CN109217733A - A kind of miniature rotating mechanism based on marmem - Google Patents
A kind of miniature rotating mechanism based on marmem Download PDFInfo
- Publication number
- CN109217733A CN109217733A CN201811321127.8A CN201811321127A CN109217733A CN 109217733 A CN109217733 A CN 109217733A CN 201811321127 A CN201811321127 A CN 201811321127A CN 109217733 A CN109217733 A CN 109217733A
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- wire rod
- shaft
- silk material
- fixing sleeve
- marmem
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- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 239000000463 material Substances 0.000 claims abstract description 69
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 14
- 238000005259 measurement Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims 1
- 238000001356 surgical procedure Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 229910045601 alloy Inorganic materials 0.000 description 4
- 239000000956 alloy Substances 0.000 description 4
- 229910001566 austenite Inorganic materials 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003446 memory effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- KHYBPSFKEHXSLX-UHFFFAOYSA-N iminotitanium Chemical compound [Ti]=N KHYBPSFKEHXSLX-UHFFFAOYSA-N 0.000 description 1
- 229910000734 martensite Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N10/00—Electric motors using thermal effects
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- Electrotherapy Devices (AREA)
Abstract
The invention discloses a kind of miniature rotating mechanism based on marmem, mainly it is made of fixing sleeve and shaft, it is characterized by: the shaft outer surface is along the circumferential direction respectively arranged with the first silk material and the second silk material, the first end of the first end of first silk material and second silk material is separately fixed in the shaft and the distance between two fixing points are less than the 5% of shaft perimeter, first silk material and the second silk material curl up the shaft backwards respectively, and draw and fix through fixing sleeve respectively, it is in the first silk material and the second silk material to tension state；First silk material is shape-memory alloy wire of the work in shape memory state, and second silk material is the shape-memory alloy wire in superelastic；Constant-current supply is connected between first silk material both ends.The present invention is suitable for completing small-scale rotation in small space, can be applied in terms of medical surgery, micro mechanism；The specific location for facilitating control to rotate, and there is no work noise.
Description
Technical field
The present invention relates to a kind of rotating drive mechanisms, and in particular to a kind of for realizing the micro- of small range rotation in small space
Type rotating mechanism.
Background technique
Rotating mechanism be so that driven mechanism completes certain rotation or twisting action, it is relatively fixed from first position
Object turns to the device of the second position.Rotating mechanism has application in many occasions, for example, the rotation of mechanical arm, generally
It is to be rotated by Serve Motor Control joint gear, the amplitude of rotation generally relies on the type coaxial photoelectric encoder installed on servo motor
To judge；For another example, the angle adjustment of monitoring camera, rotates the visual angle for driving gear mechanism to rotate camera by motor, obtains
Obtain desired monitoring picture；For another example the artifucial limb of disability auxiliary, in order to help the people for losing arm to complete the arm action of oneself,
Cradle head is also finally to help through the movement for needing to realize by motor rotation driven gear rotating mechanism.
This kind of motor-driven rotating mechanism, advantage are that speed is fast, strength is big, but defect is mechanism complexity, required peace
Dress space is big, installation bothers, and is to have no idea to complete control task, and have certain noise in the place of narrow space.
In the occasions such as some applications, such as the control of medical surgery, micro mechanism, the available installation space of rotating mechanism
Only several millimeters will complete small-scale rotation in this small space, and existing motor drive mode is generally difficult to realize.
Therefore, it is necessary to seek new miniature rotating mechanism.
Summary of the invention
Goal of the invention of the invention is to provide a kind of miniature rotating mechanism based on marmem, is set by structure
Meter is realized for the rotate driving in small space.
To achieve the above object of the invention, the technical solution adopted by the present invention is that: it is a kind of based on the miniature of marmem
Rotating mechanism is mainly made of fixing sleeve and shaft, the shaft outer surface be along the circumferential direction respectively arranged with the first silk material and
The first end of second silk material, the first end of first silk material and second silk material is separately fixed in the shaft and two
The distance between fixed point is less than the 5% of shaft perimeter, and the first silk material and the second silk material curl up the shaft backwards respectively, and divide
It does not draw and fixes through fixing sleeve, be in the first silk material and the second silk material to tension state；First silk material is work in shape
The shape-memory alloy wire of shape memory state, second silk material are the shape-memory alloy wire in superelastic；Institute
It states and is connected with constant-current supply between the first silk material both ends.
