WO2021045707A2 - An actuator mechanism - Google Patents

An actuator mechanism Download PDF

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Publication number
WO2021045707A2
WO2021045707A2 PCT/TR2020/050744 TR2020050744W WO2021045707A2 WO 2021045707 A2 WO2021045707 A2 WO 2021045707A2 TR 2020050744 W TR2020050744 W TR 2020050744W WO 2021045707 A2 WO2021045707 A2 WO 2021045707A2
Authority
WO
WIPO (PCT)
Prior art keywords
shaft
actuator mechanism
output shaft
triggered
axis
Prior art date
Application number
PCT/TR2020/050744
Other languages
French (fr)
Other versions
WO2021045707A3 (en
Inventor
Hakan İSCİ
Murat CEYHAN
Original Assignee
Tusas- Turk Havacilik Ve Uzay Sanayii Anonim Sirketi
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tusas- Turk Havacilik Ve Uzay Sanayii Anonim Sirketi filed Critical Tusas- Turk Havacilik Ve Uzay Sanayii Anonim Sirketi
Priority to BR112022003976A priority Critical patent/BR112022003976A2/en
Priority to KR1020227010376A priority patent/KR20220053647A/en
Priority to AU2020341428A priority patent/AU2020341428A1/en
Publication of WO2021045707A2 publication Critical patent/WO2021045707A2/en
Publication of WO2021045707A3 publication Critical patent/WO2021045707A3/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/061—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element
    • F03G7/0614—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element using shape memory elements
    • F03G7/06146—Torque tubes or torsion bars
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/061—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element
    • F03G7/0614—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element using shape memory elements
    • F03G7/06147—Magnetic shape memory alloys, e.g. ferro-magnetic alloys
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/063—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the mechanic interaction
    • F03G7/0636—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the mechanic interaction with several elements connected in parallel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/066—Actuator control or monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2280/00—Materials; Properties thereof
    • F05B2280/50—Intrinsic material properties or characteristics
    • F05B2280/5006—Shape memory

Definitions

  • the present invention relates to an actuator mechanism which comprises a shape memory material.
  • shape memory alloy materials After shape memory alloy materials are deformed at a low temperature, they are heated to a high temperature such that they are able to function by returning to their form before the deformation. When shape memory alloy materials are required to show a large number of actuator movements, they are required to be deformed before each actuator movement. Shape memory alloy materials can be deformed with another shape memory alloy material that operates in an antagonistic manner to itself before each actuator movement. Therefore, multiple actuator movements can be realized with an actuator system consisting of shape memory alloy actuators operating in an antagonistic manner.
  • Another object of the present invention is to realize an actuator consisting of a shape memory alloy, which can be used in areas where the usage are of actuators triggered by temperature changes is constrained.
  • the actuator mechanism realized to achieve the object of the invention and defined in the first claim and the other claims dependent thereon comprises a body; a first shaft and a second shaft which are made of a shape memory alloy material, extend out of the body, and are formed when triggered by magnetic field and/or physical force applied thereon and/or heat change; an output shaft which rotates around its own axis when actuated by forming of the first shaft and/or the second shaft; and a first shaft which is formed by twisting around its own axis as a result of the physical force applied thereon and/or the heat change.
  • the actuator mechanism of the invention comprises a second shaft which is formed by bending as a result of the physical force applied thereon and/or the heat change; and a power transfer element which contacts the second shaft and the output shaft, and is triggered by forming of the bended second shaft, thus enabling the output shaft to rotate around its own axis.
  • the actuator mechanism comprises at least one heater enabling the first shaft and the second shaft to be heated; at least one cooler enabling the first shaft and the second shaft to be cooled; and a control unit controlling the heater and/or the cooler to heat and/or cool the first shaft and the second shaft.
  • the actuator mechanism comprises a heater heating the first shaft, which is in a twisted form with the effect of physical force applied thereon, such that the first shaft is enabled to be formed so that it is untwisted to its previous form before twisting, and heating the second shaft, which is in a bended form as a result of physical force applied thereon, such that the second shaft is unbent to its previous form before bending; an output shaft which is triggered while the second shaft is formed by bending and/or the first shaft is twisted, and makes a rotational movement around its own axis; a second shaft which is bended when triggered by the force transfer element during rotation of the output shaft around its own axis upon being triggered by the first shaft; and an output shaft which rotates around its own axis when triggered by heating of the second shaft, and enables the first shaft to be formed by bending.
  • the actuator mechanism comprises a first shaft which is twisted around its own axis by the physical force applied thereon when in the martensite phase of the shape memory alloy material; a heater which enables the first shaft to be untwisted by heating the first shaft to the austenite phase of the shape memory alloy material; a force transfer element transferring the physical force created by forming of the first shaft to the second shaft, which is in the martensite phase of the shape memory alloy material, such that the second shaft is enabled to be bended; a heater which heats the second shaft to the austenite phase of the shape memory alloy material such that the second shaft is enabled to be formed by bending in opposite direction; a force transfer element transferring the physical force created by forming of the second shaft to the first shaft, which is in the martensite phase of the shape memory alloy material, such that the first shaft is enabled to be twisted; an output shaft which contacts the first shaft and the force transfer element, and is activated by the twisted first shaft and/or the triggered force transfer element so that it rotates around
  • the actuator mechanism comprises a first one-way bearing which is located between the first shaft and the output shaft, and enables the first shaft to be twisted clockwise or counter-clockwise around its own axis without activating the output shaft in the first direction (I) but activating the output shaft in the opposite direction (II) to the first direction (I); a second one-way bearing which is located between the power transfer element and the output shaft, and enables the power transfer element to rotate without activating the output shaft in the first direction (I) but activating the output shaft in the second direction (II); a first shaft trained in twist direction around its own axis; a second shaft trained in bending direction; a first shaft which is formed by twisting when heated to the austenite phase by means of the heater, and formed by twisting in reverse direction when cooled to the martensite phase by means of the cooler; and a second shaft which is formed by bending when heated to the austenite phase by means of the heater, and formed by bending in reverse direction when cooled to the martensite phase by means of the
  • the actuator mechanism comprises a control unit which controls alternating heating and cooling of the first shaft and the second shaft such that one of them is in the martensite phase of the shape memory alloy material and the other in the austenite phase of the shape memory alloy material, in order for the output shaft to rotate clockwise or counter-clockwise around its axis continuously, and controls heating and cooling of the first shaft and the second shaft such that the first shaft is in the martensite phase of the shape memory alloy material and the second shaft is in the austenite phase of the shape memory alloy material simultaneously in order to increase rotation torque of the output shaft.
