JP2007071182A - Manufacturing device and manufacturing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a manufacturing technology capable of preventing excessive twist of SMA when thin long SMA is installed on a product. <P>SOLUTION: In an assembly device (manufacturing device) installing SMA wire 12 in relation to a drive device (product) stretched with fixing both end parts of the SMA wire 21 fixed by two fixing pars, SMA wire 21 is installed in installation procedure of a clamp part 16 locking the SMA wire 12 → a fixing part 3a of a drive device 20a → a cylinder part 21 → a fixing part 3b → a clamp part 16 → the fixing part 3b of a drive device 20b → the cylinder part 21 → the fixing part 3a → the clamp part 16. Although the SMA wire 12 is twisted by about 180 along a clockwise path Qa by installation in such procedure, the twist is eliminated when installation is completed and SMA wire is returned to the clamp part 16 since about 180 twist along counter-clockwise path Qb. As a result, excessive twist of SMA can be prevented when thin long SMA is installed on the product. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a manufacturing technique for manufacturing a product in which a shape memory alloy having an elongated shape is stretched along a stretch path including a bent section.

  Some drive devices utilize a feature of shape memory alloy (SMA) that is restored to a memory shape when heated (Patent Document 1).

  As a drive device using SMA, for example, there is a device that can move by stretching an elongated SMA wire that is stretched. An assembly method (manufacturing method) for assembling this drive device will be briefly described.

  FIG. 10 is a view for explaining an assembling method of the driving apparatus according to the prior art of the present invention.

  As shown in FIG. 10A, the SMA wire 90 supplied from the supply reel 91 is guided by the moving guide portion 91 and is installed on the drive device (product) 95. In this erection operation, first, the end portion of the SMA wire 90 fed from the guide portion 92 is locked by the clamp portion 93 at the start point, and then the guide portion 92 and the supply reel 91 are moved in the direction Da toward the driving device 95. By doing so, the installation from the fixed portion 96 (96a) of the driving device 95 to the turning portion 97 is performed. Then, after the SMA wire 90 is turned by the turning portion 97 that functions as a movable portion, the guide portion 92 and the supply reel 91 are moved in the direction Db opposite to the direction Da, thereby moving the fixed portion 96 (96b ) Will be installed.

  With the above-described installation operation, in the drive device 95, as shown in FIG. 10B, the SMA wire 90 locked by the clamp part 93 is stretched to the turning part 97 along the direction Ea through the fixing part 96a. At the same time, the SMA wire 90 turned by the turning part 97 is stretched to the turning part 94 outside the driving device 95 toward the fixed part 96b along the direction Eb. Then, after the SMA wire 90 turned by the turning portion 94 is locked by the clamp portion 93, the SMA wire 90 is fixed by the fixing portions 96 a and 96 b and cut by the cutting plane CT, thereby completing the assembly of the driving device 95. Will be.

JP 11-337996 A

  However, in the above assembling method, when the SMA wire 90 is installed on the driving device 95, the guide unit 92 is rotated by the turning unit 97 and the turning unit 94 along the clockwise installation paths Ra and Rb (FIG. 10B). Since it rotates, the SMA wire 90 is twisted. This twist is accumulated in the clockwise direction every time the erection operation by the driving device 95 is performed. Therefore, if the twist of the SMA wire 90 becomes excessive due to many erection operations, the SMA wire 90 extending from the supply reel 91 generates a helical sag. Therefore, the tension of the SMA wire 90 necessary for erection of the driving device 95 is generated. Control becomes difficult, and the responsiveness and stroke (movable range) of the assembled drive device 95 are adversely affected. On the other hand, if the SMA wire becomes entangled on the exit from the guide portion 92 or the path from the supply reel 91 to the guide portion 92 due to excessive twisting of the SMA wire, the subsequent installation operation becomes difficult.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a manufacturing technique capable of preventing excessive twisting of an SMA when an elongated SMA is stretched on a product.

  In order to solve the above-mentioned problems, the invention of claim 1 is a manufacturing apparatus for manufacturing a product in which a shape memory alloy having an elongated shape is stretched along a stretching path including a bent section, (a) A feeding portion capable of feeding the shape memory alloy from the feeding outlet; and (b) moving the feeding outlet to stretch the shape memory alloy along a predetermined stretching path including the stretching path. And the predetermined tensioning path has a first turning path in which the shape memory alloy is turned clockwise and a second turning path in which the shape memory alloy is turned counterclockwise. In addition, the cumulative value of the clockwise rotation angle regarding the first rotation path and the cumulative value of the counterclockwise rotation angle regarding the second rotation path are substantially equal.

  According to a second aspect of the present invention, in the manufacturing apparatus according to the first aspect, the difference between the cumulative value of the clockwise rotation angles and the cumulative value of the counterclockwise rotation angles is 10 degrees. Is within.

  The invention of claim 3 is the manufacturing apparatus according to claim 1 or claim 2, wherein the shape memory alloy is stretched along the predetermined tension path by the tension means. The shape memory alloy for the product can be stretched at once.