In above-mentioned technical proposal, the first silk material in different states and second are made respectively using marmem
Material.Marmem is a kind of novel functional material, and the most commonly used is Ni-Ti alloys, is smelted according to a certain percentage and hot
Processing.It is set to carry out deformation, heating, cooling in prescribed limit according to required requirement at a certain temperature, it can be with body
Reveal the characteristic of various shapes variation and shape recovery, commonly referred to as shape memory effect and super-elasticity, actual internal structure is
Transformation variation between martensite and austenite.When being heated to characteristic temperature i.e. austenite phase transformation finishing temperature, then can restore
State and externally power output and displacement before to stretching, super-elasticity, which refers to, is greater than austenite transformation end temperature spot in Current Temperatures
When, linearly elastic feature is embodied in certain weight range.The present invention is used in shape memory state respectively
Shape-memory alloy wire is as the first silk material, and the shape-memory alloy wire in superelastic is as the second silk material, the two phase
Back setting, forms to tension state.The alloy of shape memory state overcomes the silk material shaft of elastic stage just to rotate clockwise, elasticity
The silk material of state overcomes the alloy shaft just rotation counterclockwise of shape memory state.Shape memory state is active control silk, is led to
Cross the control completed to the control of shape memory state silk to rotary shaft.
Further technical solution is connected with voltage measurement module between the both ends of first silk material, is equipped with control
Module, the output of the voltage measurement module are connected to the input terminal of control module, obtain the first silk material according to detection voltage value
Current resistive value, accordingly by control constant-current supply output current value control turned position.
Preferred technical solution offers mounting groove circumferentially on the surface of the shaft, first wire rod and
Second wire rod is located in the mounting groove, and the first wire rod and the second wire surface have been respectively coated by insulating layer.In this way
It can guarantee that wire rod is in mounting groove, will not stretch and shift in contraction process.
Further technical solution, the shaft are conductive shaft, and the fixing sleeve is insulating sleeve, first wire rod
Be electrically connected with the shaft in fixed point, described constant-current supply one end is electrically connected with shaft, through shaft, the first wire rod first
End, the first wire rod, the first wire rod second end be connected to the other end of constant-current supply, constitute current loop.It is exported using shaft
Electric current is convenient for circuit connection.
Further technical solution, the shaft are the cylindrical-shaped structure with step, and the inner hole of the fixing sleeve has
To shaft in axial limiting make that opposite turn only occurs between shaft and fixing sleeve with the step of configured rotation shaft size cooperation
It is dynamic.
In above-mentioned technical proposal, the length of first wire rod is not less than 8 times of the shaft perimeter, second wire rod
Length be not less than 8 times of the shaft perimeter.
In above-mentioned technical proposal, the inner wall of the fixing sleeve is equipped with two wire rod lead-out grooves axially arranged, and described the
One wire rod and second wire rod are drawn through the wire rod lead-out groove respectively；First wire rod and the second wire rod draw with corresponding wire rod
It can be slided between groove body out, the tail end of the tail end of the first wire rod and the second wire rod is fixedly connected with the fixing sleeve respectively.
Alternatively, the fixing sleeve is equipped with two wire rod fairleads axially arranged, first wire rod and described second
Wire rod is drawn through the wire rod fairlead respectively；It can be slided between first wire rod and the second wire rod and corresponding wire rod fairlead
Dynamic, the tail end of the tail end of the first wire rod and the second wire rod is fixedly connected with the fixing sleeve respectively.
Due to the above technical solutions, the present invention has the following advantages over the prior art:
1, the present invention is creatively formed using the shape-memory alloy wire of two states to drawing, is realized to small size component
Rotate driving can be in medical surgery, miniature suitable for completing small-scale rotating mechanism in the several mm small spaces of diameter
Mechanism controls etc. are applied；
2, using the linear relationship of marmem resistance and displacement, the present invention does not need additional position sensor, so that it may
Easily to control the specific location of rotation；
3, due to not using motor, rotating mechanism of the invention does not have work noise.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is in Fig. 1 through the structural schematic diagram of fixing sleeve observation；
Fig. 3 is the back side direction schematic diagram of Fig. 2；
Fig. 4 is the operation principle schematic diagram of embodiment；
Fig. 5 is resistance-placement property figure of shape memory alloy wire material.
Wherein: 1, fixing sleeve；2, shaft；3, the first silk material；4, the second silk material；5, constant-current supply；6, wire rod lead-out groove/
Hole.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments:
Embodiment one: referring to shown in Fig. 1 to Fig. 3, a kind of miniature rotating mechanism based on marmem, mainly by fixing sleeve
1 and shaft 2 constitute, the surface of shaft 2 offers mounting groove circumferentially, the first silk material 3 and second is respectively arranged in slot
The first end of silk material 4, the first end of the first silk material 3 and the second silk material 4 is separately fixed in shaft and between two fixing points
Distance is less than the 5% of shaft perimeter, and the first silk material 3 and the second silk material 4 curl up shaft 2 backwards respectively, and draw respectively through fixing sleeve 1
It is out and fixed, it is in the first silk material 3 and the second silk material 4 to tension state；First silk material 3 is work in shape memory state
Shape-memory alloy wire, second silk material 4 be the shape-memory alloy wire in superelastic, the first wire rod and second
Wire surface has been respectively coated by insulating layer；Constant-current supply 5 is connected between 3 both ends of the first silk material.
