JP5098838B2 - Manufacturing system and manufacturing method for installing wire made of shape memory alloy, and manufacturing method of lens unit having lens driving mechanism for moving lens by expansion and contraction of wire made of shape memory alloy - Google Patents

Description

The present invention relates to a manufacturing system and a manufacturing method for laying a wire made of a shape memory alloy , and a manufacturing method of a lens unit having a lens driving mechanism for moving a lens by expansion and contraction of the wire made of a shape memory alloy .

  2. Description of the Related Art There is known a driving device that drives an object to be driven using expansion and contraction of a wire or foil made of a shape memory alloy (Shape Memory Alloy, hereinafter referred to as SMA). When manufacturing such a drive device, the initial state in which the SMA is installed is inspected. However, due to variations in tension adjustment during installation, fluctuations in tension resulting from the SMA installation state, etc. There is a problem that the initial position of the object varies.

  In order to adjust the initial position of the driving object to such a problem, a driving device provided with an adjusting mechanism has been proposed (for example, see Patent Document 1).

  However, even if the adjustment proposed in Patent Document 1 is performed, there is a problem in that the initial position of the driven object is shifted due to the SMA stress fluctuating during the first expansion and contraction driving due to the characteristics of the SMA.

  The characteristics of SMA will be described with reference to FIG. FIG. 11 is a graph showing an example of stress-strain characteristics of SMA. The horizontal axis in FIG. 11 is strain, and the vertical axis is stress.

  For example, after applying stress from point 0 to point A in FIG. 11, when the stress is removed, point A ′ is reached as shown by the arrow in the figure. The strain at point A 'is the residual strain. When stress is applied to the SMA again from this state, the strain of the SMA increases from the A ′ point to the A point. Since the residual strain disappears once the SMA is heated and austenite transformed, the relationship between stress and strain becomes the relationship indicated by 0A on the graph again.

  In general, in a driving apparatus using a wire made of SMA (hereinafter referred to as SMA wire), a method of fixing the SMA wire to two metal terminals is employed. Even if the stress applied to the SMA wire when it is installed between the terminals is constant, a stress difference results as a result of the presence or absence of residual strain. For example, the design target value of the stress applied to the SMA wire when it is installed between the terminals is b1. When the stress b1 is applied to the SMA wire having no residual strain, it reaches the point B on the straight line from the 0 point in the figure, whereas the SMA having the residual strain remaining at the point A ′ as described above, for example. When b1 stress is applied to the wire, it reaches the point C ′ on the straight line from the point A ′ in the figure.

  After the SMA wire is fixed between the terminals of the driving device with the b1 stress applied to the SMA wire in which the residual strain remains in this way, the residual strain is eliminated by heating the SMA wire to cause austenite transformation. When the residual strain is eliminated, the length of the SMA wire is balanced at the point C on the straight line 0A where the strain becomes c2. That is, when the residual strain is eliminated by heating the SMA wire, the stress becomes c1, and a stress difference b1-c1 with the stress b1 when the SMA wire is installed is generated. However, it is difficult to measure the amount of residual strain of the SMA wire in advance, and it is not possible to select SMA wires having no residual strain or to correct the stress difference according to the amount of residual strain.

In order to solve such a problem, after the SMA wire is installed, a heating means for heating the installed SMA wire to a predetermined temperature range is provided, and the SMA wire is heated to a predetermined temperature range and attached to the drive device main body. There has been proposed a method for eliminating the stress fluctuation at the time of erection that occurs with respect to the SMA wire (for example, see Patent Document 2).
JP-A-10-160997 JP 2007-162612 A

  However, the manufacturing system disclosed in Patent Document 2 heats and cools each component on which the SMA wire is installed, adjusts the tension of the wire to a predetermined value, and then attaches and fixes it to the drive unit body. In addition, it is difficult to reduce tact, and there are aspects that are not suitable for continuous production because heating, cooling and tension adjustment are set for each part.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a manufacturing system and a manufacturing method capable of continuous production in a short time so that the initial position of the driven object does not shift. .

  The object of the present invention can be achieved by the following constitution.