  According to a fourth aspect of the present invention, in the manufacturing apparatus according to any one of the first to third aspects of the present invention, the cumulative value of the turning angle is clockwise or counterclockwise in the middle of the predetermined stretching path. Does not exceed 360 degrees.

  Further, the invention of claim 5 is the manufacturing apparatus according to any one of claims 1 to 4, wherein (c) a turning imparting portion that contacts the shape memory alloy and gives a turning in a predetermined direction. Further prepare.

  According to a sixth aspect of the present invention, in the manufacturing apparatus according to the fifth aspect of the present invention, the turning imparting portion is provided outside the product.

  According to a seventh aspect of the invention, in the manufacturing apparatus according to the fifth or sixth aspect of the invention, the turning imparting portion has a plurality of members that contact the shape memory alloy.

  According to an eighth aspect of the present invention, in the manufacturing apparatus according to any of the fifth to seventh aspects of the present invention, a cumulative value of the turning angle is provided in the middle of the predetermined stretching path by the turning imparting unit. Does not exceed 360 degrees clockwise or counterclockwise.

  The invention according to claim 9 is a manufacturing apparatus for manufacturing a product in which a shape memory alloy having an elongated shape is stretched along a stretch path including a bent section, and (a) the shape memory from a delivery port. A feeding portion capable of feeding the alloy, and (b) a tensioning means for stretching the shape memory alloy along a predetermined tensioning path including the tensioning path by moving the feeding outlet; c) It comprises a production control means for producing a predetermined number of products by repeating the tensioning of the shape memory alloy by the tensioning means a plurality of times, and during the tensioning of the shape memory alloy by the manufacturing control means, The cumulative value of the turning angle at which the shape memory alloy is turned on the turning path in the predetermined tensioning path does not exceed 360 degrees clockwise or counterclockwise, and the production control means After the production, the clock The cumulative value of the turning angle of the total value and the counterclockwise direction in the direction of the turn angle, substantially equal.

  The invention of claim 10 is the manufacturing apparatus according to claim 9, wherein the difference between the cumulative value of the clockwise rotation angles and the cumulative value of the counterclockwise rotation angles is 10 degrees. Is within.

  The invention according to claim 11 is the manufacturing apparatus according to claim 9 or claim 10, further comprising: (d) a supply unit that supplies the shape memory alloy to the feeding unit, and the manufacturing control unit performs the process. During the stretching of the shape memory alloy, the twist angle of the shape memory alloy in the section from the supply section to the feeding section does not exceed 360 degrees.

  The invention of claim 12 is a manufacturing method for manufacturing a product in which a shape memory alloy having an elongated shape is stretched along a stretch path including a bent section, wherein the shape memory alloy is fed. A tensioning step of tensioning the shape memory alloy along a predetermined tensioning path including the tensioning path by moving the outlet of the section, and the predetermined tensioning path includes the shape memory alloy Has a first turning path that turns clockwise and a second turning path that turns the shape memory alloy counterclockwise, and is a cumulative value of the turning angle in the clockwise direction with respect to the first turning path. And the cumulative value of the counterclockwise rotation angle regarding the second rotation path is substantially equal.

  The invention of claim 13 is a manufacturing method for manufacturing a product in which a shape memory alloy having an elongated shape is stretched along a stretch path including a bent section, and (a) paying out the shape memory alloy A tensioning step of tensioning the shape memory alloy along a predetermined tensioning path including the tensioning path by moving a feeding outlet of the feeding part that performs the step, and (b) the tensioning process a plurality of times. By repeating, the manufacturing control step of manufacturing a predetermined number of products, and in the middle of the stretching of the shape memory alloy in the manufacturing control step, the shape memory alloy is turned in a turning path in the predetermined stretching path. The cumulative value of the turning angle does not exceed 360 degrees clockwise or counterclockwise, and after the production control step, the cumulative value of the clockwise turning angle generated in the turning path and the counterclockwise direction What is the cumulative rotation angle of Substantially equal.

  According to the inventions of claims 1 to 8 and claim 12, the predetermined tensioning path on which the elongated shape memory alloy is tensioned is the first turning path on which the shape memory alloy is rotated clockwise. A shape memory alloy having a second turning path in which the shape memory alloy is turned counterclockwise, a cumulative value of the clockwise turning angle with respect to the first turning path, and a cumulative value of the turning angle in the counterclockwise direction with respect to the second turning path. The value is almost equal. As a result, excessive twisting of the shape memory alloy can be prevented when the shape memory alloy is stretched on the product.

  In particular, in the invention of claim 2, since the difference between the cumulative value of the clockwise rotation angle and the cumulative value of the counterclockwise rotation angle is within 10 degrees, excessive twisting of the shape memory alloy is caused. It can be surely prevented.

  In the invention of claim 3, since the shape memory alloy for a plurality of products can be stretched at a time by stretching the shape memory alloy along a predetermined stretching path, the product can be manufactured efficiently.

