large load output can be realized in a narrow space, and the safety is high.
Description
Technical Field
The utility model relates to a two-way driver technical field, in particular to two-way driver based on flexible beam structure and memory metal.
Background
Locking devices used on space deployment mechanisms of spacecrafts, aviation bomb safeties and other equipment need to realize the functions of locking and unlocking bidirectional driving. For example, after a space unfolding mechanism of a spacecraft is unfolded in place on a rail, a locking device is needed to lock the unfolding state of the space unfolding mechanism; when the spacecraft needs to be subjected to maneuvering orbital transfer, the unfolding mechanism needs to be folded, and the locking device is unlocked; after the folding is completed in place, the structure after folding is locked and limited again. This requires the locking mechanism to be capable of bi-directional actuation and provide two stable states for the locking bit and the unlocking bit.
The existing bidirectional driver is mainly an electromagnet type driver, and the basic principle of the operation is as follows: the electromagnet is electrified, so that the armature is attracted to push the lock pin to extend out, and the locking function is realized; when the electromagnet is powered off, the bias spring pushes the armature to reset, and then the lock pin is driven to retract, so that the unlocking function is realized. Therefore, the electromagnet type bidirectional driver can realize the state switching of power-on locking and power-off unlocking or power-on unlocking and power-off locking.
Although the driver can realize the bidirectional driving function, one of the two stable states of the locking position and the unlocking position of the driver is necessarily maintained by continuously electrifying the electromagnet, and once the power supply system is abnormal, the lock pin can move unexpectedly. In addition, the attraction force of the electromagnet is far greater than the spring force of the biasing spring, so that the difference of the extending or retracting driving force of the lock pin of the driver is large, the pushing-out force and the retracting force cannot be similar, and the use reliability is limited. In addition, the armature in the electromagnet has large mass, so that the power-weight ratio of the driver is small, the output locking load is limited, and the electromagnet is not suitable for narrow space; the mass of the bidirectional driver for aviation bomb safety is large, so that the inertia of the driver is large, and the safety is insufficient due to the possibility of safety accident action caused by large overload during maneuvering flight of the fighter.
Disclosure of Invention
The utility model discloses to current electro-magnet formula bidirectional drive's not enough, provide a bidirectional drive who adopts flexible stable state structure, this driver is at unblock position and all can remain stable in the locking position, repeatedly usable, and the reliability is high, the security is good.
The utility model adopts the technical proposal that: a bi-directional driver employing a flexible steady-state structure. Including sliding pins, cages, housings, SMA wires, flexible beams, etc. The driver is arranged on the fixed structure through the flange edge of the retainer, the SMA wire is electrified to drive the sliding pin to move along the inner cavity of the retainer, the separation structure is locked when the sliding pin extends out to prevent the sliding pin from moving relative to the fixed structure, and the limit of the separation structure is released when the sliding pin retracts. The sliding pin is an actuating element of the driver, the retainer and the shell form the shape support of the driver, a moving track is provided for the sliding pin, the number of the SMA wires is two, driving force is provided for the up-and-down movement of the sliding pin respectively, and the flexible beam provides stable driving force for the sliding pin in a fully extended state and a fully contracted state.
Wherein, the sliding pin does the utility model discloses an actuate the component, the middle part is equipped with the roof beam mounting hole, and well upper portion and bottom are equipped with an SMA silk mounting hole respectively, both orthogonalizations for arrange shrink SMA silk and stretch out SMA silk.
Wherein, the appearance of the utility model driver is supported to holder and shell cooperation constitution. The longitudinal tubular structure inner cavity of the retainer provides a track for the sliding pin to move up and down, and the tubular structure is provided with a waist-shaped hole at the position corresponding to the beam mounting hole and the SMA wire mounting hole of the sliding pin, so that a movement space is provided for the driving process of the flexible beam structure and the SMA wire; the longitudinal side wall of the shell is provided with an SMA wire arrangement hole and a positioning step of the bracket.
The SMA wire comprises a contraction SMA wire and an extension SMA wire, which respectively penetrate through the SMA wire mounting hole of the sliding pin and are fixed outside the side wall of the shell. The two wires are driven to be pulled in opposite directions, the sliding pin contracts, the contracted SMA wire is the driving wire, and the extended SMA wire is the driven wire; the extending process of the sliding pin is reversed.
The flexible beam is a flexible beam combined structure consisting of double beams or multiple beams; when the beam is bent upwards to the maximum deflection, the driver can be maintained in a stable locking position, and the sliding pin is completely extended at the moment; when the beam bends downwards to the maximum deflection, the driver can be maintained in the unlocking position stable state, and the sliding pin is completely contracted at the moment.
