CN115264025B - A small steel ball movable tooth actuator based on shape memory alloy wire - Google Patents
A small steel ball movable tooth actuator based on shape memory alloy wire Download PDFInfo
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- CN115264025B CN115264025B CN202210868937.5A CN202210868937A CN115264025B CN 115264025 B CN115264025 B CN 115264025B CN 202210868937 A CN202210868937 A CN 202210868937A CN 115264025 B CN115264025 B CN 115264025B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 105
- 239000010959 steel Substances 0.000 title claims abstract description 105
- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 73
- 230000035939 shock Effects 0.000 claims abstract description 46
- 238000004804 winding Methods 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 230000006835 compression Effects 0.000 claims abstract description 18
- 238000007906 compression Methods 0.000 claims abstract description 18
- 239000004677 Nylon Substances 0.000 claims description 5
- 230000017525 heat dissipation Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 229920001778 nylon Polymers 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 239000006096 absorbing agent Substances 0.000 description 14
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0412—Cooling or heating; Control of temperature
- F16H57/0415—Air cooling or ventilation; Heat exchangers; Thermal insulations
- F16H57/0416—Air cooling or ventilation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
本发明涉及一种基于形状记忆合金丝的小型钢球活齿驱动器，包括底座、壳体、中心轮、活齿架、传动钢球、第一支撑钢球、第二支撑钢球、激波器、压簧、绕线槽、压簧固定螺栓、固定块、固定端轴承、输出端轴承和形状记忆合金丝；本发明采用形状记忆合金丝驱动钢球活齿结构来实现驱动器的设计，通过固定块、绕线槽的特殊设计实现了两者的有机结合。通过两根形状记忆合金丝的配合驱动平面钢球活齿机构转动，实现了驱动器的连续旋转。本发明的优势在于将活齿架与输出轴一体化设计，结合固定块、绕线槽的特殊设计，使驱动器内部高度集成，有效减小了驱动器的体积；通过布置支撑钢球，有效减小了驱动器的内部摩擦损耗，提高了驱动器工作效率。
The present invention relates to a small steel ball movable tooth driver based on shape memory alloy wire, comprising a base, a shell, a center wheel, a movable tooth frame, a transmission steel ball, a first supporting steel ball, a second supporting steel ball, a shock wave generator, a compression spring, a winding groove, a compression spring fixing bolt, a fixing block, a fixed end bearing, an output end bearing and a shape memory alloy wire; the present invention adopts a shape memory alloy wire to drive a steel ball movable tooth structure to realize the design of the driver, and realizes an organic combination of the two through the special design of the fixing block and the winding groove. The planar steel ball movable tooth mechanism is driven to rotate by the cooperation of two shape memory alloy wires, thereby realizing continuous rotation of the driver. The advantage of the present invention is that the movable tooth frame is integrated with the output shaft, and the special design of the fixing block and the winding groove is combined to make the internal part of the driver highly integrated, effectively reducing the volume of the driver; by arranging the supporting steel balls, the internal friction loss of the driver is effectively reduced, and the working efficiency of the driver is improved.
Description
Technical Field
The invention relates to the technical field of memory alloy wire driving, in particular to a small steel ball movable tooth driver based on a shape memory alloy wire.
Background
Shape memory alloy has been widely used as a driving source in the fields of robot driving and the like as an intelligent material. At present, the shape memory alloy wire is mainly driven by embedding the memory alloy wire into a robot body, and generating a power source through deformation of the shape memory alloy wire, so that the robot is pulled to realize target movement. Although this working mode is advantageous for reducing the volume of the robot, when the structural or partial parameters of the robot are changed, the shape memory alloy wires embedded therein need to be replaced together, which results in poor versatility of the arrangement mode. In addition, the output force and displacement are limited by simply generating a power source through the deformation of the shape memory alloy wire. Therefore, a shape memory alloy wire driver with strong universality and capability of outputting larger force and displacement is developed.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a small steel ball movable tooth driver based on a shape memory alloy wire, which has strong universality, compact structure and large output moment and can realize full-circle movement.