  In the invention of claim 4, since the accumulated value of the turning angle does not exceed 360 degrees clockwise or counterclockwise in the middle of the predetermined tensioning path, the shape memory alloy can be tensioned stably.

  In addition, in the invention of claim 5, since the turning imparting portion that contacts the shape memory alloy and turns in a predetermined direction is provided, excessive twisting of the shape memory alloy can be easily prevented.

  In the invention of claim 7, since the turning imparting portion has a plurality of members that contact the shape memory alloy, it is possible to appropriately prevent twisting exceeding 360 degrees.

  In the invention according to claim 8, since the accumulated value of the rotation angle does not exceed 360 degrees clockwise or counterclockwise in the middle of the predetermined tensioning path by the rotation imparting portion, the tensioning of the shape memory alloy is stabilized. You can do it.

  According to the inventions of claims 9 to 11 and claim 13, in the middle of the stretching of the shape memory alloy when manufacturing a predetermined number of products, the shape memory alloy is used in the turning path in the predetermined stretching path. The cumulative value of the turning angle at which the product is turned does not exceed 360 degrees clockwise or counterclockwise, and after the production of a predetermined number of products, the cumulative value of the clockwise turning angle generated in the turning path and the counterclockwise The accumulated value of the turning angle in the rotating direction is substantially equal. As a result, excessive twisting of the shape memory alloy can be prevented when the shape memory alloy is stretched on the product.

  In the invention of claim 10, since the difference between the cumulative value of the clockwise rotation angle and the cumulative value of the counterclockwise rotation angle is within 10 degrees, excessive twist of the shape memory alloy is prevented. It can be surely prevented.

  In the invention of claim 11, since the twist angle of the shape memory alloy does not exceed 360 degrees in the section from the supply part that supplies the shape memory alloy to the feeding part to the feeding part during the stretching of the shape memory alloy. The shape memory alloy can be stably stretched.

<First Embodiment>
<Configuration of assembly equipment>
Before describing the assembly apparatus (hereinafter simply referred to as “assembly apparatus”) 1A according to the first embodiment of the present invention, the drive apparatus 2 that is a product (finished product) manufactured by the assembly apparatus 1A that functions as a manufacturing apparatus. explain.

  FIG. 1 is a diagram illustrating a main configuration of the driving device 2.

  The driving device 2 has a cylindrical portion 21 having a cylindrical shape and serving as a movable portion of the driving device 2, and two fixing portions 3 for fixing both ends of a shape memory alloy wire (hereinafter referred to as “SMA wire”) 22. (3a, 3b), and an SMA wire 22 is stretched between the cylindrical portion 21 and the fixed portion 3. That is, the SMA wire 22 having an elongated shape is stretched along a stretching path from the fixed portion 3a to the fixed portion 3b around the cylindrical portion 21 forming the bent section BD while being given a certain stress. It is built.

  An assembly apparatus 1A for automatically constructing the SMA wire 22 and assembling the drive apparatus 2 will be described below.

  FIG. 2 is a diagram illustrating a main configuration of the assembling apparatus 1A.

  The assembling apparatus 1A supplies a gantry 10 that fixes a driving device 20 (hereinafter also simply referred to as a “driving device”) 20 as a semi-finished product before the SMA wire 22 is stretched, and an SMA wire 12 that is installed on the gantry 10 Supply reel (supply unit) 11. In addition, the assembling apparatus 1A includes a guide unit 13 that guides the SMA wire 12 supplied from the supply reel 11 to the drive unit 20, a moving unit 14 that moves the guide unit 13 three-dimensionally, and a control unit 15. And.

  The guide portion 13 has, for example, a cylindrical shape, and functions as a feeding portion that feeds the SMA wire 12 from a feeding port 13a at the tip thereof.

  The moving unit 14 includes a first moving unit 141, a second moving unit 142, and a third moving unit 143.

  The first moving part 141 is, for example, a part provided with a ball screw for moving the guide part 13 in the Y-axis direction, and a connection part 140 connected to the guide part 13 is fixed to the upper part.

  The second moving part 142 and the third moving part 143 are parts for providing a ball screw, for example, and moving the guide part 13 in the X-axis direction and the Z-axis direction.

  The control unit 15 is configured as an information processing apparatus, for example, and is a part that performs overall control of each part of the assembly apparatus 1A. The control unit 15 controls the moving unit 14 to move the delivery port 13a in a three-dimensional manner, thereby allowing the SMA wire 12 to move along a predetermined stretching path including the stretching path (see FIG. 1) of the driving device 2. Can be stretched around the driving device 20.

  The operation of the assembly apparatus 1A having the above configuration will be described below.

<Operation of assembly apparatus 1A>
In the assembling apparatus 1 </ b> A, continuous SMA wires 12 can be installed on the two drive devices 20 arranged on the gantry 10. This erection operation will be described.

