阅读说明：本技术 一种形状记忆合金丝的训练装置以及训练方法 (Training device and training method for shape memory alloy wire ) 是由 张伟 陆明亮 陆璐 史迎 于 2021-09-18 设计创作，主要内容包括：本发明公开了一种形状记忆合金丝的训练系统及训练方法。该系统包括控制装置、驱动装置、加热装置、第一滚轮、第二滚轮和支架；控制装置设有速度控制模块和温度控制模块；驱动装置与速度控制模块电连接；温度控制模块与加热装置电连接；第一滚轮和第二滚轮沿着轴向轴线方向平行设置、且第一滚轮在第二滚轮的轴向方向的垂直投影与第二滚轮有重叠；驱动装置固定于支架上；驱动装置包括第一驱动装置和第二驱动装置,且第一驱动装置与第一滚轮转动连接、第二驱动装置与第二滚轮转动连接；第一滚轮和第二滚轮用于绕设待训练的形状记忆合金丝；加热装置设于第一滚轮与第二滚轮之间。该系统能够连续训练记忆合金丝,降低丝材的热滞后。(The invention discloses a training system and a training method of a shape memory alloy wire. The system comprises a control device, a driving device, a heating device, a first roller, a second roller and a bracket; the control device is provided with a speed control module and a temperature control module; the driving device is electrically connected with the speed control module; the temperature control module is electrically connected with the heating device; the first roller and the second roller are arranged in parallel along the axial axis direction, and the vertical projection of the first roller in the axial direction of the second roller is overlapped with the second roller; the driving device is fixed on the bracket; the driving device comprises a first driving device and a second driving device, the first driving device is rotationally connected with the first roller, and the second driving device is rotationally connected with the second roller; the first roller and the second roller are used for winding a shape memory alloy wire to be trained; the heating device is arranged between the first roller and the second roller. The system can continuously train the memory alloy wires and reduce the thermal lag of the wires.)

1. A training system of shape memory alloy wires is characterized by comprising a control device, a driving device, a heating device, a first roller, a second roller and a bracket;

the control device is provided with a speed control module and a temperature control module; the driving device is electrically connected with the speed control module; the temperature control module is electrically connected with the heating device;

the first roller and the second roller are arranged in parallel along the axial axis direction, and the vertical projection of the first roller in the axial direction of the second roller is overlapped with the second roller;

the first roller and the second roller are arranged on the bracket;

the driving device comprises a first driving device and a second driving device, the first driving device is rotationally connected with the first roller, and the second driving device is rotationally connected with the second roller;

the first roller and the second roller are used for winding a shape memory alloy wire to be trained;

the heating device is arranged between the first roller and the second roller and is used for heating the shape memory alloy wire to be trained between the first roller and the second roller.

2. A training system for a shape memory alloy wire according to claim 1 wherein at least one of the first drive means and the second drive means is a stepper motor;

and/or the heating device is a box-type heating device; the box-type heating device preferably comprises a first heating body, a heating cavity and a second heating body from bottom to top in sequence;

and/or the first roller and the second roller are arranged oppositely.

3. A training system for shape memory alloy wire according to claim 1 wherein at least one of the first roller and the second roller has an aspect ratio of 5:1 to 20:1, such as 10: 1;

and/or at least one of the first roller and the second roller has a diameter of 15-40 cm, such as 20cm or 32 cm;

and/or the vertical distance between the axial axis of the first roller and the axial axis of the second roller is 40 cm-100 cm, such as 60 cm.

4. The training system for shape memory alloy wires according to claim 1, wherein the first roller and the second roller are connected to the support frame through a fixing member, respectively, the fixing member is mechanically fixed to the support frame, and a rotation shaft of the first roller and a rotation shaft of the second roller penetrate through the fixing member, respectively; the fixing component is preferably a plurality of bearing seats;

and/or a rotating assembly is arranged on the rotating shaft of the first roller and the rotating shaft of the second roller, and the first roller and the second roller are respectively in rotating connection with the driving device through the rotating assembly; preferably, the rotating assembly is a driving wheel;

and/or the control device is mechanically and fixedly connected with the bracket;

and/or the driving device is mechanically and fixedly connected with the bracket;

and/or the heating device is mechanically fixedly connected with the bracket.

5. A training system for a shape memory alloy wire according to claim 1 wherein at least one of the surfaces of the first roller and the second roller is provided with a coating; the material of the coating is preferably silicon rubber;

and/or the training system of the shape memory alloy wire further comprises a wire collecting device;

and/or at least 2 sliding rods are arranged on the bracket, the sliding rods are parallel to the axial axes of the first roller and/or the second roller, and the heating device is arranged on the sliding rods in a sliding manner; preferably, the support is provided with 2 sliding rods;

preferably, the sliding rod is fixedly connected with the support through a plurality of sliding bearings, and the sliding rod penetrates through the sliding bearings.