1. In a manufacturing system for laying a wire made of a shape memory alloy on a construction object,
(a) a winding member for winding the wire;
(b) installation means for installing the wire drawn from the winding member on the installation object;
(c) detection means for detecting the tension of the wire disposed on the path between the wrapping member and the installation target;
(d) tension adjusting means for adjusting the tension;
(e) control means for controlling the tension adjusting means based on the tension value measured by the detecting means so that the tension becomes a predetermined control target value ;
(f) disposed in the path between the winding and the member and the erection object, while passing through the wire towards the said erection object side is pull out from the winding member, a wire portion in transit Heating means for heating above the austenite transformation end temperature;
Have
While the wire is transformed from the martensite phase to the austenite phase while passing through the heating means, the wire leaves the heating means and reaches the installation object side,
The erection means is
(b-1) Transport processing and erection processing, that is,
A conveying process for conveying the erected object in a state in which a relative positional relationship between one end of the wire that has passed through the heating means and the erected object is fixed;
The wire in a state of being transformed from the martensite phase to the austenite phase by heating with the heating means after the transporting process and then returning to the martensite phase after exiting the heating means is installed on the installation object. Construction process,
A transport unit for performing
(b-2) a fastening unit for performing a fastening process for fixing the wire erected on the erected object to the erected object;
Have
The control means includes
(e-1) In the transport process, a first tension control unit that controls the tension setting unit in a state where the control target value is set to the first target value;
(e-2) in the installation process and the fastening process, a second tension control unit that sets the control target value to a second target value and controls the tension setting unit;
Have
The second target value is determined based on a stress target value for the wire after erection on the erected object, while the first target value is set to a value less than the second target value. A featured manufacturing system.

2. The erection means is
In a state where the wire is fixed to the installation target through the fastening process, a part of the wire disposed between the heating means and the installation target and the new installation target The manufacturing system according to 1 above, wherein the relative positional relationship is fixed .

3 . The control means includes
By passing through the heating means, a reference stress target value determined based on the stress characteristic of the wire in a stage where the transformation from the austenite phase to the martensite phase is reciprocated once is generated by the second and subsequent iterations of the transformation. 3. The manufacturing system according to item 1 or 2 , wherein the tension adjusting unit is controlled by using the stress target value obtained by correcting according to a reduction amount of the stress of the wire as the control target value.

4 . Said heating means and a plurality Yes, the wire manufacturing system according to any one of 1 to 3, characterized in that sequentially past a plurality of heating means.

5 . In a manufacturing method for laying a wire made of a shape memory alloy on an erected object,
(A) a drawer installation step of drawing out the wire from a winding member around which the wire is wound and laying it on the installation object;
(B) In parallel with the drawer installation step, a detection step of detecting the tension of the wire disposed on the path between the installation object from the winding member;
(C) In parallel with the drawer installation step, a tension adjustment step of adjusting the tension to a predetermined control target value based on the tension value measured in the detection step;
(D) in parallel with the drawer erection process, the winding member and the erection object and pressurized Nessu that pressurized heat engineering than the austenite transformation finish temperature portions that pass through the predetermined section of the path between one of said wire About
Have
The wire is transformed from the martensite phase to the austenite phase by the heating process while passing through the predetermined section, and reaches the installation object out of the predetermined section.
The drawer erection process includes
(A-1) a conveying step of conveying the erected object in a state where a relative positional relationship between one end of the wire and the erected object is fixed;
(A-2) The wire in a state where the martensite phase is transformed from the martensite phase to the austenite phase by heating in the heating means after the conveying step, and is cooled and returned to the martensite phase after exiting the heating means. An erection process for erection on the object ;
(A-3) a fastening step of fixing the wire installed in the installation step to an installation object;
Have
The tension adjusting step
(C-1) a step of adjusting the tension by setting the control target value to a first target value in the transporting step;
(C-2) at the time of the installation step and the fastening step, the step of setting the control target value to a second target value and adjusting the tension;
Have
The second target value is determined based on a stress target value for the wire after erection on the erected object, while the first target value is set to a value less than the second target value. A featured manufacturing method.
6). In a manufacturing method of a lens unit having a lens driving mechanism that moves a lens by expansion and contraction of a wire made of a shape memory alloy,
6. The lens unit manufacturing method according to claim 5, wherein the wire is installed on the lens driving mechanism which is the installation object.

  According to the present invention, the heating means for heating the wire and the detection means for measuring the tension of the wire are provided in the path for laying the wire made of SMA, and the wire passing through the heating means is heated to remove the residual strain. It is installed on the installation object while controlling the tension of the target to the target value. Therefore, it is possible to provide a manufacturing system and a manufacturing method capable of continuous production in a short time so that the initial position of the driven object does not shift.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram of the manufacturing system 1 according to the first embodiment of the present invention, FIG. 2 is a cross-sectional view illustrating an example of the configuration of the heating unit 20, and FIG. 3 is an external view of a transport unit 31 according to the embodiment of the present invention. 4 is a plan view of the transport unit 31 according to the embodiment of the present invention, and FIG. 5 is an explanatory view of the caulking operation by the punch 45. FIG. First, the entire manufacturing system 1 will be described with reference to FIG.

