A device for storing and smoothly releasing multi-section torque-sensing elastic potential energy of superelastic shape memory alloy wire bundles.
By utilizing the self-sensing characteristics and mathematical model of superelastic shape memory alloy wire, the problems of measurement accuracy and structural complexity of torque storage and release devices were solved, achieving accurate torque measurement and smooth release, and reducing costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- JILIN UNIVERSITY
- Filing Date
- 2023-06-30
- Publication Date
- 2026-06-30
Smart Images
Figure CN116733700B_ABST
Abstract
Description
Technical Field
[0001] This invention patent relates to the field of torque storage and release, and in particular to a self-sensing elastic potential energy storage and smooth release device based on superelastic shape memory alloy wire. Background Technology
[0002] The hyperelastic shape memory alloy wire has self-sensing characteristics, meaning that the length and stress of the hyperelastic shape memory alloy wire can be obtained by measuring its resistance and comparing it with the resistance-strain curve and strain-stress curve.
[0003] Hyperelastic shape memory alloy wires exhibit superelasticity. During loading, the wires deform under external force. During the martensitic transformation phase, the stress in the wires remains almost unchanged, forming a phase transformation plateau in the stress-strain relationship. A similar plateau forms during unloading, but it is lower than the loading plateau, resulting in a hysteresis curve. After complete unloading, the wires return to their initial state without residual deformation.
[0004] In the field of torque storage and release, there are various methods to achieve torque storage and release. A common method is the spring steel energy storage drive device; however, these devices typically require external sensors to measure the applied torque and rotation angle, and traditional torque transmission devices struggle to maintain torque during storage and release.
[0005] Against this backdrop, and considering the shortcomings and problems of the aforementioned devices, this invention patent utilizes the self-sensing characteristics and superelasticity of a novel material—hyperelastic shape memory alloy wire. By measuring the resistance of the hyperelastic shape memory alloy wire, the real-time length and force of the wire are obtained. The phase transition plateau of the hyperelastic shape memory alloy wire during loading and unloading is used to maintain torque. The multi-segment configuration offers strong adaptability and avoids interference between the alloy wires. The torque and rotation angle of the device are obtained based on the calculation method proposed in this patent. Furthermore, the superelasticity of the hyperelastic shape memory alloy wire enables the torque to be converted into elastic potential energy for storage and smooth release.
[0006] In summary, compared with traditional torque storage and release devices, the multi-section torque self-sensing elastic potential energy storage and smooth release device based on hyperelastic shape memory alloy wire bundle has the following advantages: it is highly functional, capable of measuring the torque and rotation angle of the device and realizing the conversion of torque into elastic potential energy for storage and smooth release; it has a simple structure, is easy to install, and has a low cost; the segmented design facilitates device adaptation; and it has advanced guiding significance and practical value for the research and application of hyperelastic shape memory alloy wire. Summary of the Invention
[0007] The purpose of this invention is to provide a device that utilizes the superior properties of a superelastic shape memory alloy wire to achieve torque self-sensing, elastic potential energy storage and smooth release, measures the resistance of the superelastic shape memory alloy wire to obtain the real-time wire length and force, and uses a mathematical model to calculate the real-time torsion angle and torque of the device. For the real-time torsion angle Θ of the device, it is derived from the torsion angle θ of the k-th section of the device. k Let θ represent the initial length l of the alloy wire, the length l′ after twisting, and the twist radius r of the alloy wire. θ is derived from the real-time length of each wire. k The numerical value is used to obtain the real-time total torsion angle Θ of the device. For the device's torque self-sensing function, the force on each wire is obtained through the characteristics of the superelastic shape memory alloy wire. Given the torsion angle of the device, the direction of the force on each wire can be determined, and the torque of the device is obtained through force decomposition. Torque and rotation angle are the technical problems that this patent aims to solve.