6. A training method of a shape memory alloy wire, characterized in that it is trained by using the training system of a shape memory alloy wire according to any one of claims 1 to 5.

7. A method of training shape memory alloy wire according to claim 6, comprising the steps of: taking the first roller and the second roller as an integral part, winding the shape memory alloy wire to be trained on the integral part, forming two groups of alloy wires between the first roller and the second roller, and heating one group of alloy wires by the heating device; controlling the rotation speed of the first roller and the second roller; training is carried out;

preferably, the driving device is started after the heating device reaches the set temperature.

8. A training method of a shape memory alloy wire according to claim 6, wherein the diameter of the shape memory alloy wire to be trained is 0.02 to 0.3 mm; preferably, the diameter of the shape memory alloy wire to be trained is 0.02-0.1 mm, such as 0.03 mm;

and/or the first roller is used as a wire inlet roller, the second roller is used as a wire outlet roller, and the ratio of the linear speed of the wire outlet roller to the linear speed of the wire inlet roller is 1.01: 1-1.08: 1; preferably, the linear speed of the wire feeding roller is 5-50 m/min.

9. The method for training a shape memory alloy wire according to claim 6, wherein the shape memory alloy wire to be trained is subjected to a contraction process and a stretching process to complete a training; the training times of the shape memory alloy wire to be trained are equal to the number of turns of the shape memory alloy wire to be trained wound on the first roller and the second roller.

10. The method for training a shape memory alloy wire according to claim 6, wherein when the heating device comprises a first heating body, a heating chamber and a second heating body in this order from bottom to top, the shape memory alloy wire to be trained between the first roller and the second roller is suspended on the heating chamber;

and/or the temperature control module controls the temperature of the heating device to be higher than the austenite transformation starting temperature of the shape memory alloy wire to be trained; preferably, the temperature control module controls the temperature of the heating device to be lower than 200 ℃.

Technical Field

The invention relates to a training device and a training method for a shape memory alloy wire.

Background

Shape Memory Alloy (SMA) is a new type of intelligent material, and is widely used in aerospace and robot fields, especially in driver field, due to its shape memory effect.

The shape memory effect refers to that a solid material with a certain shape is heated to a certain temperature after plastic deformation is carried out at a certain temperature to a certain limit, and the material returns to the initial state before deformation. When the shape memory effect of the Shape Memory Alloy (SMA) is used as a driver, firstly, an external load is applied to the SMA to generate deformation, then the SMA is heated to generate phase change, and restoring force generated by the phase change is used as driving force to realize driving, so that the cycle is called as thermomechanical cycle.

In general, after the SMA is subjected to heat treatment, stable martensite is not formed inside the SMA, so that the memory stability is poor. Therefore, before the SMA is used as a driver, the SMA material needs to be subjected to certain times of thermomechanical circulation to form stable martensite inside the SMA material, so that the memory stability of the SMA material is improved.

Aiming at the training of SMA wire materials, certain research has been developed domestically:

for example, CN100503845C discloses a shape memory alloy two-way memory effect training machine, which is directed to SMA profiles; prior art CN103410898A discloses a shape memory alloy spring thermal training device, which is directed to SMA springs. For SMA wires, the prior art CN103364286A discloses an integrated shape memory alloy wire training test device; the prior art CN103543073A discloses a mechanical performance test and heat engine training device for shape memory alloy wires; however, both have the limitation that training can only be performed for a certain length of filament, for example, between 200mm and 1000 mm; for industrial mass use, a single wire cannot meet the use requirement.

Therefore, training of the whole roll of continuous SMA wire is a technical problem which needs to be solved at present.

Disclosure of Invention

The invention aims to overcome the defect that the training device of the shape memory alloy wire in the prior art cannot continuously train SMA (shape memory alloy wires), and provides the training device and the training method of the shape memory alloy wire, which can continuously train large batches of SMA wire materials.

The invention solves the technical problems through the following technical scheme:

a training system of shape memory alloy wires comprises a control device, a driving device, a heating device, a first roller, a second roller and a bracket;

the control device is provided with a speed control module and a temperature control module; the driving device is electrically connected with the speed control module; the temperature control module is electrically connected with the heating device;

the first roller and the second roller are arranged in parallel along the axial axis direction, and the vertical projection of the first roller in the axial direction of the second roller is overlapped with the second roller;

the driving device is fixed on the bracket; the driving device comprises a first driving device and a second driving device, the first driving device is rotationally connected with the first roller, and the second driving device is rotationally connected with the second roller;

the first roller and the second roller are used for winding a shape memory alloy wire to be trained;

the heating device is arranged between the first roller and the second roller and is used for heating the shape memory alloy wire to be trained between the first roller and the second roller.