  • the actuator mechanism comprises a second shaft which is not triggered or bended, and extends from the body at least partially parallel to the first shaft which is not triggered or twisted.
  • the actuator mechanism comprises a first shaft, one end of which is fixed on the body and the other end is rotatable by twisting; and a second shaft, one end of which is fixed on the body and the other end is movable by bending.
  • the actuator mechanism comprises a first shaft in a cylindrical form; and a second shaft in an angular form.
  • the actuator mechanism comprises at least one groove which is located on the body, allows the first shaft and the second shaft to be located on the body in a fixed manner, and corresponds to the cross-sectional shape such that the first shaft and/or the second shaft can be inserted therein.
  • the actuator mechanism comprises at least one guide which is located on the body, and contacts the second shaft such that the guide allows bending by restricting twisting in the forming by the force applied on the second shaft.
  • the actuator mechanism comprises a first shaft and/or a second shaft made of a shape memory alloy material, which can be formed by a magnetic field applied thereon; and a magnetic field generator applying a magnetic field on the first shaft and/or the second shaft.
  • the actuator mechanism comprises a body provided at space and/or air vehicles.
  • the actuator mechanism is suitable for use in a rotor system at space and/or air vehicles.
  • Exemplary embodiments of the actuator mechanism according to the present invention are illustrated in the attached drawings, in which:
  • Figure 1 is a top view of an actuator mechanism.
  • Figure 2 is a perspective view of an actuator mechanism.
  • Figure 3 is an exploded view of an actuator mechanism.
  • Figure 4 is a perspective view of first shaft and second shaft before being triggered.
  • Figure 5 is a perspective view of first shaft and second shaft after being triggered.
  • Figure 6 is a perspective view of first shaft, second shaft, force transfer element first one-way bearing and second one-way bearing.
  • Figure 7 is a perspective view of body, output shaft and magnetic field generator.
  • the actuator mechanism (1) comprises a body (2); a first shaft (3) and a second shaft (4) which are made of a shape memory alloy material, extend out of the body (2), and are formed when triggered by magnetic field and/or physical force applied thereon and/or by heat change; an output shaft (8) which rotates around its own axis when triggered by forming of the first shaft (3) and/or the second shaft (4); and a first shaft (3) which is formed by twisting ( Figure 1, Figure 2, Figure 3, Figure 4, and Figure 5).
  • the actuator mechanism (1) of the invention comprises a second shaft (4) which is formed by bending; and a force transfer element (9) contacting the second shaft (4) and the output shaft (8), triggered by forming of the bended second shaft (4), thus enabling the output shaft (8) to rotate around its own axis.
  • Output shaft (8) of the actuator mechanism (1) which provides power output by rotating, is triggered by the first shaft (3) and the second shaft (4) consisting of shape memory alloy material.
  • First shaft (3) and second shaft (4) are formed by heat change and/or the physical force applied thereon, and trigger the output shaft (8).
  • Forming of the first shaft (3) is realized by twisting as a result of the physical force applied thereon and/or the heat change.
  • Forming of the second shaft (4) is realized by bending as a result of the physical force applied thereon and/or the heat change.
  • the force transfer element (9) provides transfer of bending forming of the second shaft (4) by converting said forming into rotational movement on the output shaft (8).
  • the actuator mechanism (1) comprises at least one heater (5) enabling the first shaft (3) and the second shaft (4) to be heated; at least one cooler (6) enabling the first shaft (3) and the second shaft (4) to be cooled; and a control unit (7) controlling the heater (5) and/or the cooler (6) to heat and/or cool the first shaft (3) and the second shaft (4).
  • Independent heat changes of the first shaft (3) and the second shaft (4) are provided by control of heater (5) and cooler (6) by the control unit (7).
  • the actuator mechanism (1) comprises a heater (5) heating the twisted first shaft (3) such that the first shaft (3) is enabled to be formed as untwisted, and heating the bended second shaft (4) such that the second shaft (4) is enabled to bend back to its previous form before bending; an output shaft (8) which is triggered while the second shaft (4) is formed by bending and/or the first shaft (3) is twisted, and makes a rotational movement around its own axis; a second shaft (4) which is bended when triggered by the force transfer element (9) during rotation of the output shaft (8) around its own axis; and an output shaft (8) which rotates around its own axis when triggered by heating of the second shaft (4), and enables the first shaft (3) to be formed by twisting.
  • the output shaft (8) is triggered by heating the first shaft (3), which has been twisted and formed by the physical force applied thereon, and untwisting it to its previous form before twisting. Heating the first shaft (3) is enabled by the heater (5).
  • the force transfer element (9), and accordingly, the output shaft (8) by means of the force transfer element (9) are triggered by heating the second shaft (4), which has been bended and formed by the physical force applied thereon, and unbending it to its previous form bending.
  • the output shaft (8) which is triggered such that it rotates when the first shaft (3) is heated, bends the second shaft (4) by means of the force transfer element (9).
  • the output shaft (8) which is triggered by means of the force transfer element (9) such that it rotates after the second shaft (4) is heated, twists the first shaft (3). Thanks to the output shaft (8) which is rotated when triggered cyclically by the first shaft (3) and then the second shaft (4) respectively, the actuator mechanism (1) is realized.