  The manufacturing system 1 includes a stock control unit 10, a heating unit 20, a fastening unit 30, a transport unit 31, a control unit 14, and the like.

SMA wires 2 wound around the reel 11 has one end to the movement of the transport pallet 32 erection object 70 mounted on the conveying pallet is fixed (not shown in FIG. 1) 32 of the concluding unit 30 Accordingly, it is pulled out from the reel 11 in the right direction on the paper surface. Between the reel 11 and the transport pallet 32, the SMA wire 2 changes its direction along the guide rollers 14a, 13, 14b and enters the heating unit 20, and after leaving the heating unit 20, changes its direction with the guide roller 14c. It is connected to the object 70.

  The stock control unit 10 according to the present embodiment includes a reel 11 around which the SMA wire 2 is wound, a motor 15 having a rotation shaft directly connected to the rotation center of the reel 11, and a guide on which the SMA wire 2 drawn out from the reel 11 is hung. The roller 14a, 13, 14b, the tension sensor 12 for detecting the tension of the SMA wire 2 passing through the guide roller 13, and the like.

  The control unit 14 includes a CPU (Central Processing Unit) (not shown), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and a program stored in the ROM, which is a nonvolatile storage unit, is stored in the RAM. Reading and centrally controlling each part of the manufacturing system 1 according to the program.

  The control unit 14 controls the rotation of the motor 15 according to the tension of the SMA wire 2 hung on the guide roller 13 detected by the tension sensor 12. When the tension exceeds the target value, the control unit 14 rotates the motor 15 in the direction of feeding the SMA wire 2 according to the difference. When the tension is below the target value, the control unit 14 rotates the motor 15 in the reverse direction according to the difference. Control to achieve the target value.

  The reel 11 is the winding member of the present invention, the tension sensor 12 is the detecting means of the present invention, the motor 15 is the tension adjusting means of the present invention, and the control unit 14 is the control means of the present invention.

  Next, the heating unit 20 according to the embodiment of the present invention will be described with reference to FIG. The heating unit 20 is a heating means of the present invention.

  The casing 25 of the heating unit 20 is filled with the liquid 24 and is heated by the heater 22. As the liquid 24, various liquids such as water and fluorinate can be used. The temperature sensor 21 is provided to detect the temperature of the liquid 24. The control unit 14 controls the heater 22 based on the temperature information detected by the temperature sensor 21 so that the liquid temperature of the liquid 24 becomes equal to or higher than the austenite transformation end temperature.

  The SMA wire 2 travels along the guide roller 23 immersed in the liquid 24, and a part of the SMA wire 2 is immersed in the liquid 24 and heated to the austenite transformation end temperature or higher. Then, the portion immersed in the liquid 24 of the SMA wire 2 is transformed into an austenite phase, and the residual strain is removed.

  The length for heating the SMA wire 2 to the austenite transformation end temperature or higher is determined by the heat conduction characteristics of the SMA wire 2 and the maximum moving speed of the SMA wire 2. The time for which the temperature of the SMA wire 2 becomes equal to the ambient temperature is about 10 ms if the wire diameter of the SMA wire 2 is 0.05 mm or less, and the maximum value of the moving speed is, for example, 100 mm / s, the austenite transformation The length to be heated to the end temperature or higher may be 1 mm or longer.

  Similarly, if the construction object 70 is arranged at a position 1 mm or more away from the portion heated by the heating unit 20, the SMA wire 2 is sufficiently cooled and transformed into the martensite phase. In this embodiment, the installation target 70 is disposed at a position sufficiently separated from the outlet of the SMA wire 2 of the heating unit 20 by 1 mm or more, and the SMA wire 2 that has passed through the heating unit 20 is sufficiently cooled and transformed into a martensite phase. It shall be.

  Since the region for heating the SMA wire 2 is small in this way in the manufacturing system 1 of the present invention, it is possible to reduce the power consumption and the size of the manufacturing system, and there is almost no influence of heat on the installation object 70. Further, in the method of heating after the SMA wire 2 is installed on the installation object 70, the temperature distribution may be uneven, and there is a possibility that residual distortion is not sufficiently heated, but in the present invention, the residual distortion is reliably removed. it can.

  In the present embodiment, the example in which the SMA wire 2 is immersed in the liquid 24 and heated is described. However, the present invention is not limited to this example, and the air in the housing 25 is heated without using the liquid 24. The wire 2 may be heated. Since the area for heating the SMA wire 2 can be small as described above, various heating methods such as heating the guide roller 23 in contact with the SMA wire 2 can be applied.