  As shown in FIG. 3, the two driving devices 20a and 20b are arranged on the gantry 10 so that the fixing portions 3 face each other, and the clamp portion 16 for clamping the SMA wire 12 is arranged near the fixing portion 3a of the driving device 20a. When the three contact members 17 (17a to 17c) that contact the SMA wire 12 are provided in the vicinity of the fixed portion 3b of the drive device 20a and the fixed portions 3a and 3b of the drive device 20b, respectively, Installation can be performed according to the installation procedures (1) to (4).

  (1) The SMA wire 12 is installed from the clamp part 16 to the cylindrical part 21 via the fixed part 3a of the driving device 20a.

  (2) After the SMA wire 12 is rotated along the clockwise path Pa by the cylindrical portion 21 of the driving device 20a, the SMA wire 12 is installed to the contact member 17a via the fixing portion 3b.

  (3) The SMA wire 12 is installed from the contact member 17a to the cylindrical portion 21 via the contact member 17b and the fixed portion 3a of the driving device 20b.

  (4) After the SMA wire 12 is rotated along the clockwise path Pb by the cylindrical portion 21 of the driving device 20b, the SMA wire 12 is installed to the clamp portion 16 via the fixing portion 3b and the contact member 17a. .

  When the SMA wire 12 is installed in the above procedure, the SMA wire 12 is rotated about 180 degrees in the clockwise direction by the cylindrical portion 21 of each driving device 20a, 20b, and thus the two driving devices 20a, 20b are related. When the installation of the SMA wire 12 is completed and the SMA wire 12 returns to the clamp portion 16, a total of about 360 degrees of twist is generated clockwise in the SMA wire 12 in the air. If such twisting of the SMA wire 12 is gradually accumulated for each installation work, excessive twisting occurs in the SMA wire 12, which may hinder the response of the driving device 2 as described above, Assembling is difficult due to the entanglement of the SMA wire 12.

  Therefore, in the assembly apparatus 1A of the present embodiment, as shown in FIG. 4, the contact members 17a to 17d are provided in the vicinity of the fixing portions 3a and 3b of the drive devices 20a and 20b, respectively, and the clamp portion 16 is provided with four contact portions. The SMA wire 12 is installed in the vicinity of the center of the members 17a to 17d and the following procedures (1) to (4) are performed.

  (1) The SMA wire 12 is installed from the clamp part 16 to the cylindrical part 21 through the contact member 17a and the fixed part 3a of the driving device 20a.

  (2) After the SMA wire 12 is rotated along the clockwise path Qa by the cylindrical portion 21 of the driving device 20a, the SMA wire 12 is returned to the clamp portion 16 via the fixing portion 3b and the contact member 17b. Is installed.

  (3) The SMA wire 12 is installed from the clamp part 16 to the cylindrical part 21 via the contact member 17d and the fixing part 3b of the driving device 20b.

  (4) After the SMA wire 12 is rotated along the counterclockwise path Qb by the cylindrical portion 21 of the driving device 20b, the SMA wire is returned to the clamp portion 16 via the fixing portion 3a and the contact member 17c. 12 is installed.

  When the SMA wire 12 is installed in the above procedure, the SMA wire 12 is twisted about 180 degrees along the clockwise path Qa by the cylindrical portion 21 of the driving device 20a, but this clockwise twist is offset. Thus, since the cylindrical portion 21 of the driving device 20b receives a twist of about 180 degrees along the counterclockwise path Qb, the installation of the SMA wire 12 with respect to the two driving devices 20a and 20b is completed, and the clamp portion 16 When returning, the twist is almost eliminated.

  That is, the stretching path on which the SMA wire 12 is stretched by the assembling apparatus 1A includes the first rotation path Qa in which the SMA wire 12 is rotated in the clockwise direction and the second rotation path in which the SMA wire 12 is rotated in the counterclockwise direction. Qb is included, and the cumulative value of the clockwise rotation angle regarding the first rotation path Qa and the cumulative value of the counterclockwise rotation angle regarding the second rotation path Qb are substantially equal. In this case, the difference between the cumulative value of the turning angles in the clockwise direction and the cumulative value of the turning angles in the counterclockwise direction is preferably within 10 degrees. In the middle of the tensioning path for tensioning the SMA wire 12, the accumulated value of the rotation angle is preferably 360 degrees clockwise or counterclockwise so that the SMA wire 12 can be stably tensioned. Do not exceed 180 degrees.

  Such a construction operation of the SMA wire 12 prevents the accumulation of the twist of the SMA wire 12 every construction work, and enables stable SMA wire 12 tensioning. Further, by stretching the SMA wire 12 along the stretching path shown in FIG. 4, it is possible to stretch the SMA wire 12 with respect to the plurality of driving devices 20a and 20b at a time, so that the driving device can be manufactured efficiently. . In this case, as in the present embodiment, an even number of drive devices 20a and 20b are arranged on the gantry 10 at a time, and in the tensioning operation of the SMA wire 12 to the drive devices 20a and 20b, the tensions are alternately reversed. If the installation route is set, excessive twisting of the SMA can be easily prevented.