Further, the flexible beam can be a common rectangular beam, and can also be a tapered thin plate structure.
Further, the connecting position of the holder and the housing includes, but is not limited to, a connection manner using threads and glue.
Further, insulation treatment is needed among the SMA wires, the shell, the sliding pin and the retainer. The insulation mode can be that a polytetrafluoroethylene high-temperature-resistant insulation sleeve is arranged outside the SMA wire, and the SMA wire, the shell, the sliding pin and the retainer can be integrally insulated through processes such as insulation oxidation, a ceramic-based insulation coating, a polymer insulation coating and the like without specific limitation.
The utility model discloses in, the driver is when two steady state switch, and the resistance that sliding pin removed need to be overcome includes: the flexible beam bending device comprises a sliding pin, a retainer and the like, wherein the sliding pin is arranged on the flexible beam, the retainer is arranged on the flexible beam, the sliding pin is arranged on the flexible beam, and the retainer is arranged on the flexible beam. The driving force for the movement of the slide pin comes from two aspects: driving force generated by the heating shrinkage of the active SMA wire, and bending deformation force of the flexible beam after the flexible beam passes through a jumping and buckling critical state. Therefore, the utility model discloses in the drive process, around flexible roof beam jump bucking, the bending deformation effort of roof beam is different.
The utility model discloses the two-way drive process of driver relies on two SMA silks realization to drawing, and stable state then relies on flexible beam structure to keep. The driving process, namely the switching process of the stable state, specifically comprises the following steps: the driving SMA wire is electrified to be heated and contracted so as to drive the sliding pin to move, after the sliding pin moves for a certain distance, the flexible beam can jump and buckle, then the power supply to the driving SMA wire is stopped, under the action of the deformation force of the flexible beam, the sliding pin can continuously move until the flexible beam bends to the maximum deflection, and the driver enters a stable state.
The utility model discloses a two-way driver compares traditional electro-magnet formula two-way driver, and its advantage shows:
(1) the bi-stable flexible structure of double beams or multiple beams is utilized to ensure that the sliding pin of the driver can be kept stable in the fully extended state and the fully retracted state, thereby overcoming the defect that the prior electromagnet type bi-directional driver can be kept stable only by continuously electrifying.
(2) The automatic reset can be realized, the work can be repeated, the extending and retracting driving forces of the sliding pin are basically the same, the difficulty degree of the bidirectional driving process of the driver is equivalent, and the reliability is high.
(3) The moving part has no armature, light weight, small inertia, large power-weight ratio, capability of realizing large load output in a narrow space and high safety.
Drawings
FIG. 1 is a schematic view of the stable state of the locking position of the present invention;
fig. 2 is a schematic view of the flexible beam of the present invention in a critical state of jumping and buckling;
fig. 3 is a schematic view of the unlocking position in a stable state;
FIG. 4 is a graph showing the relationship between the reaction force and the displacement of the bistable flexible beam according to the present invention;
fig. 5 is a relation curve of the reaction force and the displacement of the monostable flexible beam of the present invention.
Detailed Description
The principles of the present invention will be further explained with reference to the drawings and the detailed description.
The utility model provides an adopt flexible stable state structure's two-way driver, as shown in fig. 1 ~ 3, including sliding pin 1, holder 2, shell 3, shrink SMA silk 4, stretch out SMA silk 5, flexible roof beam 6, support 7. The sliding pin 1 is an actuating element of the driver, the retainer 2 provides a moving track for the sliding pin 1, the two SMA wires respectively provide driving force for the up-and-down movement of the sliding pin 1, and the flexible beam 6 provides stable driving force for the sliding pin 1 in a fully extended state and a fully contracted state.
The sliding pin 1 is of a shaft type structure, and the middle part of the sliding pin is provided with a plurality of groups of through holes (hereinafter referred to as beam mounting holes) for arranging flexible beams 6; the middle upper part and the bottom part are also provided with two orthogonal through holes (hereinafter referred to as SMA wire mounting holes) for arranging the contraction SMA wires 4 and the extension SMA wires 5.
The retainer 2 is approximately of an inverted T-shaped structure, the shell 3 is approximately of a T-shaped structure, and the retainer and the shell are matched to form the shape support of the driver. The inner cavity of the longitudinal tubular structure of the retainer 2 provides a track for the sliding pin to move up and down, and the tubular structure is provided with a waist-shaped hole at the position corresponding to the beam mounting hole and the SMA wire mounting hole of the sliding pin 1 so as to provide a motion space for the driving process of the flexible beam structure and the SMA wire; the longitudinal side wall of the shell 3 is provided with an SMA wire arrangement hole and a positioning step of the bracket 7.