  • the actuator mechanism (1) comprises a first shaft (3) which is twisted around its own axis by the physical force applied thereon when in the martensite phase; a heater (5) which enables the first shaft (3) to be twisted in reverse by heating the first shaft (3) to the austenite phase; a force transfer element (9) transferring the physical force created by forming of the first shaft (3) to the second shaft (4), which is in the martensite phase, such that the second shaft (4) is enabled to be bended; a heater (5) which heats the second shaft (4) to the austenite phase such that the second shaft (4) is enabled to be formed by bending in opposite direction; a force transfer element (9) transferring the physical force created by forming of the second shaft (4) to the first shaft (3), which is in the martensite phase, such that the first shaft (3) is enabled to be twisted; an output shaft (8) which contacts the first shaft (3) and the force transfer element (9), and is triggered by the twisted first shaft (3) and/or the triggered force transfer element (9) so that
  • the output shaft (8) When the first shaft (3), which has been twisted as a result of the physical force applied thereon when in the martensite phase of the shape memory alloy material, is heated by the heater (5) to the austenite phase of the shape memory alloy material, the output shaft (8) is triggered and rotates around its own axis as a result of twisting the first shaft (3) in reverse direction to the previous twisting direction.
  • the output shaft (8) transfers its rotational movement to the second shaft (4) by means of the force transfer element (9), the second shaft (4) is formed by bending. While the first shaft (3) is heated to the austenite phase, the second shaft (4) is in the martensite phase.
  • Bended second shaft (4) is heated to the austenite phase of the shape memory alloy material such that it is formed by bending in reverse direction to the previous bending direction, and as a result of this forming, triggers the output shaft (8) by means of the force transfer element (9) and rotates the output shaft (8) in reverse direction to the first rotation direction.
  • the output shaft (8) rotating in reverse to the first rotation direction bends the first shaft (3) in the martensite phase such that it is formed. Thanks to the output shaft (8) which is rotated clockwise and then counter-clockwise when cyclically triggered by the first shaft (3) and then the second shaft (4) respectively, the actuator mechanism (1) is realized.
  • the heater (5) and the cooler (6) are controlled by the control unit (7) in order to enable that the first shaft (3) and the second shaft (4) are in a desired phase of the shape memory alloy material at specified times.
  • the actuator mechanism (1) comprises a first one-way bearing (10) which is located between the first shaft (3) and the output shaft (8), and enables the first shaft (3) to be twisted clockwise or counter-clockwise around its own axis without triggering the output shaft (8) in the first direction (I) but triggering the output shaft (8) in the opposite direction (II) to the first direction (I); a second one-way bearing (11) which is located between the power transfer element (9) and the output shaft (8), and enables the power transfer element (9) to rotate without triggering the output shaft (8) in the first direction (I) but triggering the output shaft (8) in the second direction (II); a first shaft (3) trained in twist direction around its own axis; a second shaft (4) trained in bending direction; a first shaft (3) which is formed by twisting when heated to the austenite phase by means of the heater (5), and formed by twisting in reverse direction when cooled to the martensite phase by means of the cooler (6); and a second shaft (4) which is
  • the first shaft (3) and the second shaft (4) consisting of two-way shape memory alloy material can be triggered by heating and cooling.
  • first shaft (3) previously trained in twisting direction is heated by the heater (5) to the austenite phase, it is twisted in one direction; and when the first shaft (3) is cooled back to the martensite phase by the cooler (6), it is twisted in reverse direction.
  • second shaft (4) previously trained in bending direction is heated by the heater (5) to the austenite phase, it is bended in one direction; and when the second shaft (4) is cooled back to the martensite phase by the cooler (6), it is bended in reverse direction.
  • the first shaft (3) is allowed to be formed without triggering the output shaft (8) in one direction.
  • the second one-way bearing (11) provided between the force transfer element (9) and the output shaft (8), the force transfer element (9) is allowed to rotate around its own axis without triggering the output shaft (8) in one direction.
  • the first shaft (3) is formed by twisting when heated, it triggers the output shaft (8) in one direction by means of the first one-way bearing (10) and enables it to rotate around its own axis.
  • the first shaft (3) is twisted in reverse direction without triggering the output shaft (8) by means of the first one-way bearing (10).
  • the first shaft (3) it is also possible for the first shaft (3) to be twisted without triggering the output shaft (8) while being heated, and to be twisted by triggering the output shaft (8) while being cooled.
  • the force transfer element (9), which is triggered and rotated in reverse direction around its own axis while the second shaft (4) is cooled and bended in reverse direction, can rotate in reverse direction by means of the second one-way bearing
  • the actuator mechanism (1) comprises a control unit (7) which controls alternating heating and cooling of the first shaft (3) and the second shaft (4) in order for the output shaft (8) to rotate clockwise or counter-clockwise around its own axis continuously, and controls simultaneous heating and cooling of the first shaft (3) and the second shaft (4) in order to increase rotation torque of the output shaft (8).
  • Continuous rotation of the output shaft (8) rotating around its own axis when triggered in one direction thanks to the first one-way bearing (10) and the second one-way bearing (11) is enabled by the second shaft (4) triggering the output shaft (8) when the first shaft (3) does not trigger the output shaft (8) and the first shaft (3) triggering the output shaft (8) when the second shaft (4) does not trigger the output shaft (8).
  • Successive heating and cooling of the first shaft (3) and the second shaft (4) is enabled by controlling the heater (5) and the cooler (6) by the control unit (7) at specified times.
  • the output shaft (8) is enabled to be simultaneously triggered by the first shaft (3) and the second shaft (4).
  • Simultaneous heating and cooling of the first shaft (3) and the second shaft (4) is enabled by controlling the heater (5) and the cooler (6) by the control unit (7) at specified times.
  • the actuator mechanism (1) comprises a second shaft (4) which extends from the body (2) at least partially parallel to the first shaft (3) in the same direction. Volumetric gain is provided by positioning the first shaft (3) and the second shaft (4) side by side and at least partially parallel to each other ( Figure 1 and Figure 2).