The technical scheme adopted by the invention is as follows:
The invention provides a small steel ball movable tooth driver based on a shape memory alloy wire, which comprises a base, a shell, a central wheel, a movable tooth frame, a transmission steel ball, a first support steel ball, a second support steel ball, a shock absorber, a pressure spring, a winding slot, a pressure spring fixing bolt, a fixing block, a fixing end bearing, an output end bearing and the shape memory alloy wire, wherein the base is provided with a first support steel ball, a second support steel ball, a shock absorber, a pressure spring, a winding slot and a fixed end bearing;
The movable gear rack is coaxially arranged between the base and the central wheel, the output end of the movable gear rack extends upwards out of the central wheel, the fixed end is connected with the base through a fixed end bearing, and the upper part of the movable gear rack is connected with a central hole of the central wheel through an output end bearing;
The shock wave device comprises a base, a winding groove, a shock wave device, a fixed block, a winding groove, a first support steel ball, a second support steel ball, a first support steel ball and a second support steel ball, wherein the upper surface of the base is provided with a central hole, the outer side of the circumference of the central hole is provided with an annular track coaxial with the central hole, the fixed end bearing is fixed in the central hole of the base, the annular track of the base is internally and uniformly provided with the first support steel ball, the shock wave device consists of a flange end and a cylindrical end coaxially fixedly connected with the lower end surface of the flange end, the bottom of the cylindrical end is in threaded connection with the fixed block, the lower part of the fixed block is in contact connection with the base through the first support steel ball, the winding groove is coaxially arranged at the outer side of the cylindrical end of the shock wave device, and the upper end is connected with the flange end of the shock wave device;
The winding groove consists of a central hole and four bosses with circumferences uniformly distributed on the outer side of the circumference of the central hole, one end of the pressure spring radially and vertically acts on the bosses of the winding groove, the other end of the pressure spring is connected with the base through pressure spring fixing bolts, a plurality of through holes are arranged on the left side and the right side of each boss and are perpendicular to the central axis of the movable rack, mounting holes corresponding to the through holes on the bosses are respectively arranged on the upper edge of the side wall of the base, the initial end of the shape memory alloy wire corresponds to the mounting holes on the side wall of the base, and after the initial end of the shape memory alloy wire sequentially and vertically passes through the through holes of three adjacent bosses of the winding groove, the tail end of the shape memory alloy wire is connected with the mounting holes on the side wall of the next corresponding base;
The outer side of the central hole of the upper end surface of the shock absorber flange end is coaxially provided with an annular track corresponding to the lower part of the transmission steel ball; the movable rack comprises a movable rack body, a shock absorber flange end, a central wheel, a transmission steel ball, a support steel ball seat, a support steel ball, a gear profile rail, a transmission steel ball, a support steel ball seat, a support steel ball seat and a support steel ball, wherein the U-shaped clamping groove is uniformly distributed on the circumference outside the circumference of the portion, corresponding to the upper portion of the shock absorber flange end, of the movable rack body, the transmission steel ball is respectively located in the U-shaped clamping groove and is in contact with an arc of the clamping groove, the gear profile rail corresponding to the upper portion of the transmission steel ball is coaxially arranged on the lower end face of the central wheel, the transmission steel ball can rotate in a gap formed by the shock absorber annular rail and the central wheel profile rail, the support steel ball seat is uniformly distributed on the circumference of the outer circumference of the upper end face of the shock absorber flange end.
Further, the fixed block is provided with a central threaded hole for realizing threaded connection with the bottom of the cylindrical end of the shock wave device.
The movable rack comprises a first shaft section, a second shaft section, shaft shoulders, a third shaft section and a fourth shaft section which are fixedly connected in sequence, wherein the first shaft section is connected with a fixed end bearing arranged in a central hole of a base, the third shaft section is connected with an output end bearing arranged in a central hole of a central wheel, the installation of the first shaft section and the third shaft section ensures the vertical relation between the movable rack and the base as well as between the movable rack and the central wheel, the circumferences of U-shaped clamping grooves are uniformly distributed on the outer side of the top of the second shaft section, transmission steel balls are arranged in each U-shaped clamping groove, when a driver rotates, the transmission steel balls can slide along the U-shaped clamping grooves, the shaft shoulders are used for axially limiting the output end bearing, and the fourth shaft section is used for being connected with an external coupling to realize transmission output of the driver.