The contracting SMA wire 4 and the extending SMA wire 5 are orthogonally arranged, respectively penetrate through the SMA wire mounting hole of the sliding pin 1 and are fixed outside the side wall of the shell 3. The two wires are driven to be pulled in opposite directions, the sliding pin shrinks, the shrinking SMA wire 4 is a driving wire, and the extending SMA wire 5 is a driven wire; the extending process of the sliding pin is reversed.
The flexible beam 6 is a combined structure composed of a plurality of flexible beams (in the embodiment, the combined structure is illustrated as a combined structure of three flexible beams), two ends of the beam are supported on the bracket 7, and the middle part of the beam penetrates through a beam mounting hole on the sliding pin 1; when the beam bends upwards to the maximum deflection, the driver can be maintained in a stable state of a locking position where the sliding pin is completely extended, and when the beam bends downwards to the maximum deflection, the driver can be maintained in a stable state of an unlocking position where the sliding pin is completely contracted.
The utility model discloses the two-way drive process of driver relies on the shrink SMA silk 4 of drawing and stretches out SMA silk 5 and realize.
The unlocking driving process comprises the following steps: starting from the stable state of the locking position of the driver, as shown in fig. 1, the sliding pin 1 is fully extended, the flexible beam 6 is bent upwards to the maximum deflection, and the deformation characteristic of the beam keeps the sliding pin 1 still; when the unlocking is needed, the contraction SMA wire 4 is a driving wire, the driving wire is electrified to be heated and contracted, so that the sliding pin 1 is driven to move downwards, when the sliding pin moves to the position shown in the figure 2, the flexible beam 6 jumps and bends, then the electrification of the contraction SMA wire 4 is stopped, and under the deformation force of the flexible beam 6, the sliding pin 1 can continuously move downwards until the flexible beam 6 bends downwards to the maximum deflection, and the sliding pin 1 completely contracts to the position shown in the figure 3, namely the unlocking position stable state of the driver.
And in the locking driving process, the extending SMA wire 5 is used as a driving wire to drive the extending movement process of the sliding pin 1, and the specific working process and the unlocking driving process are the same.
Fig. 4 shows a relationship curve of the reaction force and the displacement of the flexible beam in the state switching process of the actuator of the present invention. The switching of the actuator from the locking position to the unlocking position (i.e., the retraction process of the slide pin) will be described as an example. The point A corresponds to the stable state of the locking position of the driver, at the moment, the sliding pin 1 is completely extended, the flexible beam 6 is bent upwards to the maximum deflection, and the reaction force is 0. The contracting SMA wire 4 is energized to contract to provide a downward driving force for the sliding pin 1, the reaction force of the flexible beam 6 gradually increases as the sliding pin 1 moves downward, and the reaction force reaches a maximum value when a critical position of jumping and buckling of the flexible beam 6 is reached (point B shown in the figure). After that, the flexible beam 6 jumps and buckles, the beam structure is unstable, a negative stiffness effect occurs, the reaction force is rapidly reduced to a local minimum value (shown as a point D), and then is increased and maintained to be 0 (shown as a point E), at this time, the flexible beam 6 reaches the maximum deflection of downward bending, the sliding pin 1 is completely contracted, and the driver enters an unlocking position stable state.
It should be noted that, in fig. 4, from point a to point C, the sliding pin needs to be moved by the driving force generated by the active SMA wire being electrically heated, and from point C to point E, the actuator does not need any energy input, and the sliding pin can be rapidly moved only by the structural instability of the flexible beam, which reduces the requirement of the actuator on the SMA wire.
The utility model discloses in, the size of roof beam has decided the roof beam and has warp the reaction force size of in-process, and the driver relies on flexible beam structure to keep steady state, and what above-mentioned embodiment provided can realize locking position stability and the stable bistable flexible roof beam of unblock position. It will be appreciated that by varying the dimensions of the beam, a monostable flexible beam structure can also be achieved. At this time, the reaction force versus displacement curve of the flexible beam is shown in fig. 5, and the beam structure has only one stable state. Taking the stable state of the locking position as an example, the sliding pin extends out under normal conditions, the driver keeps the locking position stable, and when the locking position needs to be unlocked, the SMA wire is electrified to drive the sliding pin to retract; as the beam structure has only one stable state, once the SMA wire stops being electrified, the driving force of the SMA wire disappears, the bending deformation force of the beam structure can automatically push out the sliding pin, and the driver enters the locking position again. The scheme can meet the application occasions of the monostable driver with the power-on stability release and the power-off steady state recovery.