In the present invention, the control device may be a control device conventional in the art, such as a control cabinet.

In the present invention, the first driving device and/or the second driving device may be a driving device conventional in the art, and is preferably a stepping motor.

In the present invention, the heating device may be a heating device conventional in the art, and is preferably a box-type heating device. Preferably, the box-type heating device comprises a first heating body, a heating cavity and a second heating body from bottom to top in sequence.

In the present invention, preferably, the first roller and the second roller are disposed opposite to each other.

In the present invention, the length-diameter ratio of the first roller and/or the second roller may be conventional in the art, and is preferably 5:1 to 20:1, for example 10: 1.

In the present invention, the diameter of the first roller and/or the second roller may be conventional in the art, and is preferably 15-40 cm, such as 32cm or 20 cm.

In the present invention, the perpendicular distance between the axial axis of the first roller and the axial axis of the second roller may be conventional in the art, and is preferably 40cm to 100cm, for example 60 cm. In order to improve the training efficiency, the inventor sets the distance between the two rollers to be 1.5 meters, but in practical use, the inventor finds that the distance is too far, the initial winding is not easy to operate, and after the filament is wound, the filament can droop due to the too far distance and even can hang on a heating body, so that the filament is broken; the inventor finds that when the distance between the two rollers is set to 40 cm-100 cm, the winding is convenient, and the training process is not hindered.

In the present invention, preferably, the first roller and the second roller are respectively connected to the bracket through a fixing component, the fixing component is mechanically and fixedly connected to the bracket, and the rotating shaft of the first roller and the rotating shaft of the second roller respectively penetrate through the fixing component. The securing assembly may be conventional in the art, such as a number of bearing blocks.

In the present invention, preferably, a rotating assembly is disposed on both the rotating shaft of the first roller and the rotating shaft of the second roller, and the first roller and the second roller are rotatably connected to the driving device through the rotating assembly. The driving device provides driving force for the rotation of the roller through the rotating assembly. The rotating assembly may be conventional in the art, such as a drive wheel.

In the present invention, preferably, the control device is mechanically fixed to the support.

In the present invention, preferably, the driving device is mechanically fixed to the bracket.

In the present invention, preferably, the heating device is mechanically fixed to the support.

In the present invention, preferably, the support is provided with at least 2 sliding rods, the sliding rods are parallel to the axial axes of the first roller and/or the second roller, and the heating device is slidably disposed on the sliding rods. Preferably, the support is provided with 2 sliding rods. The heating device can slide on the sliding rod along the length direction of the sliding rod.

Preferably, the sliding rod is fixedly connected with the support through a plurality of sliding bearings, and the sliding rod penetrates through the sliding bearings.

In the present invention, preferably, the first roller and/or the second roller is/are provided with a coating layer, which can prevent the shape memory alloy wire to be trained from slipping on the rollers. In the training process, if the shape memory alloy wire to be trained slips, the wire cannot be stretched; the roller is provided with a coating with certain viscosity, so that the shape memory alloy wire to be trained can be fixed to a certain extent, and the stretching and training processes are convenient to carry out. Preferably, the material of the coating is silicon rubber. The silicone rubber may be a silicone rubber conventional in the art.

In the present invention, generally, the training system for shape memory alloy wire further comprises a wire retracting device. The wire collecting device is used for collecting the trained wire and simultaneously is used for drawing the wire to roll.

The invention also provides a training method of the shape memory alloy wire, which can be used for training by adopting the system.

In the present invention, preferably, the training method includes the following steps: taking the first roller and the second roller as an integral part, winding the shape memory alloy wire to be trained on the integral part, forming two groups of alloy wires between the first roller and the second roller, and heating one group of alloy wires by the heating device; controlling the rotation speed of the first roller and the second roller; training is carried out.

Preferably, the driving device is started after the heating device reaches the set temperature.

Wherein, the two groups of alloy wires refer to: when only one circle of the alloy wires is wound, the two groups of the alloy wires are two parallel alloy wires; when more than one turn of winding is arranged, the two groups of alloy wires are two parallel alloy wire surfaces.

