CN108462406A - SMA bidirectional variable speed becomes torque SMA motors - Google Patents

Abstract

The present invention provides a kind of SMA bidirectional variables speed to become torque SMA motors comprising：Power output device；Control system；One first driving unit array, it includes the first SMA memory alloy wires, the first latching device, the first SMA memory alloy wire energization after-contraction, first latching device coordinates with power output device, power output device rotates forward, it powers off the first latching device to detach with power output device, power output device idle running；Second driving unit array, it includes the 2nd SMA memory alloy wires, the second latching device, 2nd SMA memory alloy wire energization after-contraction, second latching device coordinates with power output device, the device that outputs power rotates backward, the second latching device is detached with power output device after power-off, power output device idle running.The flexibility used greatly improves, and is easier to control during use, avoids more uncontrollable factors, greatly increases the application range of motor.

Description

SMA two-way variable speed variable torque SMA motor

technical field

The invention relates to a device for converting electrical energy into mechanical energy, in particular to an SMA bidirectional variable speed variable torque SMA motor.

Background technique

Shape Memory Alloy (SMA for short) motors have large output displacement and high power-to-weight ratio, so they have broad application prospects. The operating principle of the traditional SMA motor is that when the SMA spring is heated, the phase transition occurs, and the shape restoring force overcomes the spring tension to generate motion. When cooling, the SMA undergoes a reverse phase transition, at this time the SMA spring is very soft, and under the action of the tension spring, the actuator returns to its original position. So repeated, can make the motor output displacement. Restricted by the limitations of the SMA spring itself, it takes a certain amount of time for the SMA spring to heat, shrink, cool, and elongate. The response time is longer, and the operating frequency is lower. Moreover, this SMA motor can only rotate in one direction, so this SMA motor can be used in actual applications. In use, it is severely restricted.

Contents of the invention

The purpose of the present invention is to overcome the defects of the prior art, and provide an SMA bidirectional variable speed variable torque SMA motor, which has the characteristic of bidirectional rotation.

The present invention is achieved like this: a kind of SMA two-way variable speed variable torque SMA motor, it comprises:

a power take-off;

a control system;

A first drive unit array, which includes a first SMA memory alloy wire and a first locking mechanism, the first SMA memory alloy wire shrinks after being energized, the first locking mechanism cooperates with the power output device, and the power output device is forward Rotate, the first SMA memory alloy wire is extended after power failure, the first locking mechanism is separated from the power output device, and the power output device is idling;

A second drive unit array, which includes a second SMA memory alloy wire and a second locking mechanism. The second SMA memory alloy wire shrinks after being energized, and the second locking mechanism cooperates with the power output device to reverse the power output device. direction rotation, the second SMA memory alloy wire is extended after power failure, the second locking mechanism is separated from the power output device, and the power output device is idling; the first drive unit array and the first drive unit array are connected to the control system .

Further, the first driving unit array includes a first winding frame, a first SMA memory alloy wire, a first rotating wheel, a first locking mechanism, a first bearing, a first metal hanging lug, and a power output device is A main shaft, the first locking mechanism includes a first pin and a first socket, the first pin is movably arranged on the first winding frame, and the first socket is arranged on the periphery of the first bearing, so The main shaft is fixed in the first bearing, the first bearing is installed on the first rotating wheel, the first rotating wheel is installed on the first winding frame, and the first SMA memory alloy The wire is wound on the outside of the first winding frame, the first SMA memory alloy wire is energized and shrinks, and the first SMA memory alloy wire drives the first pin to move toward the first socket, so that the first pin is fixed in the first socket Among them, the first SMA memory alloy wire drives the first rotating wheel, the first locking mechanism, the first bearing, and the main shaft to rotate forward together.

Further, the first winding frame is provided with a first sliding groove, the first metal hanging lug is arranged on the periphery of the first rotating wheel, the first metal hanging lug and the first latch are located in the first sliding groove, The first metal hanging lug is connected to the casing of the SMA bidirectional variable speed variable torque SMA motor through a first elastic member, and the first positive pole terminal board and the first negative pole terminal board are respectively arranged on both sides of the first bobbin frame. One end of the SMA memory alloy wire is fixedly connected to the first positive wiring board, and the other end of the first SMA memory alloy wire is fixedly connected to the first negative wiring board.

