JPS63201375A - Reciprocating rotary actuator - Google Patents
Reciprocating rotary actuatorInfo
- Publication number
- JPS63201375A JPS63201375A JP3336687A JP3336687A JPS63201375A JP S63201375 A JPS63201375 A JP S63201375A JP 3336687 A JP3336687 A JP 3336687A JP 3336687 A JP3336687 A JP 3336687A JP S63201375 A JPS63201375 A JP S63201375A
- Authority
- JP
- Japan
- Prior art keywords
- shape
- memory alloy
- shape memory
- alloy member
- members
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 62
- 238000010438 heat treatment Methods 0.000 claims abstract description 8
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 abstract 1
- 238000001816 cooling Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
〔技術分野〕
本発明は、形状記憶合金部材が加熱されて記憶形状に回
復するときの力を利用した往復回転アクチェエータに関
するものである。DETAILED DESCRIPTION OF THE INVENTION [Technical Field] The present invention relates to a reciprocating rotary actuator that utilizes the force generated when a shape memory alloy member is heated and restored to a memorized shape.
従来のこの種の往復回転アクチェエータとしては、特開
昭６０−１５９３７８号公報にみられるように、渦巻き
状の形状記憶合金部材とバイアスバネとを組み合わせた
ものが公知である。この往復回転アクチュエータは、形
状記憶合金部材を加熱すると、その記憶形状回復力で回
転軸が一方向に回転すると共にバイアスバネが巻き締め
られ、次に形状記憶合金部材を非加熱状態にすると、バ
イアスバネの反発力で回転軸が反対方向に回転すると共
に形状記憶合金部材が巻き締められるようになっており
、これの繰り返しで往復回転運動を得るものである。As a conventional reciprocating rotary actuator of this type, one that combines a spiral shape memory alloy member and a bias spring is known, as seen in Japanese Patent Laid-Open No. 159378/1983. In this reciprocating rotary actuator, when the shape memory alloy member is heated, the rotating shaft rotates in one direction due to its memorized shape recovery force and the bias spring is tightened.Next, when the shape memory alloy member is unheated, the bias spring is The repulsive force of the spring causes the rotating shaft to rotate in the opposite direction and the shape memory alloy member to be wound tightly, and by repeating this, a reciprocating rotational motion is obtained.
しかし従来の往復回転アクチュエータは、バイアスバネ
を使用しているため、形状記憶合金部材の記憶形状に回
復する力がバイアスバネの回転力蓄積にくわれ、大きな
駆動力を得ることが困難であり、また小型化も困難であ
る。However, since conventional reciprocating rotary actuators use bias springs, the force for restoring the shape memory alloy member to its memorized shape is absorbed by the bias spring's rotational force accumulation, making it difficult to obtain large driving force. Further, miniaturization is also difficult.
本発明は、上記のような従来技術の問題点を解決した往
復回転アクチュエータを提供するもので、その構成は、
それぞれ一端が固定され、他端が回転可能になっている
一対の形状記憶合金部材の回転端側を、一方の形状記憶
合金部材が記憶形状にあるときに他方の形状記憶合金部
材が記憶形状以外の形に捻じられるように連結し、上記
一対の形状記憶合金部材を交互に加熱することにより、
上記形状記憶合金部材の連結部を往復回転させるように
したことを特徴とするものである。The present invention provides a reciprocating rotary actuator that solves the problems of the prior art as described above, and its configuration is as follows:
A pair of shape memory alloy members, each of which is fixed at one end and rotatable at the other end, is rotated so that when one shape memory alloy member is in the memorized shape, the other shape memory alloy member is in a shape other than the memorized shape. By connecting the shape memory alloy members so as to be twisted in the shape of and alternately heating the pair of shape memory alloy members,
The shape memory alloy member is characterized in that the connecting portion of the shape memory alloy member is rotated back and forth.
形状記憶合金は、記憶形状以外の形にあるときに、ある
一定の温度以上に加熱されると記憶形状に戻ろうとして
大きな力を発生するが、その温度以下では小さな力で容
易に変形する。したがって一対の形状記憶合金部材を上
記のような連結状態にしておくと、一方の形状記憶合金
部材を加熱したときは、それが記憶形状に回復する力で
他方の形状記憶合金部材が記憶形状以外の形に容易に捻
じられ、反対に他方の形状記憶合金部材を加熱したとき
は、それが記憶形状に回復する力で一方の形状記憶合金
部材が記憶形状以外の形に容易に捻じられることになり
、画形状記憶合金部材の連結部を往復回転させることが
できる。When a shape memory alloy is in a shape other than its memorized shape, when it is heated above a certain temperature it generates a large force in an attempt to return to its memorized shape, but below that temperature it easily deforms with a small force. Therefore, when a pair of shape memory alloy members are connected in the above-described state, when one shape memory alloy member is heated, the force that restores it to its memorized shape causes the other shape memory alloy member to change to a shape other than its memorized shape. On the other hand, when the other shape memory alloy member is heated, the force that restores it to the memorized shape causes the one shape memory alloy member to be easily twisted into a shape other than the memorized shape. Thus, the connecting portion of the shape memory alloy member can be rotated back and forth.