[0008] To solve the above-mentioned technical problems, this invention patent adopts the following solution:
[0009] The device's structural design is as follows: It consists of bearing end caps, connecting wire spools, superelastic shape memory alloy wires, tapered roller bearings, bushings, bearing retaining rings, screws, a support shaft, and a resistance measurement and analysis device. The superelastic shape memory alloy wires are connected and fixed by clamping tubes. The device is composed of multiple sections of superelastic shape memory alloy wire bundles connected together. The support shaft serves as the axial support for the entire device. The connecting wire spools are fitted to the support shaft via tapered roller bearings, which are axially fixed on the shaft by bushings and bearing retaining rings. Except for the connecting wire spools at both ends, the middle connecting wire spool is supported by a pair of tapered roller bearings. The connecting wire spools are connected to the bearing end caps by screws. The superelastic shape memory alloy wires pass through through holes in the connecting wire spools, and the ends are fixed by clamping tubes. The superelastic shape memory alloy wires on different sections are alternately connected to the holes in the connecting wire spools. The entire device is fixed by holes in the bearing end caps. The end caps drive the connecting wire spools at both ends to rotate, affecting each section of the device. Ten positive electrodes and one negative electrode are led out from the resistance measurement and analysis device. The ten positive electrodes are connected to... The superelastic shape memory alloy wire is connected to the left connecting wire spool, while the negative electrode is connected to ten superelastic shape memory alloy wires on the right wire spool, forming a complete closed loop. When the device is twisted, the superelastic shape memory alloy wire undergoes a martensitic phase transformation due to torque deformation, forming a stress-strain phase transformation plateau, which converts the applied torque into elastic potential energy for storage. During unloading, a reverse martensitic phase transformation occurs, but the phase transformation plateau during unloading is lower than that during loading, forming a hysteresis curve. This allows the stored elastic potential energy to be converted into torque. Furthermore, due to the characteristic that the strain of the alloy wire changes but the stress remains almost constant during unloading, the device's torsion angle changes but the torque remains essentially unchanged, allowing the torque to be released smoothly. After complete unloading, the alloy wire produces almost no residual deformation.
[0010] The algorithm design of the device is described as follows: The hyperelastic shape memory alloy wire in each section undergoes deformation. A resistance measurement and analysis device measures the real-time resistance of each section of the alloy wire, and based on the correspondence of self-sensing characteristics, obtains the real-time length and force of the wire. The algorithm then calculates the torque and rotation angle experienced by the device. The total torque of the device is M, and the torque experienced by the k-th section of the device is Mk. k n is the number of hyperelastic shape memory alloy wires in each section of the device, F is the force on each wire, the initial length of the alloy wire is l, the length after twisting is l′, the twist radius of the alloy wire is r, and the twist angle of the kth section is θ. k The straight-line distance of the alloy wire on the connecting spool before and after twisting is x, and the angle between the initial position and the position after twisting of the alloy wire is θ. The device is divided into multiple sections. The number of sections can be added or removed as needed. Let the number of sections be m, then the total torque of the device is... Total angle of device torsion in
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[0012]
[0013]
[0014]
[0015] This invention patent utilizes the self-sensing characteristics of superelastic shape memory alloy wires to obtain the real-time length and force of the wires by measuring their resistance. Based on the method proposed in this patent, the torque and rotation angle of the device are calculated. Simultaneously, by leveraging the superelasticity of the superelastic shape memory alloy wires, torque is converted into elastic potential energy for storage and smooth release, resulting in powerful functionality. Attached Figure Description
[0016] Figure 1 Overall schematic diagram of the device
[0017] Figure 2 Full sectional view of the device
[0018] Figure 3 Schematic diagram of alloy wire clamping
[0019] Figure 4 Schematic diagram of the relationship between resistance change rate and strain
[0020] Figure 5 Schematic diagram of stress-strain relationship
[0021] Figure 6 Schematic diagram of the force on the alloy wire
[0022] Figure 7 Wiring diagram of the device Detailed Implementation
[0023] The present invention will now be described in detail with reference to the accompanying drawings:
[0024] like Figure 1 , Figure 2 and Figure 3 As shown, the device consists of bearing end caps (A1, B1, B2, B3, B4, A2), connecting wire spools (C1, D1, D2, C2), superelastic shape memory alloy wire (1), tapered roller bearings (E1, E2, E3, E4, E5, E6), bushings (F1, F2, F3), bearing retaining rings (G1, G2), screws (2), support shaft (H), and resistance measurement and analysis device (J). The superelastic shape memory alloy wire (1) is connected and fixed by clamping tube (3). The device consists of multiple sections of superelastic shape memory alloy wire bundles connected together. A support shaft (H) serves as the axial support for the entire device. Connecting wire discs (C1, D1, D2, C2) are coupled to the support shaft (H) via tapered roller bearings (E1, E2, E3, E4, E5, E6). The tapered roller bearings (E1, E2, E3, E4, E5, E6) are axially fixed on the shaft via bushings (F1, F2, F3) and bearing retaining rings (G1, G2). The device, except for the connecting wires at both ends... Outside the wire spools (C1, C2), the intermediate connecting spools (D1, D2) are supported by a pair of tapered roller bearings (E2, E3, E4, E5). The connecting spools (C1, D1, D2, C2) are connected to the bearing end caps (A1, B1, B2, B3, B4, A2) by screws (2). The superelastic shape memory alloy wire (1) passes through the through holes on the connecting spools (C1, D1, D2, C2), and both ends are fixed by clamping tubes (3). The clamping tubes are clamped using hydraulic clamps. The elastic shape memory alloy wires (1) on the same section are interleaved with the holes of the connecting coils; the entire device is fixed by holes on the bearing end caps (A1, A2), and the end caps drive the connecting coils (C1, C2) at both ends of the device to rotate, causing the elastic shape memory alloy wires (1) in each section to deform. The resistance measurement and analysis device (J) measures the real-time resistance of each alloy wire and obtains the real-time length and force of the wire according to the corresponding relationship of the self-sensing characteristics. The torque and rotation angle of the device are calculated using an algorithm. The device consists of multiple sections, and the number of sections can be adjusted according to the requirements to evenly bear the total torque, avoid interference caused by excessive rotation angle of the alloy wire bundle, and the torque of each section can be measured.
[0025] like Figure 4 and Figure 5As shown, the device utilizes the hyperelasticity of the superelastic shape memory alloy wire, that is, the superelastic shape memory alloy wire undergoes a martensitic phase transformation when deformed by torque, forming a stress-strain phase transformation plateau, which converts the applied torque into elastic potential energy for storage. During unloading, a reverse martensitic phase transformation occurs, but the phase transformation plateau during unloading is lower than that during loading, forming a hysteresis curve, which allows the stored elastic potential energy to be converted into torque. Furthermore, due to the characteristic that the strain of the alloy wire changes but the stress remains almost unchanged during unloading, the device's torsion angle changes but the torque remains basically unchanged, allowing the torque to be released smoothly. After complete unloading, the alloy wire produces almost no residual deformation.
[0026] like Figure 6 As shown in the formula, M k The torque on the k-th section of the device is given by n, the number of hyperelastic shape memory alloy wires in each section of the device is given by n, F is the force on each wire is given by F, the initial length of the alloy wire is l, the length after twisting is l′, the twisting radius of the alloy wire is r, and the twisting angle of the k-th section is θ. k The straight-line distance of the alloy wire on the connecting spool before and after twisting is x, and the angle between the initial position and the position after twisting of the alloy wire is θ. The device is divided into multiple sections. The number of sections can be added or removed as needed. Let the number of sections be m, then the total torque of the device is... Total angle of device torsion
[0027] The relationships between the quantities are as follows:
[0028]
[0029]
[0030]
[0031]
[0032] like Figure 7 As shown, for each section of the device, ten positive terminals and one negative terminal are led out from the resistance measurement and analysis device. The ten positive terminals are respectively connected to the hyperelastic shape memory alloy wires (1) on the left connecting wire spool (C1), and the negative terminal is connected to ten hyperelastic shape memory alloy wires on the right wire spool (D1), forming a complete closed loop. When the connecting wire spools (C1, C2) are twisted, the hyperelastic shape memory alloy wires (1) in each section are deformed. The resistance measurement and analysis device (J) measures the real-time resistance of each alloy wire and obtains the real-time length and force of the wire according to the correspondence of the self-sensing characteristics. The torque and rotation angle of the device are calculated using an algorithm.
[0033] The above examples illustrate the technical concept and structural features of this invention patent, with the aim of enabling researchers and engineers in the field to understand this invention patent and to realize the product accordingly.