Further, a first thermostatic jacket is provided on the first winding frame, and a first parallel groove and a first annular groove are arranged in the first thermostatic jacket, and the first metal hanging lug is located on the first parallel groove. groove, wherein, when the first metal lug and the first rotating wheel rotate together, the first metal lug abuts against the edge of the first parallel groove to push the first thermostat to move left or right, so that the first SMA The memory alloy wire is exposed in the first annular groove.

Further, the second drive unit array includes a second winding frame, a second SMA memory alloy wire, a second rotating wheel, a second locking mechanism, a second bearing, a second metal hanging lug, and the power output device is A main shaft, the second locking mechanism includes a second pin and a second socket, the second pin is movably arranged on the second winding frame, and the second socket is arranged on the periphery of the second bearing, so The main shaft is fixed in the second bearing, the second bearing is installed on the second rotating wheel, the second rotating wheel is installed on the second winding frame, and the second SMA memory alloy The wire is wound on the outside of the second winding frame, the second SMA memory alloy wire is energized and shrinks, and the second SMA memory alloy wire drives the second pin to move toward the second socket, so that the second pin is fixed in the second socket Among them, the second SMA memory alloy wire drives the second rotating wheel, the second locking mechanism, the second bearing, and the main shaft to rotate in reverse together.

Further, the second winding frame is provided with a second sliding groove, the second metal hanging lug is arranged on the periphery of the second rotating wheel, the second metal hanging lug and the second latch are located in the second sliding groove, The second metal hanging lug is connected to the casing of the SMA bidirectional variable speed variable torque SMA motor through a second elastic member. The two sides of the second winding frame are respectively provided with a second positive terminal board and a second negative terminal board. One end of the SMA memory alloy wire is fixedly connected to the second positive wiring board, and the other end of the second SMA memory alloy wire is fixedly connected to the second negative wiring board.

Further, a second thermostatic jacket is provided on the second winding frame, and a second annular groove and a second parallel groove are arranged in the second thermostatic jacket, and the second metal hanging lug is located on the second parallel groove. groove, wherein, when the second metal lug and the second rotating wheel rotate together, the second metal lug abuts against the edge of the second parallel groove to push the second thermostat to move left or right, so that the second SMA The memory alloy wire is exposed in the second annular groove.

The present invention is a first drive unit array, which includes a first SMA memory alloy wire and a first locking mechanism. The first SMA memory alloy wire shrinks after being energized, and the first locking mechanism cooperates with the power output device, and the power output device Rotate in the forward direction, the first SMA memory alloy wire will elongate after power failure, the first locking mechanism will be separated from the power output device, and the power output device will run idly; the second drive unit array includes the second SMA memory alloy wire, the first Two locking mechanisms, the second SMA memory alloy wire shrinks after being powered on, the second locking mechanism cooperates with the power output device to reversely rotate the power output device, and the second SMA memory alloy wire elongates after power off, The second locking mechanism is separated from the power output device, and the power output device is idling. The first drive unit array and the first drive unit array are connected to the control system, and the control system controls the first drive unit array and the first drive unit array. The control can drive the power output device to rotate forward or reverse respectively, greatly improving the flexibility of use, making the motor easier to control during use, avoiding more uncontrollable factors, and greatly increasing the application range of the motor.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is the perspective view of the SMA two-way variable speed variable torque SMA motor provided by the present invention;

Fig. 2 is the three-dimensional exploded view of the SMA two-way variable speed variable torque SMA motor provided by the present invention;

Fig. 3 is the sectional view of the SMA two-way variable speed variable torque SMA motor provided by the present invention;

FIG. 4 is a perspective view of a first drive unit array provided by the present invention;

FIG. 5 is an exploded perspective view of the first drive unit array provided by the present invention;

6 is a cross-sectional view of the first locking mechanism provided by the present invention in a locked state;

Fig. 7 is a cross-sectional view of the first locking mechanism provided by the present invention in a separated state;

FIG. 8 is an exploded perspective view of the second drive unit array provided by the present invention;

Fig. 9 is a cross-sectional view of the second locking mechanism provided by the present invention in a locked state;

Fig. 10 is a cross-sectional view of the second locking mechanism provided by the present invention in a separated state;

