CN112096583A - SMA electric excitation type two-way rotary actuator - Google Patents
SMA electric excitation type two-way rotary actuator Download PDFInfo
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- CN112096583A CN112096583A CN202010972945.5A CN202010972945A CN112096583A CN 112096583 A CN112096583 A CN 112096583A CN 202010972945 A CN202010972945 A CN 202010972945A CN 112096583 A CN112096583 A CN 112096583A
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- sma
- sma spring
- rotary actuator
- straight shaft
- way rotary
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- 230000005284 excitation Effects 0.000 title abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 238000006243 chemical reaction Methods 0.000 claims abstract description 11
- 229910001285 shape-memory alloy Inorganic materials 0.000 abstract description 56
- 229910000734 martensite Inorganic materials 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 230000009466 transformation Effects 0.000 abstract description 7
- 230000008859 change Effects 0.000 abstract description 4
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
Images
Classifications
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- 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
- F03G7/065—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 using a shape memory element
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses an SMA (shape memory alloy) electric excitation type two-way rotary actuator, which comprises a straight shaft and a driving shell arranged on the straight shaft, wherein the driving shell comprises a left cover, a right cover and a shell, the left cover and the right cover are sleeved on the straight shaft, the shell is fixedly assembled on the left cover and the right cover, an SMA spring is arranged on the left cover, and a motion conversion device is fixedly arranged at the other end of the SMA spring; and the control end of the SMA spring is connected with an electric control device. The driving force of the invention is from the martensite phase transformation of the SMA spring, so that the motion process of the pushing bracket is continuous, stable and controllable, and larger load sudden change can not occur; the SMA spring is electrified to carry out martensite phase transformation, and the SMA spring is powered off to carry out reverse martensite phase transformation to drive the pushing and pulling processes of the pushing support, so that the driver realizes double-pass driving; the structure of the invention makes the driver small, light, small vibration and low energy consumption.
Description
Technical Field
The invention belongs to the technical field of aerospace application, and particularly relates to an SMA (shape memory alloy) electric excitation type two-way rotary actuator.
Background
At present, energy sources on the spacecraft mainly comprise two modes of ground carrying and solar electromagnetic plate acquisition, and the latter is the current main mode for maintaining the long-term normal energy supply of the spacecraft. The reliable unfolding of the solar wing and the controllability of the unfolding process determine whether the energy of the whole spacecraft can be normally obtained, and simultaneously determine whether the space mission of the spacecraft can be smoothly completed. The driver meeting the requirements of the solar wing folding and unfolding device has the characteristics of higher reliability, controllable process and the like. Current research on solar wing folding and unfolding device drivers falls into two main categories: active class drivers and passive class drivers.
The active driver mainly means that the solar wing folding and unfolding driving force of the spacecraft is mainly provided by a motor (the motor is a power source), and then the rotary motion provided by the motor is converted into folding and unfolding motion output of the solar wing through a rope linkage system or a connecting rod system and the like. The passive driver is mainly that the unfolding mechanism is provided by a spring or elastic potential energy stored in an elastic structure, so that a power supply is not required generally, but the unfolding speed is not controllable, and larger vibration is caused.
From the above analysis, it can be known that both the active driver and the passive driver have advantages and disadvantages, and by analyzing the advantages and disadvantages of the active driver and the passive driver, it can be clearly understood how to design a driver with high reliability and small vibration in the unfolding process in the breakthrough direction of the current unfolding device driver.
Disclosure of Invention
The invention aims to overcome the defect of low reliability of a driver of a solar wing folding and unfolding device and provides an SMA (shape memory alloy) electric excitation type two-way rotary driver.
The invention adopts the following technical scheme:
an SMA electrically excited two-way rotary actuator, comprising a straight shaft and a drive housing mounted on the straight shaft, the key of which is: the driving shell comprises a left cover, a right cover and a shell, wherein the left cover and the right cover are sleeved on the straight shaft, the shell is fixedly assembled on the left cover and the right cover, an SMA spring is installed on the left cover, and a motion conversion device is fixedly installed at the other end of the SMA spring;
and the control end of the SMA spring is connected with an electric control device.