  By the operation of the assembly apparatus 1A, the SMA wire 12 receives a twist of about 180 degrees along the clockwise extending path Qa at the cylindrical portion 21 of the driving device 20a, but is counterclockwise at the cylindrical portion 21 of the driving device 20b. Since the twisting of about 180 degrees in the opposite direction is received along the surrounding tensioning path Qb, the twisting at the completion of the laying is almost 0 degrees, and an excessive twisting of the SMA wire can be prevented. As a result, it is possible to suppress the variation in the installation tension due to the twist of the SMA wire, and to prevent the SMA wire from being entangled and to stably install the SMA wire. In addition, the drive device in which the SMA wire is stretched with an appropriate tension by the assembling apparatus 1A can ensure good performance in terms of responsiveness and the like.

Second Embodiment
The assembling apparatus 1B according to the second embodiment of the present invention has a configuration similar to that of the assembling apparatus 1A according to the first embodiment shown in FIG. 2, but a cylindrical rotation correction unit 16 (see FIG. 6). Is provided on the gantry 10 and the configuration of the control unit is different.

  As shown in FIG. 6, the rotation correction unit 16 is provided outside the driving device 20 and functions as a turning imparting unit that contacts the SMA wire 12 and gives a turning in a predetermined direction.

  The control unit 15B of the assembling apparatus 1B stores a program for operating the assembling apparatus 1B described below.

<Operation of assembly apparatus 1B>
In the assembling apparatus 1 </ b> B, the SMA wire 12 can be installed on one driving apparatus 20 arranged on the gantry 10. This erection procedure will be described.

  As shown in FIG. 5, when the clamp part 16 is disposed in the vicinity of the fixed part 3a of the drive device 20 and the contact member 17 is provided in the vicinity of the fixed part 3b, the following installation procedures (1) to (3) Can be installed.

  (1) The SMA wire 12 is installed from the clamp part 16 to the cylindrical part 21 via the fixed part 3a of the driving device 20 as a starting point.

  (2) After the SMA wire 12 is rotated along the clockwise path Fa by the cylindrical portion 21 of the driving device 20, the SMA wire 12 is installed to the contact member 17 via the fixing portion 3b.

  (3) After the SMA wire 12 is rotated along the clockwise path Fb by the contact member 17, the SMA wire 12 is installed to the clamp portion 16.

  When the SMA wire 12 is installed in the above procedure, the SMA wire 12 is rotated about 180 degrees and about 90 degrees in the clockwise direction by the cylindrical portion 21 and the contact member 17 of the driving apparatus 20, respectively. When the installation of the SMA wire 12 is completed and returned to the clamp portion 16, a total of about 270 degrees of twist is generated in the clockwise direction. If such twisting of the SMA wire 12 is gradually accumulated for each installation work, excessive twisting occurs in the SMA wire 12, which may hinder the response of the driving device 2 as described above, Assembling is difficult due to the entanglement of the SMA wire 12.

  Therefore, in the assembly apparatus 1B of the present embodiment, as shown in FIG. 6, a rotation correction unit 18 that provides a reverse rotation is provided in the vicinity of the clamp unit 16 to cancel the twist of the SMA wire 12. The SMA wire 12 is installed in the procedures (1) to (4).

  (1) The SMA wire 12 is installed from the clamp part 16 to the cylindrical part 21 via the fixed part 3a of the driving device 20 as a starting point.

  (2) After the SMA wire 12 is rotated along the clockwise path Ga by the cylindrical portion 21 of the drive device 20, the SMA wire 12 is installed to the contact member 17 via the fixing portion 3b.

  (3) After the SMA wire 12 is rotated along the clockwise path Gb by the contact member 17, the SMA wire 12 is installed up to the rotation correction unit 18.

  (4) The SMA wire 12 is rotated along the counterclockwise path Gc by the rotation correction unit 18, and is then installed up to the clamp unit 16.

  When the SMA wire 12 is installed in the above procedure, the SMA wire 12 is twisted about 180 degrees along the clockwise path Ga by the cylindrical portion 21 of the driving device 20 and is rotated clockwise by the contact member 17. Although it receives about 90 degrees of twist along the path Gb, the rotation correction unit 18 receives about 270 degrees of twist along the counterclockwise path Gc so as to cancel out these clockwise twists. When the installation of the SMA wire 12 with respect to 20 is completed and the clamp unit 16 returns, the twist is almost eliminated.

  In other words, the tension path on which the SMA wire 12 is tensioned by the assembling apparatus 1B is the second rotation path Ga, Gb in which the SMA wire 12 is rotated in the clockwise direction and the second rotation path in which the SMA wire 12 is rotated in the counterclockwise direction. The accumulated value of the clockwise rotation angle with respect to the first rotation path Ga, Gba and the accumulated value of the counterclockwise rotation angle with respect to the second rotation path Gc are substantially equal. ing. In this case, the difference between the cumulative value of the turning angles in the clockwise direction and the cumulative value of the turning angles in the counterclockwise direction is preferably within 10 degrees. In the middle of the tensioning path for tensioning the SMA wire 12, the rotation correction unit 18 causes the cumulative value of the rotation angle to be 360 or clockwise 360 so that the SMA wire 12 can be stably tensioned. Degrees, more preferably not exceeding 180 degrees.