Fig. 11 is a schematic diagram of the first thermostatic jacket and the second thermostatic jacket provided by the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Fig. 1-Fig. 11, a kind of SMA two-way variable-speed and variable-torque SMA motor comprises: a power output device 1; a control system; a first drive unit array 2, which includes the first SMA memory alloy wire 21, the first A locking mechanism, the first SMA memory alloy wire 21 shrinks after being powered on, the first locking mechanism cooperates with the power output device 1, the power output device 1 rotates forward, and the first SMA memory alloy wire 21 is powered off Elongation, the first locking mechanism is separated from the power output device 1, and the power output device 1 is idling; a second drive unit array 3, which includes a second SMA memory alloy wire 31, a second locking mechanism, and the second SMA The memory alloy wire 31 shrinks after being energized, and the second locking mechanism cooperates with the power output device 1 to rotate the power output device 1 in the opposite direction. The power output device 1 is separated, and the power output device 1 runs idle; the first drive unit array 2 and the first drive unit array 2 are both connected to the control system.

Further, the first drive unit array 2 includes a first winding frame 22, a first SMA memory alloy wire 21, a first rotating wheel 23, a first locking mechanism, a first bearing 24, and a first metal lug 25. The power output device 1 is a main shaft. The first locking mechanism includes a first pin 26 and a first socket 27. The first pin 26 is movably arranged on the first winding frame 22. The first socket 27 is arranged on the periphery of the first bearing 24, the main shaft is fixed in the first bearing 24, the first bearing 24 is installed on the first rotating wheel 23, and the first rotating wheel 23 is installed Set on the first winding frame 22, the first SMA memory alloy wire 21 is wound on the outside of the first winding frame 22, the first SMA memory alloy wire 21 is energized and contracted, and the first SMA memory alloy wire 21 Drive the first pin 26 to move towards the first socket 27, so that the first pin 26 is fixed in the first socket 27, and the first SMA memory alloy wire 21 drives the first rotating wheel 23, the first locking mechanism, The first bearing 24 and the main shaft rotate forward together.

Further, the first winding frame 22 is provided with a first sliding groove 221, the first metal hanging lug 25 is arranged on the periphery of the first rotating wheel 23, and the first metal hanging lug 25 and the first bolt 26 are located on the The first sliding groove 221, the first metal lug 25 and the shell of the SMA two-way variable speed variable torque SMA motor are connected through the first elastic member, and the first positive terminal boards are respectively arranged on both sides of the first bobbin frame 22 1. The first negative terminal plate, one end of the first SMA memory alloy wire 21 is fixedly connected to the first positive terminal plate, and the other end of the first SMA memory alloy wire 21 is fixedly connected to the first negative terminal plate.

Further, a first thermostat 29 is arranged on the first winding frame 22, and a first annular groove 291 and a first parallel groove 292 are arranged in the first thermostat 29, and the first metal lug 25 Located in the first parallel groove 292, wherein when the first metal lug 25 and the first rotating wheel 23 rotate together, the first metal lug 25 abuts against the edge of the first parallel groove 292 to push the first thermostat 29 moves left or right, so that the first SMA memory alloy wire 21 is exposed in the first annular groove 291 .

Further, the second drive unit array 3 includes a second winding frame 32, a second SMA memory alloy wire 31, a second rotating wheel 33, a second locking mechanism, a second bearing 34, and a second metal lug 35. The power output device 1 is the main shaft. The second locking mechanism includes a second pin 36 and a second socket 37. The second pin 36 is movably arranged on the second bobbin frame 32. The second Socket 37 is arranged on the periphery of described second bearing 34, and described main shaft is fixed in described second bearing 34, and described second bearing 34 is installed in described second rotating wheel 33, and described second rotating wheel 33 Installed on the second winding frame 32, the second SMA memory alloy wire 31 is wound on the outside of the second winding frame 32, the second SMA memory alloy wire 31 is energized and contracted, and the second SMA memory alloy wire 31 drives the second pin 36 to move toward the second socket 37, so that the second pin 36 is fixed in the second socket 37, and the second SMA memory alloy wire 31 drives the second rotating wheel 33 and the second locking mechanism , The second bearing 34 and the main shaft rotate in the opposite direction together.

Further, the second winding frame 32 is provided with a second sliding groove 321, the second metal lug 35 is arranged on the periphery of the second rotating wheel 33, and the second metal lug 35 and the second pin 36 are located The second sliding groove 321, the second metal lug 35 and the shell of the SMA two-way variable speed variable torque SMA motor are connected through a second elastic member, and the two sides of the second bobbin frame 32 are respectively provided with a second positive terminal board 1. The second negative terminal plate, one end of the second SMA memory alloy wire 31 is fixedly connected to the second positive terminal plate, and the other end of the second SMA memory alloy wire 31 is fixedly connected to the second negative terminal plate.