And the shape memory alloy wire to be trained in the heating process corresponds to a contraction process, and the shape memory alloy wire to be trained in the non-heating process corresponds to a stretching process. Wherein, generally, the shape memory alloy wire to be trained is subjected to one contraction process and one stretching process to complete one training. Wherein, generally, in the training process, the rolling of the shape memory alloy wire to be trained on the first roller and the second roller is realized by a wire collecting device. Traction force applied by the wire collecting device can drive the wire to roll on the roller.

In the present invention, preferably, the number of times of training the shape memory alloy wire to be trained is equal to the number of turns of the shape memory alloy wire to be trained wound around the first roller and the second roller.

In the invention, the shape memory alloy wire to be trained can be a wire with a diameter which is conventional in the field, such as 0.02-0.3 mm. Preferably, the diameter of the shape memory alloy wire to be trained is 0.02-0.1 mm, such as 0.03mm, available from east invasive metals materials, Inc. of Danyang.

In the present invention, generally, the first roller or the second roller serves as a roller for feeding the yarn, and the other roller serves as a roller for discharging the yarn.

Preferably, the ratio of the linear speed of the wire outlet roller to the linear speed of the wire inlet roller is 1.01: 1-1.08: 1. The linear velocity refers to the velocity of any point on an object when the fixed shaft makes circular motion, which is called the linear velocity, and the relationship between the linear velocity and the angular velocity is v ═ ω × r (ω is the angular velocity and can be adjusted by a driving device, and r is the radius of the roller).

The linear speed of the wire-feeding roller can be conventional in the field, and is preferably 5-50 m/min.

In the present invention, generally, the heating device is slid to one side in the length direction of the sliding rod before the shape memory alloy wire to be trained is wound. After winding, the heating device is pulled back to the sliding rod.

Preferably, the shape memory alloy wire to be trained between the first roller and the second roller is suspended on the heating cavity.

In the present invention, preferably, the temperature control module controls the temperature of the heating device to be higher than the austenite transformation starting temperature of the shape memory alloy wire to be trained. More preferably, the temperature control module controls the temperature of the heating device to be lower than 200 ℃.

In the present invention, the terms "first" and "second" are used for convenience of description only and are not intended to be limiting.

On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.

The positive progress effects of the invention are as follows: (1) the training device for the shape memory alloy wire can realize continuous training of the alloy wire, the training times are controllable, and the length and the diameter of the alloy wire are not limited. (2) By adopting the training system of the shape memory alloy wire, the martensite phase transformation point of the wire can be obviously improved, the thermal lag of the wire is greatly reduced, and the shape memory alloy wire with stable phase transformation temperature is obtained.

Drawings

Fig. 1 is an overall configuration diagram of a training system.

Fig. 2 is a partial structure view of the roller.

Fig. 3 is a structural view of the heating device body.

FIG. 4 is a schematic diagram of filament winding.

FIG. 5 is a phase transition test curve of the filament before training.

FIG. 6 is a phase transition test curve of the trained wire.

Wherein 101 is a first roller, 102 is a second roller, 103 is a heating device, 104 is a control device, 105 is a bracket, 106 is a first driving device, 107 is a second driving device, and 108 is a wire winding device; 201 is a driving wheel, and 202 is a bearing seat; 301 is the second heating body, 302 is the first heating body, 303 is the heating cavity, 304 is the slide bearing, 306 is the slide bar.

Detailed Description

The present invention will be more clearly and completely described in the following description of preferred embodiments, taken in conjunction with the accompanying drawings.

EXAMPLE 1 training System for shape memory alloys

As shown in fig. 1, the training system for shape memory alloy comprises a control device 104, a first driving device 106 and a second driving device 107, a heating device 103, a first roller 101, a second roller 102 and a bracket 105.

The first roller 101 and the second roller 102 are disposed opposite to each other along the axial axis direction; the first roller 101 and the second roller 102 are respectively connected with the first driving device 106 and the second driving device 107 in a rotating manner and are fixed on the bracket 105; the control device 104 is provided with a speed control module and a temperature control module, and the two driving devices are electrically connected with the speed control module; the temperature control module is electrically connected with the heating device 103; the first roller 101 and the second roller 102 are used for winding a shape memory alloy wire to be trained; the heating device 103 is arranged between the first roller 101 and the second roller 102, and the heating device 103 is used for heating the shape memory alloy wire to be trained between the first roller 101 and the second roller 102.

In this embodiment, the control device 104 is a control cabinet, and the first driving device 106 and the second driving device 107 are stepping motors; the heating device 103 is a box-shaped heating device and sequentially comprises a first heating body 302, a heating cavity 303 and a second heating body 301 from bottom to top; the length-diameter ratio of the first roller 101 and the second roller 102 is 10: 1; the diameters of the first roller 101 and the second roller 102 are 20 cm; the vertical distance between the axial axes of the first roller 101 and the second roller 102 is 60 cm.