形状記憶合金部材の形は、捻じりを加えられる形であれ
ばどのような形のものでもよく、製造のしやすさからい
えば、板状、線状のものなどが適している。The shape memory alloy member may have any shape as long as it can be twisted, and from the viewpoint of ease of manufacture, plate-like, linear, etc. are suitable.
以下、本発明の実施例を図面を参照して詳細に説明する
。Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
第１図は本発明の一実施例を示す０図において、ＩＡ・
ＩＢは板状の形状記憶合金部材で、それぞれ一端を１８
００捻じうた形の同じ形状を記憶させである。形状記憶
合金部材ＩＡ−ＩＢの一端はそれぞれ固定ブロック２Ａ
・２Ｂに固定されており、他端はそれぞれ回転輪３Ａ・
３Ｂに接続されている０回転軸３Ａ・３Ｂはそれぞれ軸
受４Ａ・４Ｂに回転自在に支持されている。また回転軸
３Ａ・３Ｂにはそれぞれ互いに噛み合う同一サイズの歯
車５Ａ・５Ｂが固着されている。FIG. 1 shows an embodiment of the present invention.
IB is a plate-shaped shape memory alloy member, each with 18 mm at one end.
00 Memorize the same shape of the twist song. One end of the shape memory alloy members IA-IB is each fixed block 2A.
・It is fixed to 2B, and the other end is each rotating ring 3A・
Zero-rotation shafts 3A and 3B connected to shaft 3B are rotatably supported by bearings 4A and 4B, respectively. Furthermore, gears 5A and 5B of the same size that mesh with each other are fixed to the rotating shafts 3A and 3B, respectively.
つまり形状記憶合金部材ＩＡ・ＩＢの回転端側は、回転
軸３Ａ、歯車５Ａ・５Ｂ、回転軸３Ｂを介して連結され
た状態となる。この連結は、第一の形状記憶合金部材Ｉ
Ａが記憶形状のままのとき、第二の形状記憶合金部材Ｉ
Ｂが回転端側を記憶形状から３６００捻じられた関係と
なるように行われている。In other words, the rotating end sides of the shape memory alloy members IA and IB are connected via the rotating shaft 3A, the gears 5A and 5B, and the rotating shaft 3B. This connection connects the first shape memory alloy member I
When A remains in the memory shape, the second shape memory alloy member I
This is done so that the rotation end side of B is twisted by 3600 degrees from the memorized shape.
また第一の固定ブロック２Ａと回転軸３Ａ間には形状記
憶合金部材ＩＡを通電加熱するための電ａ６Ａとスイッ
チ７Ａが接続され、同様に第二の固定ブロック２Ｂと回
転軸３Ｂ間にも形状記憶合金部材ＩＢを通電加熱するた
めの電源６Ｂとスイッチ７Ｂが接続されている。さらに
固定ブロック２Ａと２Ｂは絶縁体８で絶縁されている。In addition, an electric current a6A and a switch 7A for heating the shape memory alloy member IA are connected between the first fixed block 2A and the rotating shaft 3A, and similarly, the shape memory alloy member IA is connected between the second fixed block 2B and the rotating shaft 3B. A power source 6B and a switch 7B are connected for heating the memory alloy member IB by electricity. Furthermore, the fixed blocks 2A and 2B are insulated by an insulator 8.
次に動作を説明する。いま常温で、第一の形状記憶合金
部材ＩＡが記憶形状にあり、第二の形状記憶合金部材Ｉ
Ｂが記憶形状から３６０°捻じられた形になっているも
のとする。この状態で第二のスイッチ７Ｂを閉じ、第二
の形状記憶合金部材ＩＢを通電加熱すると、その部材Ｉ
Ｂに記憶形状に戻る力が発生し、回転軸３Ｂを一方向に
回転させる。その結果、歯車５Ｂ・５Ａの噛み合いで、
第一の回転軸３Ａが回転し、形状記憶合金部材ＩＡが記
憶形状以外の形に捻じられることになる。この回転は、
第二の形状記憶合金部材ＩＢが記憶形状に戻ったところ
、つまりほぼ３６０°回転したところで停止する。Next, the operation will be explained. Now, at room temperature, the first shape memory alloy member IA is in the memorized shape, and the second shape memory alloy member I is in the memorized shape.