  Next, the conveyance part 31 is demonstrated using FIG. 3, FIG.

  3 and 4 illustrate an example in which two transport pallets 32 a and 32 b are mounted on the transport unit 31. The conveyance pallets 32a and 32b have the same configuration, and each component is distinguished by adding a and b as necessary.

  As will be described in detail later, the movement direction of the conveyance pallet 32 is in the order of arrows F1, F2, and F3. After the conveyance pallet 32 is inserted to a predetermined position in the F1 direction, it is pushed in the F2 direction by the conveyance member 35. It moves to the right side of the page and is discharged in the F3 direction. The transport member 35 is movable in the direction of arrow F2 or the reverse direction and is driven by the transport mechanism 36.

  A construction object 70 (not shown in FIGS. 3 and 4) is mounted on the work accommodating portion 34 provided in the rotating portion 33 of the transport pallet 32. The urethane roller 37 is connected to a drive source (not shown) that rotates according to a command from the control unit 14, and contacts the rotating unit 33b to rotate the rotating unit 33b as shown in FIGS. As will be described later, an SMA wire is installed on the installation object 70 mounted on the rotating unit 33b as the rotating unit 33b rotates.

  Next, the fastening unit 30 will be described with reference to FIGS. 1 and 5.

  As shown in FIG. 1, the fastening unit 30 according to the present embodiment includes a punch 45a, a punch 45b, and an SMA wire for caulking two terminals 74 and 75 (not shown in FIGS. 1 and 5) of the installation object 70, respectively. 2 has a cutter 46 for cutting. The punch 45a and the punch 45b have the same shape and are driven by the same mechanism.

  The punch 45 is driven by a motor 43 in the vertical direction on the paper surface. Load sensors 44 are disposed between the punch 45 and the motor 43, respectively. Based on the output of the load sensor 44, the control unit 14 controls the motor 43 so that a predetermined load is applied from the punch 45 to the terminal 74 or the terminal 75.

  The cutter 46 is moved in the vertical direction on the paper surface by the cutter driving mechanism 47 to cut the SMA wire 2. In addition, in order to cut | disconnect the SMA wire 2, you may use the other method used for metal processing, such as a rotary blade and a laser.

  The conveyance unit 31 and the fastening unit 30 are erection means of the present invention.

  FIG. 5 is a cross-sectional view for explaining a caulking operation performed by the fastening unit 30.

  FIG. 5A is a stage before caulking, and the SMA wire 2 passes through the groove portion of the terminal 74 or the terminal 75. FIG. 5B shows a state in which the punch 45 moves in the direction of the arrow, a predetermined load is applied to the tip of the terminal 74 or 75, and the groove is crushed with the SMA wire 2 interposed therebetween. In this way, the SMA wire 2 is crimped to the terminal 74 or the terminal 75 and fixed.

  As will be described in detail later, while the SMA wire 2 is fixed to the terminals 74 and 75 by the punch 45, the stock control unit 10 controls the tension of the SMA wire 2 to a predetermined value.

  FIG. 6 is a flowchart for explaining a procedure for the manufacturing system 1 to install and fix an SMA wire to the installation object 70 in the first embodiment of the present invention, and FIG. 7 is an SMA wire in the first embodiment of the present invention. It is explanatory drawing explaining operation | movement of the conveyance part 31 for every procedure which mounts and fixes to a construction target object. FIG. 8 is a plan view of an example of the installation target object 70, and FIG. 9 is a side view of an example of the installation target object 70.

  First, the lens unit shown in FIGS. 8 and 9 will be described as an example of the installation target 70.

  The construction object 70 shown in FIGS. 8 and 9 is configured to drive the lens driving frame 72 by a lens driving mechanism including the lever 76, the SMA wire 2, the terminal 74, and the terminal 75. A lens 71 is incorporated in the lens driving frame 72. Note that the cover 80, the bias spring 79, and the parallel leaf spring 81 shown in FIG. 9 are not shown in FIG. 8 in order to simplify the drawing.

  FIG. 9A is a side view of the lens drive frame 72 in the initial position, and FIG. 9B is a side view of the lens drive frame 72 extended in the direction of arrow P2.

  As shown in FIG. 8, the tip portion of the lever 76 divided into two U-shapes is in contact with the projection 82 and the projection 83 of the lens drive frame 72. As shown in FIG. 9, the lever 76 can be rotated in the direction of the arrow P1 in FIG. 9B or in the opposite direction with a hinge portion 78 provided on the base portion 73 as a fulcrum, as shown in FIG. 9B. When the SMA wire 2 contracts in the direction of the arrow P1, the tip portion of the lever 76 divided into two is configured to push up the protrusion 82 and the protrusion 83 in the direction of the arrow P2.