Further, a second thermostat 39 is provided on the second winding frame 32, and a second annular groove 391 and a second parallel groove 392 are arranged in the second thermostat 39, and the second metal lug 35 Located in the second parallel groove 392, wherein, when the second metal lug 35 and the second rotating wheel 33 rotate together, the second metal lug 35 abuts against the edge of the second parallel groove 392 to push the second thermostat 39 moves left or right, so that the second SMA memory alloy wire 31 is exposed in the second annular groove 391 .

Take the first drive unit array 2 moving forward and the second drive unit array 3 as an example to illustrate. In the initial state, the control system sends instructions to the first drive unit array 2, and the control system sends commands to the second drive unit array 3. No instruction is issued, and now the main shaft is in an idling state in the first rotating wheel 23 and the second rotating wheel 33. After the first drive unit array 2 receives the action instruction, the first positive terminal board and the first negative terminal board are connected to the first The SMA memory alloy wire 21 is energized, and the first SMA memory alloy wire 21 contracts. At this time, the first SMA memory alloy wire 21 shrinks and is covered by the first thermostat 29, so that the heat loss is small, and the first SMA memory alloy wire 21 can Heating in the shortest time, the first SMA memory alloy wire 21 drives the first pin 26 to move towards the first socket 27, so that the first pin 26 is fixed in the first socket 27, and the first SMA memory The alloy wire 21 drives the first rotating wheel 23, the first locking mechanism, the first bearing 24, and the main shaft to rotate forward together. When the first metal hanging lug 25 and the first rotating wheel 23 rotate together, the first metal hanging lug 25 Abut against the edge of the first parallel groove 292 to push the first thermostat 29 to move left or right, so that the first SMA memory alloy wire 21 is exposed in the first annular groove 291, when the control system controls the first SMA memory alloy The wire 21 is powered off, and the first SMA memory alloy wire 21 in the exposed state is stretched. At this time, the first SMA memory alloy wire 21 is located in the first annular groove 291. At this time, the heat can be evaporated quickly, which greatly saves the next time. The time of the movement is convenient for the contraction of the first SMA memory alloy wire 21 after the next power-on, and is convenient for the next repeated movement. After the power is cut off, the first elastic member 293 pulls back the first metal lug 25 in reverse, so that the first A bolt 26 is pulled out from the first socket 27, the main shaft rotates idly, the first rotating wheel 23 rotates in the opposite direction, and the first metal lug 25 moves in the first parallel groove to push the first thermostat 29 to the left or right Movement, so that the first thermostat 29 returns to the initial position, at this time the first SMA memory alloy wire 21 is covered by the first thermostat 29 again, to prevent the loss of heat of the first SMA memory alloy wire 21 when energized and heated, and to facilitate the completion of a complete cycle of motion.

When the second driving unit array 3 is required to move, in the initial state, the control system sends an instruction to the second driving unit array 3, and the control system does not issue an instruction to the first driving unit array 2. At this time, the main shaft is between the first rotating wheel 23 and The second rotating wheel 33 is in an idling state. After the second drive unit array 3 receives the action command, the second positive terminal board and the second negative terminal board are energized to the second SMA memory alloy wire 31, and the second SMA memory alloy wire 31 shrink, at this time, the second SMA memory alloy wire 31 shrinks and is covered by the second thermostat 39, and the heat loss is small, and the second SMA memory alloy wire 31 can be heated in the shortest time, and the second SMA memory alloy wire The wire 31 drives the second bolt 36 to move towards the second socket 37, so that the second bolt 36 is fixed in the second socket 37, and the second SMA memory alloy wire 31 drives the second rotating wheel 33, the second lock The buckle mechanism, the second bearing 34, and the main shaft rotate in the opposite direction together. When the second metal hanging lug 35 and the second rotating wheel 33 rotate in the opposite direction together, the second metal hanging lug 35 abuts against the edge of the second annular groove 391, so as to Push the second thermostat 39 to move left or right, so that the second SMA memory alloy wire 31 is exposed in the second annular groove 391. When the control system controls the second SMA memory alloy wire 31 to be powered off, the second SMA memory alloy wire 31 in the exposed state The SMA memory alloy wire 31 is elongated, and the heat can evaporate quickly at this time, which greatly saves the time for the next movement, facilitates the contraction of the second SMA memory alloy wire 31 after the next power-on, and facilitates the next repeated movement. After electrification, the second elastic member reversely pulls the second metal lug 35 back, so that the second latch 36 is pulled out from the second socket 37, the main shaft is idling, the second rotating wheel 33 rotates in the opposite direction, and the second metal lug 35 moves in the second parallel groove to push the second thermostatic jacket 39 to move left or right, so that the second thermostatic jacket 39 returns to the initial position and completes a complete cycle of motion, so as to realize the forward and reverse rotation of the main shaft , the principle of movement of the second metal lug 35 in the second parallel groove is the same as that described above, and can be explained with reference to the movement of the first metal lug in the first parallel groove, so it will not be repeated here, and can be simply understood as The first thermostatic jacket and the second thermostatic jacket are mirror symmetrical at the center positions of the first driving unit array and the second driving unit array.