  Such erection operation of the SMA wire 12 prevents the twist of the SMA wire 12 from accumulating every erection operation, and enables stable SMA wire 12 erection.

  In the assembly apparatus 1B described above, since the rotation correction unit 18 is provided to correct the twist of the SMA wire 12, it is possible to prevent an excessive twist of the SMA wire. As a result, it is possible to suppress the variation in the installation tension due to the twist of the SMA wire, and to prevent the SMA wire from being entangled and to stably install the SMA wire. In addition, the drive device in which the SMA wire is stretched with an appropriate tension by the assembling apparatus 1B can ensure good performance in terms of responsiveness.

  In the case where the rotation correction unit 18 is provided and the continuous SMA wire 12 is installed to the two drive devices 20 as in the present embodiment, the rotation correction unit 18 is connected to the clamp unit as shown in FIG. It is preferable that the SMA wire 12 is installed in the following installation procedures (1) to (6).

  (1) The SMA wire 12 is installed from the clamp part 16 to the cylindrical part 21 via the fixed part 3a of the driving device 20a.

  (2) After the SMA wire 12 is rotated along the clockwise path Ha by the cylindrical portion 21 of the driving device 20a, the SMA wire 12 is installed to the contact member 17a via the fixing portion 3b.

  (3) After the SMA wire 12 is turned along the counterclockwise path Hb by the contact member 17a, the SMA wire 12 is installed to the cylindrical portion 21 via the fixed portion 3a of the driving device 20b.

  (4) After the SMA wire 12 is rotated along the clockwise path Hc by the cylindrical portion 21 of the driving device 20b, the SMA wire 12 is installed to the contact member 17b via the fixing portion 3b.

  (5) After the SMA wire 12 is rotated along the clockwise path Hd by the contact member 17b, the SMA wire 12 is installed to the rotation correction unit 18.

  (6) After the SMA wire 12 is rotated along the counterclockwise path He by the rotation correction unit 18, the rotation correction unit 18 is installed to the clamp unit 16.

  When the SMA wire 12 is installed in the above procedure, the SMA wire 12 is rotated about 180 degrees in the clockwise direction by the cylindrical portion 21 of each driving device 20a, 20b, and clockwise by the contact member 17b. Although it is turned about 90 degrees in the direction, it is turned about 180 degrees in the counterclockwise direction by the contact member 17a and is turned about 270 degrees in the counterclockwise direction by the rotation correction unit 18, so that the driving device 20a When the installation of the SMA wire 12 with respect to 20b is completed and the SMA wire 12 returns to the clamp portion 16, twisting is almost eliminated. As a result, twisting of the SMA wire 12 does not accumulate every erection operation, and the SMA wire 12 can be stably erected.

<Third Embodiment>
The assembly apparatus 1C according to the third embodiment of the present invention has a configuration similar to that of the assembly apparatus 1A according to the first embodiment shown in FIG. 2, but the two clamp portions 16 (see FIG. 8) are the mounts. 10 and the configuration of the control unit is different.

  The controller 15C of the assembling apparatus 1C stores a program for operating the assembling apparatus 1C described below.

<Operation of assembly apparatus 1C>
In the assembling apparatus 1C, two (predetermined number) of driving devices 2 can be manufactured by repeating the SMA wire 12 laying operation with respect to the driving device 20 twice. See FIG. 8 for the erection procedure. However, it will be explained.

  First, the driving device 20 is arranged on the gantry 10, and the SMA wire 12 is erected in the following procedures (1-1) to (1-2) (see FIG. 8A).

  (1-1) The SMA wire 12 is installed from the clamp portion 16a to the cylindrical portion 21 through the fixed portion 3a of the drive device 20a.

  (1-2) After the SMA wire 12 is turned along the clockwise path Ja by the cylindrical portion 21 of the driving device 20a, the SMA wire 12 is installed to the clamp portion 16b via the fixing portion 3b.

  When the SMA wire 12 installed in the above procedure is fixed by the fixing portions 3a and 3b and the first driving device 20a is assembled, the SMA wire 12 is about 180 in the cylindrical portion 21 along the clockwise path Ja. Has undergone a degree of twist. Therefore, in order to cancel the twist of the SMA wire 12, in the construction operation of the SMA wire 12 related to the next drive device 20b arranged on the gantry 10 in place of the drive device 20a, the construction path of the first drive device 20a A reverse route is set, and the SMA wire 12 is installed in the following procedures (2-1) to (2-2) (see FIG. 8B).

  (2-1) The SMA wire 12 is installed from the clamp part 16b to the cylindrical part 21 via the fixed part 3b of the driving device 20b.

  (2-2) After the SMA wire 12 is rotated along the counterclockwise path Jb by the cylindrical portion 21 of the driving device 20b, the SMA wire 12 is installed to the clamp portion 16a via the fixing portion 3a.