Assume that B has a shape twisted by 360 degrees from the memory shape. In this state, when the second switch 7B is closed and the second shape memory alloy member IB is heated by electricity, the member I
A force is generated in B to return it to the memorized shape, causing the rotating shaft 3B to rotate in one direction. As a result, due to the meshing of gears 5B and 5A,
The first rotating shaft 3A rotates, and the shape memory alloy member IA is twisted into a shape other than the memorized shape. This rotation is
The second shape memory alloy member IB stops when it returns to its memorized shape, that is, after rotating approximately 360 degrees.
次いで第二のスイッチ７Ｂを開き、第一のスイッチ７Ａ
を閉じると、第二の形状記憶合金部材ＩＢは外気により
急速に冷却され、第一の形状記憶合金部材ＩＡが通電加
熱される。このため今度は第一の形状記憶合金部材ＩＡ
に記憶形状に戻ろうとする力が発生し、第一の回転軸３
Ａがそれまでとは反対方向に回転する。このため、歯車
５Ａ・５Ｂの噛み合いで、第二の回転軸３Ｂが回転し、
形状記憶合金部材ＩＢが記憶形状以外の形に捻じられる
。この回転は、第一の形状記憶合金部材ＩＡが記憶形状
に戻ったところで停止する。Then, the second switch 7B is opened, and the first switch 7A is opened.
When closed, the second shape memory alloy member IB is rapidly cooled by the outside air, and the first shape memory alloy member IA is electrically heated. For this reason, the first shape memory alloy member IA
A force is generated that tries to return to the memorized shape, and the first rotating shaft 3
A rotates in the opposite direction. Therefore, the second rotating shaft 3B rotates due to the meshing of the gears 5A and 5B.
Shape memory alloy member IB is twisted into a shape other than the memorized shape. This rotation stops when the first shape memory alloy member IA returns to its memorized shape.
以上が１サイクルの動作である。このような動作を繰り
返して、形状記憶合金部材ＩＡ・ＩＢを交互に通電加熱
すると、回転軸３Ａまたは３Ｂから往復回転運動が取り
出せるわけである。The above is one cycle of operation. By repeating such an operation and alternately heating and energizing the shape memory alloy members IA and IB, reciprocating rotational motion can be obtained from the rotating shaft 3A or 3B.
第２図は本発明の他の実施例を示す、第１図の実施例で
は一対の形状記憶合金部材ＩＡ・ＩＢを並列配置とした
が、この実施例は、形状記憶合金部材ＩＡ・ＩＢを直列
配置としたものである。形状記憶合金部材ＩＡ−ＩＢの
外端はそれぞれ固定ブロック２Ａ・２Ｂに固定され、内
端は回転軸３で連結されている。この連結も、第一の形
状記憶合金部材ＩＡが記憶形状にあるとき、第二の形状
記憶合金部材ＩＢが記憶形状から３６０ ”捻じられた
形となるように行われている０回転軸３は軸受４に支持
され、その中央部には歯車５が固着されている。歯車５
には出力軸８と一体の歯車９が噛み合っ゛ており、出力
軸８は軸受１０に支持されている。FIG. 2 shows another embodiment of the present invention. In the embodiment of FIG. 1, a pair of shape memory alloy members IA and IB were arranged in parallel, but in this embodiment, a pair of shape memory alloy members IA and IB were arranged in parallel. They are arranged in series. The outer ends of the shape memory alloy members IA-IB are fixed to fixed blocks 2A and 2B, respectively, and the inner ends are connected by a rotating shaft 3. This connection is also performed so that when the first shape memory alloy member IA is in the memorized shape, the second shape memory alloy member IB is twisted 360" from the memorized shape. It is supported by a bearing 4, and a gear 5 is fixed to the center thereof.Gear 5
A gear 9 integral with the output shaft 8 meshes with the output shaft 8, and the output shaft 8 is supported by a bearing 10.
このような構造にしても、スイッチ７Ａ・７Ｂを交互に
切り替えて形状記憶合金部材ＩＡ・ＩＢを交互に通電加
熱することにより、出力軸９から往復回転運動を取り出
すことができる。Even with such a structure, reciprocating rotational motion can be extracted from the output shaft 9 by alternately switching the switches 7A and 7B to alternately energize and heat the shape memory alloy members IA and IB.
なお上記各実施例では、形状記憶合金部材の加熱を通電
により行ったが、その他の手段例えば熱線を当てるとか
熱風を当てることにより行ってもよい、また形状記憶合
金部材の冷却は、自然冷却としたが、強制冷却を採用す
ることもできる。In each of the above embodiments, the shape memory alloy member was heated by applying electricity, but it may be heated by other means such as applying a hot wire or hot air. Also, the shape memory alloy member may be cooled by natural cooling. However, forced cooling can also be used.