Adopt above-mentioned technical scheme, through electrically controlled device to the SMA spring circular telegram, the SMA circular telegram back will produce heat, and the temperature of SMA spring silk reaches the phase transition temperature of material, will take place the martensite phase transition, and then will have the output of displacement and power, and through motion conversion device, the displacement of SMA spring is changed into other transmission modes such as rotation this moment to reach sun wing expansion or other required effects. Wherein, the phase transition temperatures of different types of shape memory alloys have larger difference, and proper SMA materials can be selected according to the temperature condition of the practical application scene. The displacement output law of the SMA spring under the electric excitation has been studied in detail by relevant scholars, for example, the scholar wegian of the institute of robots of shanghai university of transportation in the study of deformation of a Shape Memory Alloy (SMA) spring actuator, and the like, and an output response model of the SMA spring under the electric excitation is clearly proposed in the text. Therefore, the present invention is not described in detail.
Preferably, the motion conversion device comprises a pushing support and a cylindrical cam shaft, and the pushing support is movably mounted on the cylindrical cam shaft through a pushing body.
By adopting the scheme, the assembly between the support and the cylindrical cam shaft is pushed, and the linear motion of the SMA spring is converted into the rotary motion, so that the solar wing is driven to be unfolded.
Preferably, the surface of the cylindrical cam shaft is provided with a spiral groove, and the size of the spiral groove is matched with that of the pushing body;
the cylindrical cam shaft and the straight shaft are integrally formed, and the diameter of the cylindrical cam shaft is larger than that of the straight shaft.
By adopting the scheme, the pushing body is arranged in the spiral groove, and when the pushing body moves linearly, the cylindrical camshaft rotates around the shaft by utilizing the spiral groove; and the cylindrical cam shaft and the straight shaft are integrally formed, so that the straight shaft is driven to rotate.
Preferably, the pushing support comprises a stress disc, one surface of the stress disc is fixedly arranged at the motion end of the SMA spring, the other surface of the stress disc is vertically provided with two parallel supporting rods, and a connecting line between the two supporting rods passes through the axis of the stress disc.
By adopting the scheme, the stress disc is used for bearing the pressure generated by the deformation of the SMA spring, and the pressure borne by the two supporting rods is transmitted to the right.
Preferably, the pushing body is two rollers, and the two rollers are respectively arranged at the tail ends of the two supporting rods.
By adopting the scheme, the roller is arranged in the spiral groove, and once the force is transmitted by the support rod, the roller rotates along with the transmission thread in the spiral groove to drive the cylindrical cam shaft and the straight shaft to rotate.
Preferably, the side of the stress disc is provided with a limiting block, a limiting groove is formed in the inner side of the shell, and the limiting block is clamped in the limiting groove.
By adopting the scheme, the limiting groove is matched with the clamping block, the degree of freedom of the axial movement of the pushing support is limited to a certain degree, and the length of the limiting groove can be set according to the requirement of the span opening of the sun. When the clamping block reaches the tail end of the limiting groove, the bracket cannot be pushed to move continuously even if the SMA spring continuously changes the phase. The movement allowance of the SMA spring is designed, and the reliability of the device is improved.
Preferably, the left cover and the right cover are respectively mounted on the straight shaft through angular contact bearings.
By adopting the scheme, when the straight shaft rotates, the left cover and the right cover can be kept still through the arrangement of the angular contact bearing.
Has the advantages that: the driving force of the invention is from the martensite phase transformation of the SMA spring, so that the motion process of the pushing bracket is continuous, stable and controllable, and larger load sudden change can not occur; the SMA spring is electrified to carry out martensite phase transformation, and the SMA spring is powered off to carry out reverse martensite phase transformation to drive the pushing and pulling processes of the pushing support, so that the driver realizes double-pass driving; the structure of the invention makes the driver small, light, small vibration and low energy consumption.