  When the SMA wire 12 is installed on the second drive device 20 in the above procedure, the SMA wire 12 is twisted about 180 degrees along the counterclockwise path Jb by the cylindrical portion 21 of the drive device 20b. Therefore, the twist of the SMA wire 12 generated when the first drive device 20a is installed is eliminated, and the twist becomes almost 0 degrees.

  That is, during the tensioning of the SMA wire 12 by the assembling apparatus 1C, the cumulative rotation angle at which the shape memory alloy is rotated by the rotation paths Ja and Jb in the tensioning path so that the SMA wire 12 can be stably tensioned. The value does not exceed 360 degrees clockwise or counterclockwise, and after the manufacture of the two drive devices, the cumulative value of the clockwise rotation angle generated in the rotation paths Ja and Jb and the counterclockwise direction The cumulative value of the direction turning angle is made substantially equal. In this case, the difference between the cumulative value of the turning angles in the clockwise direction and the cumulative value of the turning angles in the counterclockwise direction is preferably within 10 degrees. In the middle of the tensioning path by the assembly apparatus 1C, from the viewpoint of stable tensioning of the SMA wire 12, the twist angle of the SMA wire 12 in the section from the supply reel 11 to the guide portion 13 is more preferably 360 degrees. Do not exceed 180 degrees.

  As shown in this embodiment, the installation path shown in FIG. 8A and the installation path shown in FIG. 8B are alternately repeated, and the drive device 20 is assembled in order, thereby preventing the twisting of the SMA wire 12 from being accumulated. Thus, stable SMA wire 12 can be erected.

  By the above-described operation of the assembly device 1C, the second drive device 20b is installed in a path opposite to the installation route of the first drive device 20a. Therefore, when the second drive device 20b is assembled, the SMA is completed. The twist of the wire becomes almost 0 degrees, and an excessive twist of the SMA wire can be prevented. As a result, variations in installation tension due to twisting of the SMA wire can be suppressed, and entanglement of the SMA wire can be prevented and stable SMA wire installation can be performed. Further, the drive device in which the SMA wire is stretched with an appropriate tension by the assembling apparatus 1C can ensure good performance in terms of responsiveness and the like.

<Modification>
The guide portion in each of the above embodiments does not necessarily have a cylindrical shape, and may have a configuration in which two ring-shaped members are provided on the upper and lower sides and an SMA wire is passed therethrough. .

  In each of the above embodiments, it is not essential to lay a wire-like SMA on the driving device, and a foil such as an elongated rectangular thin plate may be laid.

  The rotation correction unit in the second embodiment is not necessarily composed of one member, and may be composed of a plurality of members that contact the SMA wire. Even if the twisting angle is likely to exceed 360 degrees in the course of SMA wire installation, it is possible to easily keep the twisting angle within 360 degrees by providing a plurality of members.

  In the above-described second embodiment, when the rotation correction unit 18 is provided and the continuous SMA wire 12 is installed to the three driving devices, the rotation correction unit 18 is connected to the clamp unit 16 as shown in FIG. The SMA wire 12 may be installed by the same installation procedure as in the case of the two drive devices described above (see FIG. 7).

  As a result, the SMA wire 12 is rotated about 180 degrees along the clockwise paths Ka, Kd, Kg by the cylindrical portion 21 of each driving device and about 90 degrees along the clockwise path Kh by the contact member 17e. Although rotated about 90 degrees, the contact members 17a to 17d are rotated about 90 degrees along the counterclockwise paths Kb, Kc, Ke, and Kf, and the rotation correction unit 18 follows the counterclockwise path Ki. Therefore, when the SMA wire 12 is completely installed and returned to the clamp portion 16, the twist is almost eliminated.

It is a figure which shows the principal part structure of the drive device 2 assembled with 1 A of assembly apparatuses which concern on 1st Embodiment of this invention. It is a figure which shows the principal part structure of 1 A of assembly apparatuses. It is a figure for demonstrating the problem at the time of constructing the SMA wire 12 to the two drive devices 20a and 20b. It is a figure for demonstrating the installation operation | movement by 1 A of assembly apparatuses. It is a figure for demonstrating the problem at the time of constructing the SMA wire 12 in the one drive device 20. FIG. It is a figure for demonstrating the installation operation | movement by the assembly apparatus 1B which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating other construction operation | movement by the assembly apparatus 1B. It is a figure for demonstrating the installation operation | movement by 1 C of assembly apparatuses which concern on 3rd Embodiment of this invention. It is a figure for demonstrating the installation operation | movement which concerns on the modification of this invention. It is a figure for demonstrating the assembly method of the drive device which concerns on the prior art of this invention.