Further, the bottom non-installation area of base is equipped with the louvre of circumference equipartition for improve the inside air flow of driver, accelerate the heat dissipation.
Furthermore, the mounting hole on the upper edge of the side wall of the base is used for penetrating and out of the shape memory alloy wire, and a nylon gasket is arranged in the mounting hole and used for fixing the initial section and the tail end of the shape memory alloy wire.
Furthermore, the effective length of the shape memory alloy wire during working can be increased by winding the shape memory alloy wire in through holes at the left side and the right side of the boss of the winding groove for multiple times, so that the purpose of adjusting the eccentricity of the movable rack is achieved.
Further, the fixed block is connected with the base through a first supporting steel ball, and the first supporting steel ball can slide in an annular track of the base; the second supporting steel ball is arranged between the shock absorber and the center wheel and can slide along the lower end face of the center wheel, and the first supporting steel ball and the second supporting steel ball can reduce internal friction loss when the driver rotates.
Further, the curve equation of the tooth profile orbit of the lower end face of the central wheel is
Compared with the prior art, the invention has the following beneficial effects:
Compared with the prior art, the invention has the advantages that the shape memory alloy wire is integrated into a small driver, thereby having universality and portability;
By introducing two groups of supporting steel balls between the shock wave device and the central wheel and between the base and the fixed block, the surface contact is converted into a plurality of point contacts, so that the internal friction loss during the rotation of the driver is reduced, and the working efficiency of the driver is effectively improved;
The non-assembly area at the bottom of the base is perforated, so that the air flow in the driver is improved, and the cooling process of the shape memory alloy wire after the electrifying work is finished is effectively accelerated;
The output shaft of the driver and the movable rack are integrally designed, most of internal parts are assembled on the movable rack, and the assembly process is effectively simplified;
The special design of the winding groove enables the driving force of the shape memory alloy wire and the acting force of the pressure spring to act on the winding groove simultaneously, and meanwhile, the eccentricity of the shock wave device can be changed by changing the circumference number of the shape memory alloy wire on the winding groove, so that the space structure arrangement of the driver is optimized, the structure of the driver is effectively simplified, the size of the driver is reduced, and the structure of the driver is more compact.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall polishing and cutting structure of the present invention;
FIG. 3 is a schematic view of a base structure of the present invention;
FIG. 4 is a schematic view of a movable rack structure according to the present invention;
FIG. 5 is a schematic diagram of a shock wave device according to the present invention;
FIG. 6 is a schematic diagram of a winding slot structure according to the present invention;
fig. 7 is a schematic view of the structure of the center wheel of the present invention.
The device comprises a 1-base, a 101-first mounting hole, a 102-first pressure spring fixing threaded hole, a 103-second mounting hole, a 104-annular track, a 105-third mounting hole, a 106-second pressure spring fixing threaded hole, a 107-fourth mounting hole, a 2-fixed end bearing, a 3-shape memory alloy wire, a 301-first shape memory alloy wire, a 302-second shape memory alloy wire, a 4-nylon gasket, a 5-pressure spring fixing bolt, a 501-first pressure spring fixing bolt, a 502-second pressure spring fixing bolt, a 6-fixing block, a 7-pressure spring, an 8-shell, a 9-center wheel, a 901-clamp spring groove, a 902-tooth profile track, a 10-output end bearing, a 11-movable tooth frame, 1101-first shaft section, 1102-second shaft section, 1103-movable tooth frame clamping groove, 1104-shaft shoulder, 1105-third shaft section, 1106-fourth shaft section, a 12-transmission steel ball, 13-second support steel ball, a 14-shock absorber, an annular track, 1402-support steel ball seat, 15-winding groove, a 9-center wheel, a 901-center wheel, a first boss and a second boss, a third boss and a 16-boss.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
It should be noted that, in the description of the present invention, the terms "upper", "lower", "top", "bottom", "one side", "another side", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and do not mean that the device or element must have a specific orientation, be configured and operated in a specific orientation.