Drawings
FIG. 1 is a perspective view of the internal structure of the present invention;
FIG. 2 is a schematic view of the overall assembly of the present invention;
FIG. 3 is a cross-sectional view of the present invention;
the device comprises a left cover 1, a 2-SMA spring, a 3-pushing support, a 31-stress disc, a 32-limiting block, a 33-support rod 4-pushing body, a 5-roller, a 6-cylindrical cam shaft and a 7-right cover.
Detailed Description
The invention is explained in more detail below with reference to the examples and the figures:
example (b):
as shown in fig. 1 and 3, an SMA electric excitation type two-way rotary actuator includes a straight shaft and a drive housing installed on the straight shaft, where the drive housing includes a left cover 1 and a right cover 7 sleeved on the straight shaft, and a housing fixedly assembled on the left cover 1 and the right cover 7, the left cover 1 and the right cover 7 are installed oppositely, and the left cover 1 and the right cover 7 are installed on the straight shaft through angular contact bearings, respectively.
As shown in fig. 1 and 3, an SMA spring 2 is mounted on the left cover 1, and a motion conversion device is fixedly mounted at the other end of the SMA spring 2; the motion conversion device comprises a pushing support 3 and a cylindrical cam shaft 6, wherein the pushing support 3 is movably arranged on the cylindrical cam shaft 6 through a pushing body 4. The surface of the cylindrical camshaft 6 is provided with a spiral groove, and the size of the spiral groove is matched with that of the pushing body 4; the cylindrical cam shaft 6 and the straight shaft are integrally formed, and the diameter of the cylindrical cam shaft 6 is larger than that of the straight shaft.
The invention can select different motion conversion devices according to different motion output conditions, namely, the invention is not limited to the arrangement of the pushing support and the cylindrical cam shaft, and for example, a friction type ratchet mechanism (linear motion is converted into rotary motion output) can be selected under the condition of space allowance.
As shown in fig. 2, the pushing bracket 3 includes a force-receiving disc 31, one surface of the force-receiving disc 31 is fixedly mounted on the moving end of the SMA spring 2, and the other surface thereof is vertically provided with two parallel supporting rods 33, and a connecting line between the two supporting rods 33 passes through the axis of the force-receiving disc 31. The pushing body 4 is provided with two rollers 5, and the two rollers 5 are respectively arranged at the tail ends of the two supporting rods 33. The side of atress dish 31 is equipped with stopper 32, the shell inboard is opened and is equipped with the spacing groove, stopper 32 card is established in the spacing groove.
And the control end of the SMA spring 2 is connected with an electric control device. In this embodiment, the SMA spring 2 is provided with an electrified lead which is led out through the left cover 1 and connected to the electric control device.
The embodiment is applied to a situation of spreading the sun wing, wherein one end of the straight shaft and the driving shell are both fixedly installed on one display board of the sun wing, and the other end of the straight shaft is fixedly installed on the other display board of the sun wing. The pitch of the spiral groove is calculated according to the angle output requirement of the driver, the expansion angle of the solar wing is designed to be 180 degrees, namely the one-time stroke rotation angle output of the SMA spring reaches 180 degrees, the linear displacement output by the one-time full stroke of the SMA spring can reach 32mm, 20mm is selected during the lead design, and the reliability of the driver is improved by reserving 12mm of margin. The length of the limiting groove is designed to be 20 mm. After the conversion is carried out on the rotation angle and the linear displacement, the converted displacement is obtained, and then the energizing time under the given voltage intensity is obtained through the output response model of the SMA spring under the electric excitation proposed in the text of the deformation research of a Shape Memory Alloy (SMA) spring actuator by the schwann and the like, and the control of the output angle can be achieved through the control of the energizing time.