Explanation of symbols

1A to 1C Assembling device 2 Driving device 3, 3a, 3b Fixed portion 11, 91 Supply reel 12, 22, 90 SMA wire 13, 92 Guide portion 13a Outlet 14 Moving portion 15A-15C Control portion 16, 16a, 16b, 93 Clamp part 17, 17a-17d Contact member 18 Rotation correction part 20, 20a, 20b Drive device 21 as semi-finished product Cylindrical part

Claims (13)

A manufacturing apparatus for manufacturing a product in which a shape memory alloy having an elongated shape is stretched along a stretch path including a bent section,
(a) a feeding portion capable of feeding the shape memory alloy from a feeding outlet;
(b) a tensioning means for tensioning the shape memory alloy along a predetermined tensioning path including the tensioning path by moving the delivery port;
With
The predetermined tensioning path has a first turning path in which the shape memory alloy is turned clockwise and a second turning path in which the shape memory alloy is turned counterclockwise,
The manufacturing apparatus according to claim 1, wherein a cumulative value of a clockwise rotation angle related to the first rotation path is substantially equal to a cumulative value of a counterclockwise rotation angle related to the second rotation path. The manufacturing apparatus according to claim 1,
The difference between the accumulated value of the clockwise rotation angles and the accumulated value of the counterclockwise rotation angles is within 10 degrees. In the manufacturing apparatus according to claim 1 or 2,
The manufacturing apparatus characterized in that the shape memory alloy for a plurality of products can be stretched at a time by stretching the shape memory alloy along the predetermined stretching path by the stretching means. The manufacturing apparatus according to any one of claims 1 to 3,
In the middle of the predetermined stretching path, the accumulated value of the turning angle does not exceed 360 degrees clockwise or counterclockwise. The manufacturing apparatus according to any one of claims 1 to 4,
(c) a turn imparting portion that contacts the shape memory alloy and gives a turn in a predetermined direction;
The manufacturing apparatus further comprising: The manufacturing apparatus according to claim 5, wherein
The manufacturing apparatus, wherein the turning imparting unit is provided outside the product. In the manufacturing apparatus according to claim 5 or 6,
The said rotation provision part has a some member which contacts the said shape memory alloy, The manufacturing apparatus characterized by the above-mentioned. The manufacturing apparatus according to any one of claims 5 to 7,
The manufacturing apparatus according to claim 1, wherein the turning imparting unit does not allow a cumulative value of the turning angle to exceed 360 degrees clockwise or counterclockwise during the predetermined stretching path. A manufacturing apparatus for manufacturing a product in which a shape memory alloy having an elongated shape is stretched along a stretch path including a bent section,
(a) a feeding portion capable of feeding the shape memory alloy from a feeding outlet;
(b) a tensioning means for tensioning the shape memory alloy along a predetermined tensioning path including the tensioning path by moving the delivery port;
(c) Manufacturing control means for manufacturing a predetermined number of products by repeating the stretching of the shape memory alloy by the stretching means a plurality of times;
With
During the stretching of the shape memory alloy by the manufacturing control means, the cumulative value of the rotation angle at which the shape memory alloy is rotated in the rotation path within the predetermined tensioning path is 360 degrees clockwise or counterclockwise. Not to exceed,
After the predetermined number of products are manufactured by the production control means, the cumulative value of the clockwise rotation angle generated in the rotation path and the cumulative value of the counterclockwise rotation angle are substantially equal. Manufacturing equipment. The manufacturing apparatus according to claim 9, wherein
The difference between the accumulated value of the clockwise rotation angles and the accumulated value of the counterclockwise rotation angles is within 10 degrees. In the manufacturing apparatus according to claim 9 or 10,
(d) a supply unit that supplies the shape memory alloy to the feeding unit;
Further comprising
In the course of tensioning the shape memory alloy by the manufacturing control means, the twist angle of the shape memory alloy in the section from the supply section to the feeding section does not exceed 360 degrees. A manufacturing method for manufacturing a product in which a shape memory alloy having an elongated shape is stretched along a stretching path including a bent section,
A tensioning step of tensioning the shape memory alloy along a predetermined tensioning path including the tensioning path by moving a feeding port of a feeding part for feeding the shape memory alloy;
With
The predetermined tensioning path has a first turning path in which the shape memory alloy is turned clockwise and a second turning path in which the shape memory alloy is turned counterclockwise,
The cumulative value of the clockwise rotation angle regarding the first rotation path and the total value of the counterclockwise rotation angle regarding the second rotation path are substantially equal. A manufacturing method for manufacturing a product in which a shape memory alloy having an elongated shape is stretched along a stretching path including a bent section,
(a) a tensioning step of tensioning the shape memory alloy along a predetermined tensioning path including the tensioning path by moving a feeding outlet of a feeding portion for feeding the shape memory alloy;
(b) a production control step for producing a predetermined number of products by repeating the tensioning step a plurality of times;
With
During the stretching of the shape memory alloy in the manufacturing control process, the cumulative value of the turning angle at which the shape memory alloy is turned on the turning path in the predetermined tensioning path exceeds 360 degrees clockwise or counterclockwise. Not with
After the production control process is finished, the accumulated value of the clockwise rotation angles generated in the turning path and the accumulated value of the counterclockwise rotation angles become substantially equal.

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