Referring to fig. 1 to 7, a specific structure of an embodiment of a small steel ball oscillating tooth driver based on a shape memory alloy wire is provided, and the driver comprises a base 1, a shell 8, a central wheel 9, an oscillating tooth frame 11, a transmission steel ball 12, a first support steel ball 16, a second support steel ball 13, a shock absorber 14, a pressure spring 7, a wire winding groove 15, a first pressure spring fixing bolt 501, a second pressure spring fixing bolt 502, a fixing block 6, a fixing end bearing 2, an output end bearing 10 and a shape memory alloy wire 3.
The base 1 is of a disc structure with a side wall with a certain height, the shell 8 is correspondingly and coaxially fixedly connected to the top of the side wall of the base 1, the center wheel 9 is correspondingly and coaxially fixedly connected to the top of the shell 8, the movable gear rack 11 is coaxially arranged between the base 1 and the center wheel 9 and is in vertical relation with the base 1 and the center wheel 9, the output end of the movable gear rack 11 extends upwards to the center wheel 9, the fixed end is connected with the base 1 through the fixed end bearing 2, the upper portion of the movable gear rack 11 is connected with the center hole of the center wheel 9 through the output end bearing 10, a clamp spring groove 901 is formed in the center hole of the center wheel 9, a clamp spring is arranged in the clamp spring groove 901, and the clamp spring is connected with the output end bearing 10 through the clamp spring.
In this embodiment, the movable rack 11 includes a first shaft section 1101, a second shaft section 1102, a shaft shoulder 1104, a third shaft section 1105 and a fourth shaft section 1106 that are sequentially and fixedly connected, and movable rack clamping grooves disposed on the outer side of the top circumference of the second shaft section 1102, where the movable rack clamping grooves are formed by radial U-shaped clamping grooves 1103 circumferentially uniformly distributed on the outer circumferential end surface of a circular ring member, the first shaft section 1101 is connected with a fixed end bearing 2 fixedly installed in a central hole of the base 1, the third shaft section 1105 is connected with an output end bearing fixedly installed in a central hole of the central wheel 9, the first shaft section 1101 and the third shaft section 1105 are installed to ensure a vertical relationship between the movable rack 11, the base 1 and the central wheel 9, the U-shaped clamping grooves 1103 are circumferentially uniformly distributed on the outer side of the top of the second shaft section 1102, each U-shaped clamping groove 1103 is internally provided with a driving steel ball 12, and when the driver rotates, the driving steel ball 12 can slide along the U-shaped clamping groove 1103, the shaft shoulder is used to axially limit the output end bearing 10, and the fourth shaft section 1106 is used to realize the output coupling of the driver and the fourth shaft section 1106.
The bottom of the base 1 is provided with a central hole, the outer side of the circumference of the central hole is provided with an annular track 104 coaxial with the central hole, the fixed end bearing 2 is fixed in the central hole of the base 1, first supporting steel balls 16 are uniformly distributed in the annular track 104 of the base 1, the shock wave device 14 consists of a flange end and a cylindrical end coaxially and fixedly connected to the lower end face of the flange end, the fixed block 6 is provided with a central threaded hole, threaded connection with the bottom of the cylindrical end of the shock wave device 14 is achieved through the central threaded hole, the lower end face of the fixed block 6 is in contact connection with the base 1 through the first supporting steel balls 16, the first supporting steel balls 16 can slide in the annular track 104 of the base 1, the winding groove 15 is coaxially arranged on the outer side of the cylindrical end of the shock wave device 14, the upper end face of the winding groove is connected with the flange end of the shock wave device 14, and the lower end face of the winding groove is connected with the fixed block 6.
In this embodiment, the winding slot is formed by a central hole and four bosses circumferentially distributed on the outer side of the central hole, and the four bosses are respectively a first boss 1501, a second boss 1502, a third boss 1503 and a fourth boss 1504, the same positions of the left and right sides of each boss are respectively provided with a plurality of through holes, the through holes are perpendicular to the central axis of the movable rack 11, correspondingly, the upper edges of the side walls of the base 1 are respectively distributed with mounting holes corresponding to the two sides of the through holes on each boss, in this embodiment, the four used mounting holes are described as a first mounting hole 101, a second mounting hole 103, a third mounting hole 105 and a fourth mounting hole 107 which are sequentially adjacent, the initial ends of the shape memory alloy wires 3 correspond to the mounting holes on the side walls of the base 1, and after the through holes of three adjacent bosses sequentially vertically penetrate through the winding slot, the tail ends of the shape memory alloy wires are connected with the next corresponding mounting holes on the side walls of the base 1.