The first SMA memory alloy wire 21 and the second SMA memory alloy wire 31 are wound on the first winding frame 22 and the second winding frame 32 in a clockwise direction and a counterclockwise direction respectively, and the structural design can be achieved by The input of the control current controls the rotation direction of the spindle. This method is not only low in cost, but also easy to control.

A control system and a counter are added to the motor, and the control system and the counter together form a feedback mechanism. The control system controls the data input of the SMA motor, and the counter records the operation data output of the entire SMA motor. The type, model, and parameters of the counter will not be described in detail, and those skilled in the art can select according to actual needs. The counter is connected to the control system, and transmits the entire operation data of the SMA motor to the control system, and the control sends out an operation signal again according to the data to load current to the first SMA memory alloy wire 21 and the second SMA memory alloy wire 31 respectively. The design of this structure can not only save a lot of manpower and material resources, but also enable the SMA motor to actively adjust and send a signal to the outside when the motor encounters damage to the internal parts of the SMA motor or problems in operation, indicating the cause of the failure. Moreover, the precision of the motor can be greatly improved, and the rotation direction of the main shaft and the rotation angle of the main shaft can be adjusted at any time as required.

The design of the first thermostatic jacket 29 and the second thermostatic jacket 39, the thermostatic jacket (the first thermostatic jacket 29 and the second thermostatic jacket 39) is set as two parts of heat preservation and cooling, the first metal lug 25, the second metal lug 35 They are respectively located in the first annular groove 291 and the second annular groove 391, so that when the power is applied, the first thermostatic sleeve 29 and the second thermostatic sleeve are in the first annular groove together with the rotation of the first rotating wheel 23 and the second rotating wheel 33. 291. The left (or right) of the second annular groove 391 has a displacement of a certain value, so that the first SMA memory alloy wire 21 and the second SMA memory alloy wire 31 are exposed to play a cooling role. After the power is turned off, the first constant temperature Cover 29, the second thermostatic cover 39 return to the initial position simultaneously with the rotation of the first rotating wheel 23 and the second rotating wheel 33, and the first thermostatic cover 29 and the second thermostatic cover 39 respectively press the first SMA memory alloy wire 21, The second SMA memory alloy wires 31 overlap. This method not only has a simple manufacturing method and high production efficiency, but also can shorten the heating time of the first SMA memory alloy wire 21 and the second SMA memory alloy wire 31 , thereby greatly increasing the operating efficiency of the SMA motor.

The present invention controls the first drive unit array 2 and the first drive unit array 2 by the control system, respectively drives the power output device 1 to rotate forward or reversely, greatly improves the flexibility of use, and makes the motor more efficient during use. It is easy to control, avoids more uncontrollable factors, and can also greatly increase the application range of the motor.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (7)