Claims
1. A super-elastic memory alloy wire bundle multi-section torque self-sensing elastic potential energy storage and smooth release device, characterized in that: The device consists of bearing end caps (A1, B1, B2, B3, B4, A2), connecting thread spools (C1, D1, D2, C2), superelastic shape memory alloy wire (1), tapered roller bearings (E1, E2, E3, E4, E5, E6), bushings (F1, F2, F3), bearing retaining rings (G1, G2), screws (2), support shaft (H), and resistance measurement and analysis components (J). The superelastic shape memory alloy wire (1) is connected and fixed by clamping tubes (3). The device is composed of multiple sections of superelastic shape memory alloy wire bundles connected together. The support shaft (H) serves as the axial support for the entire device. The connecting thread spools (C1, D1, D2, C2) cooperate with the support shaft (H) through tapered roller bearings (E1, E2, E3, E4, E5, E6). The tapered roller bearings (E1, E2, E3, E4, E5, E6) are mounted on the support shaft through bushings (F1, F2, F3, F4, E5, F6, F1, F2, F3 ... 3) The bearing retaining rings (G1, G2) achieve axial fixation; In addition to the connecting discs (C1, C2) at both ends, the connecting discs (D1, D2) in the middle are supported by a pair of tapered roller bearings (E2, E3, E4, E5). The connecting discs (C1, D1, D2, C2) and the bearing end caps (A1, B1, B2, B3, B4, A2) are connected by screws (2). The superelastic memory alloy wire (1) passes through the through holes on the connecting discs (C1, D1, D2, C2) and is fixed at both ends by clamping tubes (3). The superelastic memory alloy wires (1) on different sections are connected to the holes of the connecting discs in an alternating manner. For each section of the device, ten positive poles and one negative pole are led out from the resistance measurement and analysis component. The ten positive poles are connected to the superelastic memory alloy wires (1) on the left connecting disc, and the negative poles are connected to the ten superelastic memory alloy wires on the right connecting disc, forming a complete closed circuit.
2. A multi-segmented torsion self-sensing elastic potential energy storage and smooth release device of super-elastic memory alloy wire bundle according to claim 1, characterized in that: The entire device is fixed by holes on the bearing end caps (A1, A2). The bearing end caps drive the connecting discs (C1, C2) at both ends of the device to rotate. The superelastic shape memory alloy wire (1) in each section deforms. The resistance measurement and analysis component (J) measures the real-time resistance of each alloy wire and obtains the real-time length and force of the alloy wire according to the resistance-strain correspondence. The torque on the device is calculated using an algorithm, realizing the self-sensing of torque and rotation angle of the device. The device consists of multiple sections. The number of sections can be adjusted according to requirements, so that they can share the total torque, avoid interference caused by excessive rotation angle of the alloy wire bundle, and the torque of each section can be measured.
3. The device for storing and smoothly releasing multi-section torque-sensing elastic potential energy of a superelastic shape memory alloy wire bundle according to claim 1, characterized in that: The device utilizes the hyperelasticity of the superelastic shape memory alloy wire, which means that the superelastic shape memory alloy wire undergoes a martensitic phase transformation when deformed by torque, forming a stress-strain phase transformation plateau. The applied torque is converted into elastic potential energy and stored. During unloading, a reverse martensitic phase transformation occurs, but the phase transformation plateau during unloading is lower than that during loading, forming a hysteresis curve. This allows the stored elastic potential energy to be converted into torque. Furthermore, due to the characteristic that the strain of the alloy wire changes during unloading but the stress remains almost constant, the device's torsion angle changes but the torque remains essentially unchanged, allowing the torque to be released smoothly. After complete unloading, the alloy wire produces almost no residual deformation.
4. The device for storing and smoothly releasing multi-section torque-sensing elastic potential energy of a superelastic shape memory alloy wire bundle according to claim 1, characterized in that: The torque and torsional angle experienced by each section of the device can be expressed as: In the formula, M k The torque on the k-th section of the device is given by n, the number of hyperelastic shape memory alloy wires in each section of the device is given by n, F is the force on each wire, the initial length of the alloy wire is l, the length after twisting is l′, the twisting radius of the alloy wire is r, and the twisting angle of the k-th section is θ. k The straight-line distance of the alloy wire on the connecting spool before and after twisting is x, and the angle between the initial position and the position after twisting of the alloy wire is φ. The device is divided into multiple sections, and the number of sections can be increased or decreased as needed. Let the number of sections be m, then the total torque of the device is... Total angle of device torsion .