  • the actuator mechanism (1) comprises a first shaft (3), one end of which is fixed on the body (2) and the other end is rotatable by twisting; and a second shaft (4), one end of which is fixed on the body (2) and the other end is movable by bending. Thanks to the fact that the first shaft (3) and the second shaft (4) are fixed on the body (2) from one end, they are allowed to be formed without changing their position as a result of the physical force applied thereon.
  • the actuator mechanism (1) comprises a first shaft (3) in a cylindrical form; and a second shaft (4) in an angular form.
  • the fact that the first shaft (3) is in cylindrical form prevents formation of stress accumulation on the material in the twisting direction while it is twisted and formed as a result of the physical force applied thereon.
  • the fact that the second shaft (4) is in angular form prevents formation of stress accumulation on the material in the bending direction while it is bended and formed as a result of the physical force applied thereon, and prevents the second shaft (4) from twisting while being triggered by the force transfer element (9).
  • the actuator mechanism (1) comprises at least one groove (12) which is located on the body (2), and allows the first shaft (3) and the second shaft (4) to be located on the body (2) in a fixed manner.
  • the groove (12) which is located on the body (2) and corresponds to the cross-sectional geometries of the first shaft (3) and the second shaft (4), enables the first shaft (3) and the second shaft (4) to be fixed at one end and to be formed without slipping as a result of the physical force applied thereon ( Figure 3).
  • the actuator mechanism (1) comprises at least one guide (13) located on the body (2) and contacting the second shaft (4) such that it limits the forming of second shaft (4) by the physical force applied thereon with bending.
  • the guide (13) located on the body (2) contacts the second shaft (4) such that the second shaft (4) is enabled to be bended without twisting while it is formed by the physical force applied thereon ( Figure 1, Figure 2, Figure 3).
  • the actuator mechanism (1) comprises a first shaft (3) and/or a second shaft (4) made of a shape memory alloy material, which can be formed by a magnetic field applied thereon; and a magnetic field generator (14) applying a magnetic field on the first shaft (3) and/or the second shaft (4).
  • forming of the first shaft (3) and the second shaft (4) can be performed by magnetic field as an alternative to the heat change and/or physical force application (Figure 7).
  • the actuator mechanism (1) comprises a body (2) provided at space and/or air vehicles.
  • the actuator mechanism (1) allows use of an actuator triggered by heat changes and providing advantage in terms of weight and volume in space and/or air vehicles.
  • the actuator mechanism (1) is suitable for use in a rotor system at space and/or air vehicles.
  • the actuator mechanism (1) allows use of an actuator triggered by heat changes and providing advantage in terms of weight and volume in rotor mechanisms at space and/or air vehicles.

Abstract

The present invention relates to a body (2); a first shaft (3) and a second shaft (4) which are made of a shape memory alloy material, extend out of the body (2), and are formed when triggered by magnetic field and/or physical force applied thereon and/or heat change; an output shaft (8) which rotates around its own axis when triggered by forming of the first shaft (3) and/or the second shaft (4); and a first shaft (3) which is formed by twisting.

Description

AN ACTUATOR MECHANISM
The present invention relates to an actuator mechanism which comprises a shape memory material.
After shape memory alloy materials are deformed at a low temperature, they are heated to a high temperature such that they are able to function by returning to their form before the deformation. When shape memory alloy materials are required to show a large number of actuator movements, they are required to be deformed before each actuator movement. Shape memory alloy materials can be deformed with another shape memory alloy material that operates in an antagonistic manner to itself before each actuator movement. Therefore, multiple actuator movements can be realized with an actuator system consisting of shape memory alloy actuators operating in an antagonistic manner.
In US patent document US8726652, which is included in the known state of the art, two shafts made of shape memory alloy material, which operate in an antagonistic manner, are positioned contacting each other on a same line. Shafts are heated at different times to provide bidirectional movement. However, in such a configuration, the shafts being end- to-end on the same direction cause the actuator to occupy extra space in the direction of the shaft. This cannot solve the problem of using an actuator in areas with volumetric constraints.
Thanks to the actuator mechanism according to the present invention, an effective actuator mechanism meeting high torque requirements is realized.
Another object of the present invention is to realize an actuator consisting of a shape memory alloy, which can be used in areas where the usage are of actuators triggered by temperature changes is constrained.
The actuator mechanism realized to achieve the object of the invention and defined in the first claim and the other claims dependent thereon comprises a body; a first shaft and a second shaft which are made of a shape memory alloy material, extend out of the body, and are formed when triggered by magnetic field and/or physical force applied thereon and/or heat change; an output shaft which rotates around its own axis when actuated by forming of the first shaft and/or the second shaft; and a first shaft which is formed by twisting around its own axis as a result of the physical force applied thereon and/or the heat change.
The actuator mechanism of the invention comprises a second shaft which is formed by bending as a result of the physical force applied thereon and/or the heat change; and a power transfer element which contacts the second shaft and the output shaft, and is triggered by forming of the bended second shaft, thus enabling the output shaft to rotate around its own axis.
In an embodiment of the invention, the actuator mechanism comprises at least one heater enabling the first shaft and the second shaft to be heated; at least one cooler enabling the first shaft and the second shaft to be cooled; and a control unit controlling the heater and/or the cooler to heat and/or cool the first shaft and the second shaft.
In an embodiment of the invention, the actuator mechanism comprises a heater heating the first shaft, which is in a twisted form with the effect of physical force applied thereon, such that the first shaft is enabled to be formed so that it is untwisted to its previous form before twisting, and heating the second shaft, which is in a bended form as a result of physical force applied thereon, such that the second shaft is unbent to its previous form before bending; an output shaft which is triggered while the second shaft is formed by bending and/or the first shaft is twisted, and makes a rotational movement around its own axis; a second shaft which is bended when triggered by the force transfer element during rotation of the output shaft around its own axis upon being triggered by the first shaft; and an output shaft which rotates around its own axis when triggered by heating of the second shaft, and enables the first shaft to be formed by bending.