1. A kind of SMA two-way variable-speed variable-torque SMA motor, is characterized in that, comprises: a power take-off; a control system; A first drive unit array, which includes a first SMA memory alloy wire and a first locking mechanism, the first SMA memory alloy wire shrinks after being energized, the first locking mechanism cooperates with the power output device, and the power output device is forward Rotate, the first SMA memory alloy wire is extended after power failure, the first locking mechanism is separated from the power output device, and the power output device is idling; A second drive unit array, which includes a second SMA memory alloy wire and a second locking mechanism. The second SMA memory alloy wire shrinks after being energized, and the second locking mechanism cooperates with the power output device to reverse the power output device. direction rotation, the second SMA memory alloy wire is extended after power failure, the second locking mechanism is separated from the power output device, and the power output device is idling; the first drive unit array and the first drive unit array are connected to the control system . 2. A kind of SMA two-way variable speed variable torque SMA motor as claimed in claim 1, is characterized in that: described first driving unit array comprises a first bobbin frame, the first SMA memory alloy wire, the first rotating wheel , the first locking mechanism, the first bearing, the first metal hanger, and the power output device is a main shaft, the first locking mechanism includes a first pin and a first socket, and the first pin is movably arranged on the first A winding frame, the first socket is arranged on the periphery of the first bearing, the main shaft is fixed in the first bearing, the first bearing is installed on the first rotating wheel, and the first A rotating wheel is installed on the first winding frame, the first SMA memory alloy wire is wound on the outside of the first winding frame, the first SMA memory alloy wire is energized and contracted, and the first SMA memory alloy wire drives The first pin moves toward the first socket, so that the first pin is fixed in the first socket, and the first SMA memory alloy wire drives the first rotating wheel, the first locking mechanism, the first bearing, and the main shaft together to turn. 3. A SMA two-way variable speed variable torque SMA motor as claimed in claim 2, characterized in that: a first sliding groove is opened on the first winding frame, and a first metal lug is arranged on the first rotating wheel The outer periphery of the first metal lug and the first pin are located in the first slide groove, the first metal lug and the shell of the SMA bidirectional variable speed variable torque SMA motor are connected through the first elastic member, and the first winding The two sides of the frame are respectively provided with a first positive terminal board and a first negative terminal board, one end of the first SMA memory alloy wire is fixedly connected to the first positive terminal board, and the other end of the first SMA memory alloy wire is fixedly connected to the first Negative terminal block. 4. A kind of SMA two-way variable speed variable torque SMA motor as claimed in claim 3, it is characterized in that: a first thermostat cover is set on the first bobbin frame, and a first thermostat cover is arranged in the first thermostat cover. Parallel grooves and a first annular groove, the first metal hanging lug is located in the first parallel groove, wherein when the first metal hanging lug and the first rotating wheel rotate together, the first metal hanging lug abuts against the first parallel groove. The edge of the groove is used to push the first thermostat to move left or right, so that the first SMA memory alloy wire is exposed in the first annular groove. 5. A kind of SMA two-way variable speed variable torque SMA motor as claimed in claim 1, is characterized in that: described second driving unit array comprises a second bobbin frame, the second SMA memory alloy wire, the second rotating wheel , the second locking mechanism, the second bearing, the second metal hanger, the power output device is a main shaft, the second locking mechanism includes a second bolt and a second socket, and the second bolt is movably arranged on the first Two winding frames, the second socket is arranged on the periphery of the second bearing, the main shaft is fixed in the second bearing, the second bearing is installed on the second rotating wheel, and the first Two rotating wheels are installed on the second winding frame, the second SMA memory alloy wire is wound on the outside of the second winding frame, the second SMA memory alloy wire is energized and contracted, and the second SMA memory alloy wire drives The second pin moves toward the second socket, so that the second pin is fixed in the second socket, and the second SMA memory alloy wire drives the second rotating wheel, the second locking mechanism, the second bearing, and the main shaft to turn back together. to turn. 6. A SMA two-way variable speed variable torque SMA motor as claimed in claim 5, characterized in that: a second sliding groove is opened on the second winding frame, and a second metal lug is arranged on the second rotating wheel The second metal lug and the second pin are all located in the second sliding groove, the second metal lug and the shell of the SMA bidirectional variable speed variable torque SMA motor are connected by a second elastic member, and the second winding The two sides of the rack are respectively provided with a second positive terminal board and a second negative terminal board, one end of the second SMA memory alloy wire is fixedly connected to the second positive terminal board, and the other end of the second SMA memory alloy wire is fixedly connected to the second Negative terminal block. 7. A kind of SMA two-way variable-speed variable-torque SMA motor as claimed in claim 6, is characterized in that: a second thermostat sleeve is set on the second bobbin frame, and a second thermostat sleeve is arranged in the second thermostat sleeve. An annular groove and a second parallel groove. The second metal hanging lug is located in the second parallel groove. When the second metal hanging lug and the second rotating wheel rotate together, the second metal hanging lug abuts against the second parallel groove. The edge of the groove is used to push the second thermostat to move left or right, so that the second SMA memory alloy wire is exposed in the second annular groove.