In this embodiment, the driver is coupled to the locking device to fix the position of the sun wing at which the sun wing is unfolded. The power of the SMA spring 2 is cut off, the stress state of the SMA spring 2 is changed due to the reverse phase transformation of martensite due to temperature reduction after power failure, the SMA spring is changed into a tension state, but the unfolding device still keeps the original unfolding state due to the action of the locking device, when the unfolding device needs to be folded, the locking device is opened, the pushing support 3 is pulled leftwards due to the action of the elastic potential energy of the SMA spring 2 so as to drive the straight shaft 6 to rotate in the opposite direction, when the SMA spring 2 returns to the initial position, the rotation angle simultaneously rotates 180 degrees so as to realize the two plates for folding the solar wing, and the two-way driving of the unfolding device is realized in the whole process.
The working principle of the invention is as follows: firstly, when an unfolding instruction is received, a driving voltage and driving time are calculated through an SMA electric excitation model, a power supply provides corresponding voltage input, when a driving target voltage is reached, namely an SMA spring is electrified and heated to generate martensite phase change, then linear motion output is realized, the linear motion is converted into required rotary motion by combining a motion conversion device, a locking device is released at the moment, the position is fixed, the driver is powered off, and the SMA spring is cooled (namely martensite reverse phase change is generated) due to the fact that power supply is stopped, so that tension force (with the tendency of restoring the original position) is generated, the SMA spring is in a tension state, a pushing support is also tensioned, the rigidity in the whole driver is improved, and active control of vibration is realized. When the unfolding device needs to be folded, namely the output of reverse rotation motion needs to be provided, the locking device is opened, the pushing frame is pulled back to the original position due to the fact that the SMA spring is in the stretching state, a torsion spring can be added on the shaft in order to improve the reliability of return motion, the design of a passive driver is simulated, and when the unfolding object returns to the folding state, the whole double-stroke driving process is completed.
Finally, it should be noted that the above-mentioned description is only a preferred embodiment of the present invention, and those skilled in the art can make various similar representations without departing from the spirit and scope of the present invention.
Claims (7)
1. An SMA electrically excited two-way rotary actuator, comprising a straight shaft and a drive housing mounted on the straight shaft, characterized in that: the driving shell comprises a left cover (1) and a right cover (7) which are sleeved on the straight shaft and a shell body fixedly assembled on the left cover (1) and the right cover (7), an SMA spring (2) is installed on the left cover (1), and a motion conversion device is fixedly installed at the other end of the SMA spring (2);
and the control end of the SMA spring (2) is connected with an electric control device.
2. An SMA electrically-excited two-way rotary actuator as claimed in claim 1, wherein: the motion conversion device comprises a pushing support (3) and a cylindrical cam shaft (6), wherein the pushing support (3) is movably arranged on the cylindrical cam shaft (6) through a pushing body (4).
3. An SMA electrically-excited two-way rotary actuator as claimed in claim 2, wherein: the surface of the cylindrical camshaft (6) is provided with a spiral groove, and the size of the spiral groove is matched with that of the pushing body (4);
the cylindrical camshaft (6) and the straight shaft are integrally formed, and the diameter of the cylindrical camshaft (6) is larger than that of the straight shaft.
4. An SMA electrically-excited two-way rotary actuator as claimed in claim 2, wherein: promote support (3) including atress dish (31), the one side fixed mounting of atress dish (31) is served in the motion of SMA spring (2), is equipped with branch (33) of two parallels on its another face perpendicularly, two line between branch (33) passes through the axle center of atress dish (31).
5. An SMA electrically-excited two-way rotary actuator as claimed in claim 4, wherein: the pushing body (4) is provided with two rollers (5), and the two rollers (5) are respectively arranged at the tail ends of the two supporting rods (33).