In an embodiment of the invention, the actuator mechanism comprises a first shaft which is twisted around its own axis by the physical force applied thereon when in the martensite phase of the shape memory alloy material; a heater which enables the first shaft to be untwisted by heating the first shaft to the austenite phase of the shape memory alloy material; a force transfer element transferring the physical force created by forming of the first shaft to the second shaft, which is in the martensite phase of the shape memory alloy material, such that the second shaft is enabled to be bended; a heater which heats the second shaft to the austenite phase of the shape memory alloy material such that the second shaft is enabled to be formed by bending in opposite direction; a force transfer element transferring the physical force created by forming of the second shaft to the first shaft, which is in the martensite phase of the shape memory alloy material, such that the first shaft is enabled to be twisted; an output shaft which contacts the first shaft and the force transfer element, and is activated by the twisted first shaft and/or the triggered force transfer element so that it rotates around its own axis; and a control unit controlling the successive heating and cooling of the first shaft and the second shaft for rotating the output shaft cyclically clockwise and counter-clockwise respectively.
In an embodiment of the invention, the actuator mechanism comprises a first one-way bearing which is located between the first shaft and the output shaft, and enables the first shaft to be twisted clockwise or counter-clockwise around its own axis without activating the output shaft in the first direction (I) but activating the output shaft in the opposite direction (II) to the first direction (I); a second one-way bearing which is located between the power transfer element and the output shaft, and enables the power transfer element to rotate without activating the output shaft in the first direction (I) but activating the output shaft in the second direction (II); a first shaft trained in twist direction around its own axis; a second shaft trained in bending direction; a first shaft which is formed by twisting when heated to the austenite phase by means of the heater, and formed by twisting in reverse direction when cooled to the martensite phase by means of the cooler; and a second shaft which is formed by bending when heated to the austenite phase by means of the heater, and formed by bending in reverse direction when cooled to the martensite phase by means of the cooler.
In an embodiment of the invention, the actuator mechanism comprises a control unit which controls alternating heating and cooling of the first shaft and the second shaft such that one of them is in the martensite phase of the shape memory alloy material and the other in the austenite phase of the shape memory alloy material, in order for the output shaft to rotate clockwise or counter-clockwise around its axis continuously, and controls heating and cooling of the first shaft and the second shaft such that the first shaft is in the martensite phase of the shape memory alloy material and the second shaft is in the austenite phase of the shape memory alloy material simultaneously in order to increase rotation torque of the output shaft.
In an embodiment of the invention, the actuator mechanism comprises a second shaft which is not triggered or bended, and extends from the body at least partially parallel to the first shaft which is not triggered or twisted.
In an embodiment of the invention, the actuator mechanism comprises a first shaft, one end of which is fixed on the body and the other end is rotatable by twisting; and a second shaft, one end of which is fixed on the body and the other end is movable by bending.
In an embodiment of the invention, the actuator mechanism comprises a first shaft in a cylindrical form; and a second shaft in an angular form.
In an embodiment of the invention, the actuator mechanism comprises at least one groove which is located on the body, allows the first shaft and the second shaft to be located on the body in a fixed manner, and corresponds to the cross-sectional shape such that the first shaft and/or the second shaft can be inserted therein.
In an embodiment of the invention, the actuator mechanism comprises at least one guide which is located on the body, and contacts the second shaft such that the guide allows bending by restricting twisting in the forming by the force applied on the second shaft.
In an embodiment of the invention, the actuator mechanism comprises a first shaft and/or a second shaft made of a shape memory alloy material, which can be formed by a magnetic field applied thereon; and a magnetic field generator applying a magnetic field on the first shaft and/or the second shaft.
In an embodiment of the invention, the actuator mechanism comprises a body provided at space and/or air vehicles.
In an embodiment of the invention, the actuator mechanism is suitable for use in a rotor system at space and/or air vehicles. Exemplary embodiments of the actuator mechanism according to the present invention are illustrated in the attached drawings, in which:
Figure 1 is a top view of an actuator mechanism.
Figure 2 is a perspective view of an actuator mechanism.
Figure 3 is an exploded view of an actuator mechanism.
Figure 4 is a perspective view of first shaft and second shaft before being triggered.
Figure 5 is a perspective view of first shaft and second shaft after being triggered. Figure 6 is a perspective view of first shaft, second shaft, force transfer element first one-way bearing and second one-way bearing.
Figure 7 is a perspective view of body, output shaft and magnetic field generator.
All the parts illustrated in the figures are individually assigned a reference numeral and the corresponding terms of these numbers are listed as follows:
1. Actuator mechanism
2. Body
3. First shaft
4. Second shaft
5. Heater
6. Cooler
7. Control unit
8. Output shaft
9. Force transfer element
10. First one-way bearing
11. Second one-way bearing
12. Groove
13. Guide
14. Magnetic field generator
The actuator mechanism (1) comprises a body (2); a first shaft (3) and a second shaft (4) which are made of a shape memory alloy material, extend out of the body (2), and are formed when triggered by magnetic field and/or physical force applied thereon and/or by heat change; an output shaft (8) which rotates around its own axis when triggered by forming of the first shaft (3) and/or the second shaft (4); and a first shaft (3) which is formed by twisting (Figure 1, Figure 2, Figure 3, Figure 4, and Figure 5).
The actuator mechanism (1) of the invention comprises a second shaft (4) which is formed by bending; and a force transfer element (9) contacting the second shaft (4) and the output shaft (8), triggered by forming of the bended second shaft (4), thus enabling the output shaft (8) to rotate around its own axis.
Output shaft (8) of the actuator mechanism (1), which provides power output by rotating, is triggered by the first shaft (3) and the second shaft (4) consisting of shape memory alloy material. First shaft (3) and second shaft (4) are formed by heat change and/or the physical force applied thereon, and trigger the output shaft (8). Forming of the first shaft (3) is realized by twisting as a result of the physical force applied thereon and/or the heat change.
Forming of the second shaft (4) is realized by bending as a result of the physical force applied thereon and/or the heat change. The force transfer element (9) provides transfer of bending forming of the second shaft (4) by converting said forming into rotational movement on the output shaft (8).