In the present embodiment, shaft is the conductive shaft (for example, can use metal rotating shaft) with step, and fixing sleeve is exhausted
Edge casing, the inner hole of fixing sleeve have step cooperate with the configured rotation shaft size, to shaft in axial limiting, make shaft and
It only relatively rotates between fixing sleeve.First wire rod and shaft are electrically connected in fixed point, constant-current supply one end and shaft electricity
Connection, the second end through shaft, the first end of the first wire rod, the first wire rod, the first wire rod are connected to the other end of constant-current supply,
Constitute current loop.Electric current is exported using shaft, is convenient for circuit connection.
Since the Length Contraction amount of general shape memorial alloy is in 4-6%, so needing certain length to complete to shrink
Therefore rotation in the present embodiment, the wire rod that two are axially arranged is equipped on the inner wall of the fixing sleeve 1 and draws groove/opening 6, institute
State the first wire rod 3 and second wire rod 4 and draw groove/opening 6 through wherein wire rod respectively and draw, and can wire rod lead-out groove/
The tail end of telescopic slide in hole, the first wire rod 3 and the second wire rod 4 is fixedly connected with fixing sleeve 1.As a result, the first wire rod and
The Extensible of second wire rod is elongated, and the angle rotatable of shaft becomes larger.In the present embodiment, the first wire rod and the second wire rod
The length of telescopable portion is 10 times of shaft perimeter, and the rotational angle of shaft is made to can achieve 180 degree.Wherein, wire rod is drawn
Groove/opening 6 can be and slot on inner wall according to the structure setting of fixing sleeve, be also possible to the aperture on fixing sleeve tube wall, or
Person can be one section of groove body, one section of through-hole is connected to for step structure.
Fig. 4 is the operation principle schematic diagram of the present embodiment, in the present embodiment, between shaft and the second end of the first silk material
It is connected separately with constant-current supply and voltage measurement module, equipped with the MCU with analog-digital conversion function as control module (according to need
Want, voltage measurement module and control module can be realized using an integrated circuit), the output connection of the voltage measurement module
To the input terminal of control module, the current resistive value of the first silk material is obtained according to detection voltage value, accordingly by control Constant Electric Current
The output current value in source controls turned position.
Referring to shown in attached drawing 5, it is resistance-placement property of shape memory alloy wire material, shows shape-memory alloy wire
There is specific similar linear relationship between being displaced with deformation of length in the resistance of material, it is possible to by the electricity for measuring current silk material
Resistance changing value obtains the stroke of current silk material, to obtain current turned position, realizes the accurate control of position.Silk material obtains
Energy fever is obtained, shape memory effect is embodied.The voltage at silk material both ends is sent to the microprocessor with analog-digital conversion function simultaneously
Voltage is measured, the resistance value of current silk material is obtained, obtains the positional value of unit shaft, and then control constant-current source, control is final to be turned
Dynamic position.
Claims (8)
1. a kind of miniature rotating mechanism based on marmem, is mainly made of fixing sleeve and shaft, it is characterised in that: institute
It states shaft outer surface and is along the circumferential direction respectively arranged with the first silk material and the second silk material, the first end of first silk material and described
The first end of second silk material is separately fixed in the shaft and the distance between two fixing points are less than the 5% of shaft perimeter, the
One silk material and the second silk material curl up the shaft backwards respectively, and draw and fix through fixing sleeve respectively, make the first silk material and
Two silk materials are in tension state；First silk material be work shape memory state shape-memory alloy wire, described second
Silk material is the shape-memory alloy wire in superelastic；Constant-current supply is connected between first silk material both ends.
2. the miniature rotating mechanism according to claim 1 based on marmem, it is characterised in that: described first
It is connected with voltage measurement module between the both ends of silk material, is equipped with control module, the output of the voltage measurement module is connected to control
The input terminal of molding block obtains the current resistive value of the first silk material according to detection voltage value, accordingly by control constant-current supply
Output current value controls turned position.
3. the miniature rotating mechanism according to claim 1 or 2 based on marmem, it is characterised in that: described
The surface of shaft offers mounting groove circumferentially, and first wire rod and second wire rod are located at the mounting groove
Interior, the first wire rod and the second wire surface have been respectively coated by insulating layer.