6. An SMA electrically-excited two-way rotary actuator as claimed in claim 4, wherein: the side of atress dish (31) is equipped with stopper (32), the spacing groove has been seted up to the casing inboard, stopper (32) card is established in the spacing groove.
7. An SMA electrically-excited two-way rotary actuator as claimed in claim 1, wherein: the left cover (1) and the right cover (7) are respectively arranged on a straight shaft through angular contact bearings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010972945.5A CN112096583A (en) | 2020-09-16 | 2020-09-16 | SMA electric excitation type two-way rotary actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010972945.5A CN112096583A (en) | 2020-09-16 | 2020-09-16 | SMA electric excitation type two-way rotary actuator |
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| Publication Number | Publication Date |
|---|---|
| CN112096583A true CN112096583A (en) | 2020-12-18 |
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ID=73760517
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010972945.5A Pending CN112096583A (en) | 2020-09-16 | 2020-09-16 | SMA electric excitation type two-way rotary actuator |
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| Country | Link |
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| CN (1) | CN112096583A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115539543A (en) * | 2022-08-31 | 2022-12-30 | 电子科技大学 | Vibration reduction buffer based on NiTi shape memory alloy |
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|---|---|---|---|---|
| GB191223962A (en) * | 1912-10-19 | 1913-10-20 | George Cassady | Improvements relating to Mechanism for the Conversion of Reciprocating into Rotary Motion and vice versa. |
| JPS6463661A (en) * | 1987-09-03 | 1989-03-09 | Kato Hatsujo Kaisha Ltd | Thermal drive device |
| JP2013076856A (en) * | 2011-09-30 | 2013-04-25 | Fujifilm Corp | Photographic lens unit for endoscope and camera module |
| CN103696916A (en) * | 2013-12-06 | 2014-04-02 | 上海卫星工程研究所 | Straight acting device for spacecraft based on SMA (Shape Memory Alloy) spring and use method thereof |
| CN106381941A (en) * | 2016-11-09 | 2017-02-08 | 河南理工大学 | Shape memory alloy spring vibration absorber containing collision damping energy-dissipating device |
| CN107781124A (en) * | 2016-08-25 | 2018-03-09 | 杭州三花家电热管理***有限公司 | Driver |
| CN208619228U (en) * | 2018-06-22 | 2019-03-19 | 华北理工大学 | A kind of cylinder cam-type crankless internal-combustion engines |
-
2020
- 2020-09-16 CN CN202010972945.5A patent/CN112096583A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191223962A (en) * | 1912-10-19 | 1913-10-20 | George Cassady | Improvements relating to Mechanism for the Conversion of Reciprocating into Rotary Motion and vice versa. |
| JPS6463661A (en) * | 1987-09-03 | 1989-03-09 | Kato Hatsujo Kaisha Ltd | Thermal drive device |
| JP2013076856A (en) * | 2011-09-30 | 2013-04-25 | Fujifilm Corp | Photographic lens unit for endoscope and camera module |
| CN103696916A (en) * | 2013-12-06 | 2014-04-02 | 上海卫星工程研究所 | Straight acting device for spacecraft based on SMA (Shape Memory Alloy) spring and use method thereof |
| CN107781124A (en) * | 2016-08-25 | 2018-03-09 | 杭州三花家电热管理***有限公司 | Driver |
| CN106381941A (en) * | 2016-11-09 | 2017-02-08 | 河南理工大学 | Shape memory alloy spring vibration absorber containing collision damping energy-dissipating device |
| CN208619228U (en) * | 2018-06-22 | 2019-03-19 | 华北理工大学 | A kind of cylinder cam-type crankless internal-combustion engines |
Non-Patent Citations (1)
| Title |
|---|
| 陈明: "《机械原理课程设计》", 华中科技大学出版社, pages: 113 - 114 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115539543A (en) * | 2022-08-31 | 2022-12-30 | 电子科技大学 | Vibration reduction buffer based on NiTi shape memory alloy |
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Application publication date: 20201218 |
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