In an embodiment of the invention, the actuator mechanism (1) comprises at least one heater (5) enabling the first shaft (3) and the second shaft (4) to be heated; at least one cooler (6) enabling the first shaft (3) and the second shaft (4) to be cooled; and a control unit (7) controlling the heater (5) and/or the cooler (6) to heat and/or cool the first shaft (3) and the second shaft (4). Independent heat changes of the first shaft (3) and the second shaft (4) are provided by control of heater (5) and cooler (6) by the control unit (7).
In an embodiment of the invention, the actuator mechanism (1) comprises a heater (5) heating the twisted first shaft (3) such that the first shaft (3) is enabled to be formed as untwisted, and heating the bended second shaft (4) such that the second shaft (4) is enabled to bend back to its previous form before bending; an output shaft (8) which is triggered while the second shaft (4) is formed by bending and/or the first shaft (3) is twisted, and makes a rotational movement around its own axis; a second shaft (4) which is bended when triggered by the force transfer element (9) during rotation of the output shaft (8) around its own axis; and an output shaft (8) which rotates around its own axis when triggered by heating of the second shaft (4), and enables the first shaft (3) to be formed by twisting. The output shaft (8) is triggered by heating the first shaft (3), which has been twisted and formed by the physical force applied thereon, and untwisting it to its previous form before twisting. Heating the first shaft (3) is enabled by the heater (5). The force transfer element (9), and accordingly, the output shaft (8) by means of the force transfer element (9) are triggered by heating the second shaft (4), which has been bended and formed by the physical force applied thereon, and unbending it to its previous form bending. The output shaft (8), which is triggered such that it rotates when the first shaft (3) is heated, bends the second shaft (4) by means of the force transfer element (9). The output shaft (8), which is triggered by means of the force transfer element (9) such that it rotates after the second shaft (4) is heated, twists the first shaft (3). Thanks to the output shaft (8) which is rotated when triggered cyclically by the first shaft (3) and then the second shaft (4) respectively, the actuator mechanism (1) is realized.
In an embodiment of the invention, the actuator mechanism (1) comprises a first shaft (3) which is twisted around its own axis by the physical force applied thereon when in the martensite phase; a heater (5) which enables the first shaft (3) to be twisted in reverse by heating the first shaft (3) to the austenite phase; a force transfer element (9) transferring the physical force created by forming of the first shaft (3) to the second shaft (4), which is in the martensite phase, such that the second shaft (4) is enabled to be bended; a heater (5) which heats the second shaft (4) to the austenite phase such that the second shaft (4) is enabled to be formed by bending in opposite direction; a force transfer element (9) transferring the physical force created by forming of the second shaft (4) to the first shaft (3), which is in the martensite phase, such that the first shaft (3) is enabled to be twisted; an output shaft (8) which contacts the first shaft (3) and the force transfer element (9), and is triggered by the twisted first shaft (3) and/or the triggered force transfer element (9) so that it rotates around its own axis; and a control unit (7) controlling the successive heating and cooling of the first shaft (3) and the second shaft (4) for rotating the output shaft (8) cyclically clockwise and counter-clockwise. When the first shaft (3), which has been twisted as a result of the physical force applied thereon when in the martensite phase of the shape memory alloy material, is heated by the heater (5) to the austenite phase of the shape memory alloy material, the output shaft (8) is triggered and rotates around its own axis as a result of twisting the first shaft (3) in reverse direction to the previous twisting direction. When the output shaft (8) transfers its rotational movement to the second shaft (4) by means of the force transfer element (9), the second shaft (4) is formed by bending. While the first shaft (3) is heated to the austenite phase, the second shaft (4) is in the martensite phase. Bended second shaft (4) is heated to the austenite phase of the shape memory alloy material such that it is formed by bending in reverse direction to the previous bending direction, and as a result of this forming, triggers the output shaft (8) by means of the force transfer element (9) and rotates the output shaft (8) in reverse direction to the first rotation direction. The output shaft (8) rotating in reverse to the first rotation direction bends the first shaft (3) in the martensite phase such that it is formed. Thanks to the output shaft (8) which is rotated clockwise and then counter-clockwise when cyclically triggered by the first shaft (3) and then the second shaft (4) respectively, the actuator mechanism (1) is realized. The heater (5) and the cooler (6) are controlled by the control unit (7) in order to enable that the first shaft (3) and the second shaft (4) are in a desired phase of the shape memory alloy material at specified times.