In this embodiment, two shape memory alloy wires 301 and 302 are provided, and the two shape memory alloy wires are arranged in a 90 ° winding manner, specifically, the first shape memory alloy wire 301 penetrates through the first mounting hole 101 and passes through corresponding through holes on the second boss 1502, the third boss 1503 and the fourth boss 1504 in sequence, and finally penetrates out of the second mounting hole 103, the second shape memory alloy wire 302 penetrates through the fourth mounting hole 107 and passes through corresponding through holes on the first boss 1501, the fourth boss 1504 and the third boss 1503 in sequence, and finally penetrates out of the third mounting hole 105, and the first shape memory alloy wire 301 and the second shape memory alloy wire 302 are connected with each mounting hole through nylon gaskets 4, and the nylon gaskets 4 are disposed in each mounting hole and are used for fixing the starting end and the tail end of the shape memory alloy wire 3.
The two compression springs 7 are used in pairs, two compression springs 7 are vertically arranged between the first boss 1501, the second boss 1502 and the side wall of the base 1 respectively, corresponding first compression spring fixing threaded holes 102 are formed in the area, located in the middle of the first mounting hole 101 and the second mounting hole 103, of the side wall of the base 1, second compression spring fixing threaded holes 106 are formed in the area, located in the middle of the third mounting hole 105 and the fourth mounting hole 107, one ends of the two compression springs 7 radially and vertically act on the first boss 1501 and the second boss 1502 respectively, and the other ends of the two compression springs 7 are in threaded connection with the corresponding first compression spring fixing threaded holes 102 and second compression spring fixing threaded holes 106 on the side wall of the base 1 respectively through the first compression spring fixing bolts 501 and the second compression spring fixing bolts 502, namely the first compression spring fixing bolts 501 and the second compression spring fixing bolts 502 are arranged at 90 degrees.
The outer side of the central hole of the upper end surface of the flange end of the shock absorber 14 is coaxially provided with an annular track 1401 corresponding to the lower part of a transmission steel ball 12, U-shaped clamping grooves 1103 uniformly distributed on the circumference outside the circumference of the middle part of the movable rack 11 are respectively corresponding to the upper part of the annular track 1401, the transmission steel ball 12 is respectively positioned in the U-shaped clamping grooves 1103 and is contacted with the circular arcs of the clamping grooves, the lower end surface of the central wheel 9 is coaxially provided with a tooth profile track 902 corresponding to the upper part of the transmission steel ball 12, the central tooth profile track 902 is vertically corresponding to the U-shaped clamping grooves 1103 and the shock absorber annular track 1401, and in the embodiment, the curve equation of the tooth profile track 902 is that
The transmission steel ball 12 can rotate in a gap formed by the circular track 1401 of the shock absorber and the central gear tooth profile track 902, the transmission steel ball 12 can slide in the U-shaped clamping groove 1103, axial support steel ball seats 1402 are uniformly distributed on the circumference of the outer circumference of the upper end face of the flange end of the shock absorber 14, the second support steel balls 13 are respectively arranged in the support steel ball seats 1403, the upper parts of the second support steel balls 13 are respectively contacted with the lower end face of the central wheel 9, the second support steel balls 13 can slide along the lower end face of the central wheel 9, and the first support steel balls 16 and the second support steel balls 13 can reduce internal friction loss during rotation of a driver.
In this embodiment, the diameter of the driver is 60mm, the height is 33mm, the diameter of the first supporting steel balls 16 is 3mm, the number of the first supporting steel balls is 20, the diameter of the second supporting steel balls 13 is 3mm, the number of the second supporting steel balls is 8, the diameter of the driving steel balls 12 is 4mm, the number of the driving steel balls is 10, the arc diameter of the movable rack U-shaped clamping groove 1103 is 4mm, the groove depth is 1.2mm, the number of the movable rack U-shaped clamping groove is 10, the eccentricity of the shock wave device 14 is 0.9mm, the wire diameter of the shape memory alloy wire 3 is 0.3mm, the length of the shape memory alloy wire is 200mm, the single-side actuation is 1.8mm, the overall displacement of the single shape memory alloy wire is 3.6mm, and the expansion ratio is 1.82%.