4. the miniature rotating mechanism according to claim 3 based on marmem, it is characterised in that: the shaft is
Conductive shaft, the fixing sleeve are that insulating sleeve, first wire rod and the shaft are electrically connected in fixed point, the constant current
Power supply one end is electrically connected with shaft, and the second end through shaft, the first end of the first wire rod, the first wire rod, the first wire rod is connected to
The other end of constant-current supply constitutes current loop.
5. the miniature rotating mechanism according to claim 1 based on marmem, it is characterised in that: the shaft is
Cylindrical-shaped structure with step, the inner hole of the fixing sleeve has the step cooperated with the configured rotation shaft size, to shaft
In axial limiting, make only to relatively rotate between shaft and fixing sleeve.
6. the miniature rotating mechanism according to claim 1 based on marmem, it is characterised in that: the First Line
The length of material is not less than 8 times of the shaft perimeter, and the length of second wire rod is not less than 8 times of the shaft perimeter.
7. the miniature rotating mechanism according to claim 1 based on marmem, it is characterised in that: the fixing sleeve
Inner wall be equipped with two wire rod lead-out grooves axially arranged, first wire rod and second wire rod are respectively through the wire rod
Lead-out groove is drawn；First wire rod and the second wire rod are drawn with corresponding wire rod and can be slided between groove body, the tail end of the first wire rod
It is fixedly connected respectively with the fixing sleeve with the tail end of the second wire rod.
8. the miniature rotating mechanism according to claim 1 based on marmem, it is characterised in that: the fixing sleeve
Two wire rod fairleads axially arranged are equipped with, first wire rod and second wire rod are respectively through the wire rod fairlead
It draws；It can be slided between first wire rod and the second wire rod and corresponding wire rod fairlead, the tail end of the first wire rod and the second line
The tail end of material is fixedly connected with the fixing sleeve respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811321127.8A CN109217733A (en) | 2018-11-07 | 2018-11-07 | A kind of miniature rotating mechanism based on marmem |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811321127.8A CN109217733A (en) | 2018-11-07 | 2018-11-07 | A kind of miniature rotating mechanism based on marmem |
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| Publication Number | Publication Date |
|---|---|
| CN109217733A true CN109217733A (en) | 2019-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811321127.8A Pending CN109217733A (en) | 2018-11-07 | 2018-11-07 | A kind of miniature rotating mechanism based on marmem |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962161A (en) * | 2019-12-05 | 2020-04-07 | 华中科技大学 | Phase deformation execution device based on 4D printing |
| CN113404738A (en) * | 2021-06-08 | 2021-09-17 | 常州腾飞特材科技有限公司 | Austenitic stainless steel sleeve |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1752661A1 (en) * | 2005-08-11 | 2007-02-14 | Alfmeier Präzision Ag Baugruppen und Systemlösungen | Shape memory alloy rotary actuator |
| CN105836106A (en) * | 2016-05-23 | 2016-08-10 | 南京航空航天大学 | Morphing wing trailing edge driven based on shape memory alloy and deflection method thereof |
| CN209120080U (en) * | 2018-11-07 | 2019-07-16 | 苏州麦乐加电子科技有限公司 | A kind of miniature rotating mechanism based on marmem |
-
2018
- 2018-11-07 CN CN201811321127.8A patent/CN109217733A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1752661A1 (en) * | 2005-08-11 | 2007-02-14 | Alfmeier Präzision Ag Baugruppen und Systemlösungen | Shape memory alloy rotary actuator |
| US20080271559A1 (en) * | 2005-08-11 | 2008-11-06 | Alfmeier Prazision Ag Baugruppen Und Systemlosungen | Turn-actuator with tensile element of shape memory alloy |
| CN105836106A (en) * | 2016-05-23 | 2016-08-10 | 南京航空航天大学 | Morphing wing trailing edge driven based on shape memory alloy and deflection method thereof |
| CN209120080U (en) * | 2018-11-07 | 2019-07-16 | 苏州麦乐加电子科技有限公司 | A kind of miniature rotating mechanism based on marmem |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962161A (en) * | 2019-12-05 | 2020-04-07 | 华中科技大学 | Phase deformation execution device based on 4D printing |
| CN113404738A (en) * | 2021-06-08 | 2021-09-17 | 常州腾飞特材科技有限公司 | Austenitic stainless steel sleeve |
| CN113404738B (en) * | 2021-06-08 | 2022-11-25 | 常州腾飞特材科技有限公司 | Austenitic stainless steel sleeve |
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