In an embodiment of the invention, the actuator mechanism (1) comprises a first one-way bearing (10) which is located between the first shaft (3) and the output shaft (8), and enables the first shaft (3) to be twisted clockwise or counter-clockwise around its own axis without triggering the output shaft (8) in the first direction (I) but triggering the output shaft (8) in the opposite direction (II) to the first direction (I); a second one-way bearing (11) which is located between the power transfer element (9) and the output shaft (8), and enables the power transfer element (9) to rotate without triggering the output shaft (8) in the first direction (I) but triggering the output shaft (8) in the second direction (II); a first shaft (3) trained in twist direction around its own axis; a second shaft (4) trained in bending direction; a first shaft (3) which is formed by twisting when heated to the austenite phase by means of the heater (5), and formed by twisting in reverse direction when cooled to the martensite phase by means of the cooler (6); and a second shaft (4) which is formed by bending when heated to the austenite phase by means of the heater (5), and formed by unbending when cooled to the martensite phase by means of the cooler (6). The first shaft (3) and the second shaft (4) consisting of two-way shape memory alloy material can be triggered by heating and cooling. When the first shaft (3) previously trained in twisting direction is heated by the heater (5) to the austenite phase, it is twisted in one direction; and when the first shaft (3) is cooled back to the martensite phase by the cooler (6), it is twisted in reverse direction. When the second shaft (4) previously trained in bending direction is heated by the heater (5) to the austenite phase, it is bended in one direction; and when the second shaft (4) is cooled back to the martensite phase by the cooler (6), it is bended in reverse direction. Thanks to the first one-way bearing (10) located between the first shaft (3) and the output shaft (8), the first shaft (3) is allowed to be formed without triggering the output shaft (8) in one direction. Thanks to the second one-way bearing (11) provided between the force transfer element (9) and the output shaft (8), the force transfer element (9) is allowed to rotate around its own axis without triggering the output shaft (8) in one direction. While the first shaft (3) is formed by twisting when heated, it triggers the output shaft (8) in one direction by means of the first one-way bearing (10) and enables it to rotate around its own axis. When cooled, the first shaft (3) is twisted in reverse direction without triggering the output shaft (8) by means of the first one-way bearing (10). Depending on the connection direction of the first one-way bearing
(10), it is also possible for the first shaft (3) to be twisted without triggering the output shaft (8) while being heated, and to be twisted by triggering the output shaft (8) while being cooled. The force transfer element (9), which is triggered and moved by rotating around its own axis while the second shaft (4) is heated and formed by bending, triggers the output shaft (8) in one direction by means of the second one-way bearing (11) and enables it to rotate around its own axis. The force transfer element (9), which is triggered and rotated in reverse direction around its own axis while the second shaft (4) is cooled and bended in reverse direction, can rotate in reverse direction by means of the second one-way bearing
(11) without triggering the output shaft (8). Depending on the connection direction of the second one-way bearing (11), it is also possible for the force transfer element (9), which is triggered and rotated around its own axis while the second shaft (4) is heated, to rotate without triggering the output shaft (8); and it is possible for the force transfer element (9), which is triggered and rotated around its own axis in reverse direction while the second shaft (4) is cooled, to rotate by triggering the output shaft (8) (Figure 1, Figure 2, Figure 3 and Figure 6).
In an embodiment of the invention, the actuator mechanism (1) comprises a control unit (7) which controls alternating heating and cooling of the first shaft (3) and the second shaft (4) in order for the output shaft (8) to rotate clockwise or counter-clockwise around its own axis continuously, and controls simultaneous heating and cooling of the first shaft (3) and the second shaft (4) in order to increase rotation torque of the output shaft (8). Continuous rotation of the output shaft (8) rotating around its own axis when triggered in one direction thanks to the first one-way bearing (10) and the second one-way bearing (11) is enabled by the second shaft (4) triggering the output shaft (8) when the first shaft (3) does not trigger the output shaft (8) and the first shaft (3) triggering the output shaft (8) when the second shaft (4) does not trigger the output shaft (8). Successive heating and cooling of the first shaft (3) and the second shaft (4) is enabled by controlling the heater (5) and the cooler (6) by the control unit (7) at specified times. When it is desired to increase the torque obtained from rotation of the output shaft (8) around its own axis, the output shaft (8) is enabled to be simultaneously triggered by the first shaft (3) and the second shaft (4). Simultaneous heating and cooling of the first shaft (3) and the second shaft (4) is enabled by controlling the heater (5) and the cooler (6) by the control unit (7) at specified times.
In an embodiment of the invention, the actuator mechanism (1) comprises a second shaft (4) which extends from the body (2) at least partially parallel to the first shaft (3) in the same direction. Volumetric gain is provided by positioning the first shaft (3) and the second shaft (4) side by side and at least partially parallel to each other (Figure 1 and Figure 2).
In an embodiment of the invention, the actuator mechanism (1) comprises a first shaft (3), one end of which is fixed on the body (2) and the other end is rotatable by twisting; and a second shaft (4), one end of which is fixed on the body (2) and the other end is movable by bending. Thanks to the fact that the first shaft (3) and the second shaft (4) are fixed on the body (2) from one end, they are allowed to be formed without changing their position as a result of the physical force applied thereon.
In an embodiment of the invention, the actuator mechanism (1) comprises a first shaft (3) in a cylindrical form; and a second shaft (4) in an angular form. The fact that the first shaft (3) is in cylindrical form prevents formation of stress accumulation on the material in the twisting direction while it is twisted and formed as a result of the physical force applied thereon. The fact that the second shaft (4) is in angular form prevents formation of stress accumulation on the material in the bending direction while it is bended and formed as a result of the physical force applied thereon, and prevents the second shaft (4) from twisting while being triggered by the force transfer element (9). In an embodiment of the invention, the actuator mechanism (1) comprises at least one groove (12) which is located on the body (2), and allows the first shaft (3) and the second shaft (4) to be located on the body (2) in a fixed manner. The groove (12), which is located on the body (2) and corresponds to the cross-sectional geometries of the first shaft (3) and the second shaft (4), enables the first shaft (3) and the second shaft (4) to be fixed at one end and to be formed without slipping as a result of the physical force applied thereon (Figure 3).
In an embodiment of the invention, the actuator mechanism (1) comprises at least one guide (13) located on the body (2) and contacting the second shaft (4) such that it limits the forming of second shaft (4) by the physical force applied thereon with bending. The guide (13) located on the body (2) contacts the second shaft (4) such that the second shaft (4) is enabled to be bended without twisting while it is formed by the physical force applied thereon (Figure 1, Figure 2, Figure 3).
In an embodiment of the invention, the actuator mechanism (1) comprises a first shaft (3) and/or a second shaft (4) made of a shape memory alloy material, which can be formed by a magnetic field applied thereon; and a magnetic field generator (14) applying a magnetic field on the first shaft (3) and/or the second shaft (4). In any of the above claims, forming of the first shaft (3) and the second shaft (4) can be performed by magnetic field as an alternative to the heat change and/or physical force application (Figure 7).
In an embodiment of the invention, the actuator mechanism (1) comprises a body (2) provided at space and/or air vehicles. The actuator mechanism (1) allows use of an actuator triggered by heat changes and providing advantage in terms of weight and volume in space and/or air vehicles.
In an embodiment of the invention, the actuator mechanism (1) is suitable for use in a rotor system at space and/or air vehicles. The actuator mechanism (1) allows use of an actuator triggered by heat changes and providing advantage in terms of weight and volume in rotor mechanisms at space and/or air vehicles.