It should be noted that the above-mentioned expressions relating to orientations, such as inner, outer, upper, lower, etc., are based on the directions and positional relationships shown in the drawings, and are only for convenience of description, but do not indicate or imply that the components involved must have a specific orientation, configuration or operation.
The invention is not described in detail and belongs to the technology known in the art. Any modifications, equivalent changes and modifications, improvements and the like made to the above embodiments according to the principles and technical spirit of the present invention should be included in the scope of the present invention.
Claims (6)
1. A bidirectional driver adopting a flexible stable structure is characterized by comprising a sliding pin (1), a retainer (2), a shell (3), a contraction SMA wire (4), an extension SMA wire (5), a flexible beam (6) and a bracket (7);
the sliding pin (1) is an actuating element, and is provided with a beam mounting hole and an SMA wire mounting hole; the retainer (2) and the shell (3) form an appearance support of the driver; the contracting SMA wire (4) and the extending SMA wire (5) penetrate through an SMA wire mounting hole on the sliding pin (1) and are fixed outside the side wall of the shell (3), and the two wires are orthogonally arranged and are driven in opposite pulling; in the contraction process of the sliding pin (1), the contracted SMA wire (4) is an active wire, and in the extension process of the sliding pin (1), the extended SMA wire (5) is an active wire; the flexible beam (6) is a flexible beam combined structure consisting of double beams or multiple beams, two ends of the beam are supported on the bracket (7), and the middle part of the beam penetrates through a beam mounting hole on the sliding pin (1); when the flexible beam (6) is bent upwards to the maximum deflection, the sliding pin (1) is completely extended, and the driver is maintained in a stable locking state; when the flexible beam (6) bends downwards to the maximum deflection, the sliding pin (1) is completely contracted, and the driver is maintained in an unlocking position stable state.
2. The bi-directional driver of claim 1, wherein: the sliding pin (1) is of a shaft type structure, the middle part of the sliding pin is provided with a beam mounting hole, and the middle upper part and the bottom of the sliding pin are provided with two orthogonal SMA wire mounting holes.
3. The bi-directional driver of claim 1, wherein: the retainer (2) is of an approximately inverted T-shaped structure, an inner cavity of a tubular structure of the retainer provides a track for the sliding pin to move up and down, and waist-shaped holes are formed in positions corresponding to beam mounting holes and SMA wire mounting holes of the sliding pin (1).
4. The bi-directional driver of claim 1, wherein: the shell (3) is of an approximate T-shaped structure, and the side wall is provided with a contracting SMA wire (4), a distribution hole extending out of the SMA wire (5) and a positioning step of the bracket (7).
5. The bi-directional driver of claim 1, wherein: the flexible beam (6) is in a rectangular beam or conical thin plate structure.
6. The bi-directional driver of claim 1, wherein: and the size of the flexible beam (6) is changed, and a monostable flexible beam structure can be obtained, so that a monostable driver is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120643963.9U CN214776666U (en) | 2021-03-30 | 2021-03-30 | Bidirectional driver adopting flexible stable structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120643963.9U CN214776666U (en) | 2021-03-30 | 2021-03-30 | Bidirectional driver adopting flexible stable structure |
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| CN214776666U true CN214776666U (en) | 2021-11-19 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114194417A (en) * | 2021-03-30 | 2022-03-18 | 北京灵翼航宇科技有限公司 | Bidirectional driver adopting flexible stable structure |
| CN114307768A (en) * | 2022-03-15 | 2022-04-12 | 杭州电子科技大学 | Thermoelectric coupling flexible oscillator and driving method thereof |
-
2021
- 2021-03-30 CN CN202120643963.9U patent/CN214776666U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114194417A (en) * | 2021-03-30 | 2022-03-18 | 北京灵翼航宇科技有限公司 | Bidirectional driver adopting flexible stable structure |
| CN114194417B (en) * | 2021-03-30 | 2024-06-18 | 北京灵翼航宇科技有限公司 | Bidirectional driver adopting flexible steady-state structure |
| CN114307768A (en) * | 2022-03-15 | 2022-04-12 | 杭州电子科技大学 | Thermoelectric coupling flexible oscillator and driving method thereof |
| CN114307768B (en) * | 2022-03-15 | 2022-05-27 | 杭州电子科技大学 | Thermoelectric coupling flexible oscillator and driving method thereof |
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