In this embodiment, the non-installation area at the bottom of the base 1 is further provided with circumferentially uniformly distributed heat dissipation holes 108, which are used to improve the air flow inside the driver and accelerate heat dissipation.
The working principle of the invention is that a first shape memory alloy wire 301 passes through a first mounting hole 101, is wound into a U shape through a winding groove 15 and then passes through a second mounting hole 103, a second shape memory alloy wire 302 passes through a fourth mounting hole 107, is wound into a U shape through the winding groove 15 and then passes through a third mounting hole 105, a fixed block 6 is connected with a shock wave device 14 through threads, the winding groove 15 is clamped between the fixed block and the shock wave device 14, the shock wave device 14 is sleeved on a second shaft section 1102 of a movable rack 11, and a transmission steel ball 12 is arranged in a closed cavity formed by combining an annular track 1401 of the shock wave device 14 and a tooth profile track 902 of a central wheel 9 and can slide along a U-shaped clamping groove 1103 of the movable rack. In the initial state, the shape memory alloy wire 3 and the pressure spring 7 are in a relaxed state, the shock wave device 14 is positioned at the position away from the two eccentric distances of the shrinking resultant force direction of the shape memory alloy wire 3, in the working state, the first shape memory alloy wire 301 is electrified and shrunk, so that the pressure spring 7 compresses accumulated energy, the first shape memory alloy wire 301 is powered off, the energy of the pressure spring 7 is released, the shock wave device 14 is restored to the initial position, and therefore reciprocating motion can be realized in the direction, and the working principle of the second shape memory alloy wire 302 is the same as that of the first shape memory alloy wire 301, but the electrified time is delayed from that of the first shape memory alloy wire 301. The first shape memory alloy wire 301 and the second shape memory alloy wire 302 are alternately matched and electrified to realize eccentric rotation of the shock wave device 14 around the central axis of the movable rack 11. When the shock wave device 14 moves eccentrically, the annular track 1402 drives the transmission steel ball 12 to slide along the U-shaped clamping groove 1103 of the movable rack, and the transmission steel ball 12 can apply reverse acting force to the U-shaped clamping groove 1103 of the movable rack under the action of the closed cavity, so as to drive the movable rack 11 to rotate, thereby realizing the rotation output of the driver.
The invention is not particularly limited to the known technology.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (8)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210868937.5A CN115264025B (en) | 2022-07-22 | 2022-07-22 | A small steel ball movable tooth actuator based on shape memory alloy wire |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210868937.5A CN115264025B (en) | 2022-07-22 | 2022-07-22 | A small steel ball movable tooth actuator based on shape memory alloy wire |
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| CN115264025A CN115264025A (en) | 2022-11-01 |
| CN115264025B true CN115264025B (en) | 2024-12-06 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104499594A (en) * | 2014-12-16 | 2015-04-08 | 湖南科技大学 | Displacement rotation amplifying type shape memory alloy damper |
| CN110513443A (en) * | 2019-08-16 | 2019-11-29 | 燕山大学 | Eccentric drive two-stage planar movable gear reducer |
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| CN105508532A (en) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | Two-stage-parallel cycloidal steel ball speed reducer |
| CN111371341B (en) * | 2020-03-24 | 2021-04-30 | 燕山大学 | Micro-small SMA movable tooth transmission motor |
| CN113374897A (en) * | 2021-06-16 | 2021-09-10 | 马鞍山圣德力智能科技有限公司 | Gas temperature control valve based on memory alloy |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104499594A (en) * | 2014-12-16 | 2015-04-08 | 湖南科技大学 | Displacement rotation amplifying type shape memory alloy damper |
| CN110513443A (en) * | 2019-08-16 | 2019-11-29 | 燕山大学 | Eccentric drive two-stage planar movable gear reducer |
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