Claims

1. An actuator mechanism (1) comprising a body (2); a first shaft (3) and a second shaft (4) which are made of a shape memory alloy material, extend out of the body
(2), and are formed when triggered by magnetic field and/or physical force applied thereon and/or heat change; an output shaft (8) which rotates around its own axis when triggered by forming of the first shaft (3) and/or the second shaft (4); and a first shaft (3) which is formed by twisting, characterized by a second shaft (4) which is formed by bending; and a force transfer element (9) contacting the second shaft (4) and the output shaft (8), triggered by forming of the bended second shaft (4), thus enabling the output shaft (8) to rotate around its own axis.
2. An actuator mechanism (1) characterized by at least one heater (5) enabling the first shaft (3) and the second shaft (4) to be heated; at least one cooler (6) enabling the first shaft (3) and the second shaft (4) to be cooled; and a control unit (7) controlling the heater (5) and/or the cooler (6) to heat and/or cool the first shaft
(3) and the second shaft (4).
3. An actuator mechanism (1) according to claim 2, characterized by a heater (5) heating the twisted first shaft (3) such that the first shaft (3) is enabled to be formed as untwisted, and heating the bended second shaft (4) such that the second shaft (4) is enabled to bend back to its previous form before bending; an output shaft (8) which is triggered while the second shaft (4) is formed by bending and/or the first shaft (3) is twisted, and makes a rotational movement around its own axis; a second shaft (4) which is bended when triggered by the force transfer element (9) during rotation of the output shaft (8) around its own axis; and an output shaft (8) which rotates around its own axis when triggered by heating of the second shaft (4), and enables the first shaft (3) to be formed by twisting.
4. An actuator mechanism (1) according to claim 2 and/or claim 3, characterized by a first shaft (3) which is twisted around its own axis by the physical force applied thereon when in the martensite phase; a heater (5) which enables the first shaft (3) to be twisted in reverse by heating the first shaft (3) to the austenite phase; a force transfer element (9) transferring the physical force created by forming of the first shaft (3) to the second shaft (4), which is in the martensite phase, such that the second shaft (4) is enabled to be bended; a heater (5) which heats the second shaft (4) to the austenite phase such that the second shaft (4) is enabled to be formed by bending in opposite direction; a force transfer element (9) transferring the physical force created by forming of the second shaft (4) to the first shaft (3), which is in the martensite phase, such that the first shaft (3) is enabled to be twisted; an output shaft (8) which contacts the first shaft (3) and the force transfer element (9), and is triggered by the twisted first shaft (3) and/or the triggered force transfer element (9) so that it rotates around its own axis; and a control unit (7) controlling the successive heating and cooling of the first shaft (3) and the second shaft (4) for rotating the output shaft (8) cyclically clockwise and counter-clockwise.
5. An actuator mechanism (1) according to claim 2, characterized by a first one-way bearing (10) which is located between the first shaft (3) and the output shaft (8), and enables the first shaft (3) to be twisted clockwise or counter-clockwise around its own axis without triggering the output shaft (8) in the first direction (I) but triggering the output shaft (8) in the opposite direction (II) to the first direction (I); a second one-way bearing (11) which is located between the power transfer element (9) and the output shaft (8), and enables the power transfer element (9) to rotate without triggering the output shaft (8) in the first direction (I) but triggering the output shaft (8) in the second direction (II); a first shaft (3) trained in twist direction around its own axis; a second shaft (4) trained in bending direction; a first shaft (3) which is formed by twisting when heated to the austenite phase by means of the heater (5), and formed by twisting in reverse direction when cooled to the martensite phase by means of the cooler (6); and a second shaft (4) which is formed by bending when heated to the austenite phase by means of the heater (5), and formed by unbending when cooled to the martensite phase by means of the cooler (6).
6. An actuator mechanism (1) according to claim 5, characterized by a control unit (7) which controls alternating heating and cooling of the first shaft (3) and the second shaft (4) in order for the output shaft (8) to rotate clockwise or counter clockwise around its own axis continuously, and controls simultaneous heating and cooling of the first shaft (3) and the second shaft (4) in order to increase rotation torque of the output shaft (8).
7. An actuator mechanism (1) according to any of the preceding claims, characterized by a second shaft (4) which extends from the body (2) at least partially parallel to the first shaft (3) in the same direction.
8. An actuator mechanism (1) according to any of the preceding claims, characterized by a first shaft (3), one end of which is fixed on the body (2) and the other end is rotatable by twisting; and a second shaft (4), one end of which is fixed on the body (2) and the other end is movable by bending.
9. An actuator mechanism (1) according to any of the preceding claims, characterized by a first shaft (3) in a cylindrical form; and a second shaft (4) in an angular form.
10. An actuator mechanism (1) according to any of the preceding claims, characterized by at least one groove (12) which is located on the body (2), and allows the first shaft (3) and the second shaft (4) to be located on the body (2) in a fixed manner.
11. An actuator mechanism (1) according to any of the preceding claims, characterized by at least one guide (13) located on the body (2) and contacting the second shaft (4) such that it limits the forming of second shaft (4) by the physical force applied thereon with bending.
12. An actuator mechanism (1) according to claim 1, characterized by a first shaft (3) and/or a second shaft (4) made of a shape memory alloy material, which can be formed by a magnetic field applied thereon; and a magnetic field generator (14) applying a magnetic field on the first shaft (3) and/or the second shaft (4).
13. An actuator mechanism (1) according to any of the preceding claims, characterized by a body (2) provided at space and/or air vehicles.
14. An actuator mechanism (1) according to any of the preceding claims, suitable for use in a rotor system at space and/or air vehicles.
PCT/TR2020/050744 2019-09-03 2020-08-24 An actuator mechanism WO2021045707A2 (en)

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JPS63201375A (en) * 1987-02-18 1988-08-19 Furukawa Electric Co Ltd:The Reciprocating rotary actuator
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EP3032100A2 (en) 2014-12-10 2016-06-15 The Boeing Company Scalable multi-element shape memory alloy rotary motor

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