板状の形状記憶合金部材は放熱面積が大きいため冷却効
率が高いという点で自然冷却に適している。A plate-shaped shape memory alloy member has a large heat dissipation area and therefore has high cooling efficiency, making it suitable for natural cooling.
以上説明したように本発明によれば、一対の形状記憶合
金部材を交互に加熱して、交互に回転力を発生させるよ
うにしたので、高出力の往復回転アクチェエータを構成
できる。また形状記憶合金部材の捻じり復元力を利用し
ているのでスペースをとらず全体をきわめて小型化でき
る利点がある。As explained above, according to the present invention, since the pair of shape memory alloy members are alternately heated to alternately generate rotational force, a high-output reciprocating rotary actuator can be constructed. Furthermore, since the torsional restoring force of the shape memory alloy member is utilized, there is an advantage that the entire structure can be made extremely compact without taking up much space.
第１図はおよび第２図はそれぞれ本発明に係る往復回転
アクチュエータの実施例を示す説明図である。
ＩＡ・ＩＢ〜形状記憶合金部材、２Ａ・２Ｂ〜固定ブロ
ツク、３Ａ・３Ｂ・３〜回転軸、５Ａ・５Ｂ・５〜歯車
、６Ａ・６Ｂ〜電源、７Ａ・７Ｂ〜スイツチ。
、−−〆FIG. 1 and FIG. 2 are explanatory diagrams each showing an embodiment of a reciprocating rotary actuator according to the present invention. IA/IB~shape memory alloy member, 2A/2B~fixing block, 3A/3B/3~rotating shaft, 5A/5B/5~gear, 6A/6B~power supply, 7A/7B~switch. ,−−〆
Claims (1)
一対の形状記憶合金部材の回転端側を、一方の形状記憶
合金部材が記憶形状にあるときに他方の形状記憶合金部
材が記憶形状以外の形に捻じられるように連結し、上記
一対の形状記憶合金部材を交互に加熱することにより、
上記形状記憶合金部材の連結部を往復回転させるように
したことを特徴とする往復回転アクチュエータ。A pair of shape memory alloy members, each of which is fixed at one end and rotatable at the other end, is rotated so that when one shape memory alloy member is in the memorized shape, the other shape memory alloy member is in a shape other than the memorized shape. By connecting the shape memory alloy members so as to be twisted in the shape of and alternately heating the pair of shape memory alloy members,
A reciprocating rotary actuator characterized in that a connecting portion of the shape memory alloy member is configured to reciprocate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3336687A JPS63201375A (en) | 1987-02-18 | 1987-02-18 | Reciprocating rotary actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3336687A JPS63201375A (en) | 1987-02-18 | 1987-02-18 | Reciprocating rotary actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63201375A true JPS63201375A (en) | 1988-08-19 |
Family
ID=12384582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3336687A Pending JPS63201375A (en) | 1987-02-18 | 1987-02-18 | Reciprocating rotary actuator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63201375A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003518577A (en) * | 1999-12-10 | 2003-06-10 | バレイロ・モーター・カンパニー・プロプライエタリー・リミテッド | Machine including power means for generating electrical energy |
| WO2021045707A3 (en) * | 2019-09-03 | 2021-04-01 | Tusas- Turk Havacilik Ve Uzay Sanayii Anonim Sirketi | An actuator mechanism |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49329U (en) * | 1972-04-05 | 1974-01-05 | ||
| JPS60159378A (en) * | 1984-01-31 | 1985-08-20 | Furukawa Electric Co Ltd:The | Rotary driving mechanism |
| JPS61100392A (en) * | 1984-10-19 | 1986-05-19 | 株式会社日立製作所 | Drive |
-
1987
- 1987-02-18 JP JP3336687A patent/JPS63201375A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49329U (en) * | 1972-04-05 | 1974-01-05 | ||
| JPS60159378A (en) * | 1984-01-31 | 1985-08-20 | Furukawa Electric Co Ltd:The | Rotary driving mechanism |
| JPS61100392A (en) * | 1984-10-19 | 1986-05-19 | 株式会社日立製作所 | Drive |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003518577A (en) * | 1999-12-10 | 2003-06-10 | バレイロ・モーター・カンパニー・プロプライエタリー・リミテッド | Machine including power means for generating electrical energy |
| WO2021045707A3 (en) * | 2019-09-03 | 2021-04-01 | Tusas- Turk Havacilik Ve Uzay Sanayii Anonim Sirketi | An actuator mechanism |
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