In this embodiment, as shown in fig. 2, the first roller 101 is connected to the bracket 105 through a bearing block 202, the bearing block 202 is fixedly connected to the bracket 105, the rotating shaft of the first roller 101 penetrates through the bearing block 202, the connection mode of the second roller 102 is the same as that of the first roller 101, and no reference numeral is marked in the drawing; the first rollers 101 are provided with driving wheels 201, the driving wheels 201 can be rotatably connected with the first driving device 106 through rotating belts, and the second rollers 102 are connected with the first rollers 101 in the same manner, and reference numerals are not marked in the figures. The control device 104, the first driving device 106, the second driving device 107, and the heating device 103 are all fixedly connected to the bracket 105, which may be welded.

In this embodiment, 2 sliding rods 306 are disposed on the bracket 105, the sliding rods 306 are parallel to the axial axis of the first roller 101, the heating device 103 is slidably disposed on the sliding rods 306, and the heating device 103 can slide on the sliding rods 306 along the length direction of the sliding rods 306. As shown in fig. 3, one of the sliding rods 306 is connected to the bracket 105 through a sliding bearing 304, and the sliding rod 306 penetrates through the sliding bearing 304 and is fixed thereto.

EXAMPLE 2 training method of shape memory alloy

Using the shape memory alloy training system of example 1, the wire to be trained was 0.03mm in diameter, as shown in FIG. 4, and was purchased from Tokyo metals, Inc., Danyang.

In the wire winding process, the heating device 103 is pushed away along the direction of the sliding rod 306, so that the wire is convenient to wind, the wire winding mode is that the first roller 101 and the second roller 102 are regarded as an integral wheel, the wire is wound on the two rollers, and the wound wire forms an upper plane and a lower plane; the training times of the shape memory alloy wire to be trained are 100 times, which is equal to 100 times of the number of turns of the shape memory alloy wire to be trained which is wound on the first roller 101 and the second roller 102 (or 20 turns of the shape memory alloy wire to be trained each time, and the training is performed by 5 times).

After the wire is wound, the heating device 103 is pulled back, so that the wire is suspended in the heating cavity 303 in the heating device 103 and is uniformly heated; the heating device 103 heats only one side close to the heating device 103. The temperature control module in the control device 104 controls the temperature of the heating device 103 to be higher than the austenite transformation temperature of the shape memory alloy wire to be trained, namely 120 ℃. The shape memory alloy wire to be trained in the heating process is correspondingly contracted, the shape memory alloy wire to be trained in the non-heating process is correspondingly stretched, and the shape memory alloy wire to be trained is subjected to one-time contraction and one-time stretching to finish one-time training.

After the temperature of the heating device 103 reaches the set temperature, the speed control module in the control device 104 may control the rotation speed of the first driving device 106 and the second driving device 107. The first roller 101 is used as a wire inlet roller, the second roller 102 is used as a wire outlet roller, and the ratio of the linear speed of the wire outlet roller to the linear speed of the wire inlet roller is 1.05: 1 (the rotating speed of the silk inlet roller is 20 circles per minute, the diameter of the silk inlet roller is 32 centimeters, the linear speed is 20 meters per minute, the rotating speed of the silk outlet roller is 21 circles per minute, the diameter of the silk outlet roller is 32 centimeters, and the linear speed is 21 meters per minute). The silk material is at the in-process of training, goes out the silk while training, goes out to receive the silk through receiving silk device 108 after silk, and the traction force that receives silk device 108 and exert to the silk material can drive the silk material and roll on two gyro wheels.

Measuring the phase change point of the wire material before and after training by adopting DMA (American TA instruments, model number DMA850), wherein the curve of the phase change point is shown in fig. 5 and fig. 6, and the calculation mode of the thermal hysteresis temperature is delta (Af-Ms); the test results are shown in table 1 below.

TABLE 1 filament phase Change data before and after training

	Af	As	Ms	Mf	Thermal hysteresis delta
						Before training	80.7	73.7	20.1	-2.9	60.6
After training	80.9	69.2	63.4	34.6	17.5

In the above table, "Af", "As", "Ms" and "Mf" respectively represent an austenite transformation start temperature, an austenite transformation end temperature, a martensite transformation start temperature and a martensite transformation end temperature.

The result shows that the training of the device can enable the inside of the wire to generate stable martensite, eliminate dislocation, remarkably improve the martensite transformation point (the martensite transformation starting temperature and the martensite transformation finishing temperature) of the wire, and greatly reduce the thermal hysteresis of the wire, thereby obtaining the shape memory alloy wire with stable transformation temperature.