  The lens driving frame 72 is held in the vertical direction in FIG. 9 by the parallel leaf spring 81 so as to advance straight in the arrow P2 direction or the reverse direction, and is biased by the bias spring 79 in the direction opposite to the arrow P2. As shown in FIG. 8, the SMA wire 2 has a central portion hooked by a hook portion 77 of the lever 76 and both ends fixed to the terminals 74 and 75.

  A procedure for driving the lens driving frame 72 will be described.

  When a voltage is applied between the terminals 74 and 75 and a current is applied to the SMA wire 2 to heat it, the SMA wire 2 undergoes austenite transformation and contracts, and the lever 76 rotates in the direction of the arrow P1 with the hinge portion 78 as the center of rotation. Move. Then, the tip portion of the lever 76 divided into two pushes up the protrusion 82 and the protrusion 83 in the direction of the arrow P2, and moves the lens driving frame 72 in the direction of the arrow P2 as shown in FIG. 9B.

  When the flow of current to the SMA wire 2 is stopped, the SMA wire 2 is naturally cooled and transformed into a martensite phase and extends in the direction opposite to the arrow P1, and the lens driving frame 72 returns to the initial position.

  Next, the procedure for installing the SMA wire on the installation object 70 by the manufacturing system 1 will be described in the order of the flowchart of FIG. 6 with reference to the explanatory view of FIG. Note that, in order to explain the movement of the installation target 70 mounted on the rotating unit 33, the explanatory diagram of FIG. 7 simplifies the plan view of the transport unit 31 of FIG. .

  In the following description of the flowchart, the construction object 70b will be described from the state where it is mounted on the rotating portion 33b of the transport pallet 32b as shown in FIG.

  One end of the SMA wire 2 pulled out from the reel 11 is fixed to the terminal 74b in the construction object 70b in FIG. The SMA wire 2 passes through the heating unit 20 described with reference to FIG. 2, and after the SMA wire 2 is heated to the austenite transformation end temperature or higher, it is cooled to the martensite phase and supplied to the transport unit 31. Therefore, residual strain is removed from the SMA wire 2 supplied to the transport unit 31 in the heating and cooling process performed by the heating unit 20.

  S1: A step of moving the transport pallet 32b straight in the direction of the arrow F2.

  The control unit 14 instructs the transport mechanism 36 to move the transport pallet 32b from the position shown in FIG. 7A to the position shown in FIG. 7B. In this step, the control unit 14 sets the tension control target value to bx less than the stress target value b1 of the SMA wire 2 after being installed on the installation object 70, and the motor according to the tension value detected by the tension sensor 12. 15 is controlled.

  In this step, the conveyance pallet 32b is moved straight in the direction of the arrow F2 and the SMA wire 2 corresponding to the movement distance is drawn from the reel 11, so that the load fluctuation is large and it is difficult to control the movement speed of the conveyance pallet 32b to be constant. Therefore, although the tension of the SMA wire 2 also varies from the control target value, the control target value of the SMA wire 2 is lower than the stress target value b1 so as not to exceed the stress target value b1 even if the tension of the SMA wire 2 varies. Set to bx. Thus, by setting the control target value of the tension of the SMA wire 2 lower than b1, it is possible to prevent the residual strain from occurring due to the tension of the SMA wire 2 exceeding b1 due to some error factor. It should be noted that bx is preferably sufficiently low with respect to b1.

  S2: A step of setting the tension control target value to b1.

  The control unit 14 sets the control target value for controlling the tension of the SMA wire 2 to the stress target value b1 of the SMA wire 2 after being installed on the installation target 70, and the motor according to the tension value detected by the tension sensor 12. 15 is controlled. Prior to installing the SMA wire 2 in the installation process of steps S3 and S4, the control unit 14 sets the tension control target value to b1, so that the tension of the installed SMA wire 2 becomes the stress target value b1. Control.

  S3: This is a step of rotating the rotating portion 33b of the transport pallet 32b.

  The controller 14 instructs the drive source of the urethane roller 37 to rotate the urethane roller 37 counterclockwise as shown in FIG. The urethane roller 37 rotates the rotating portion 33b in pressure contact in the clockwise direction. In the figure, O is the rotation center of the rotating portion 33b, and the hook portion 77 of the mounted object 70b is on the rotation axis. By rotating the rotating portion 33b in the clockwise direction, the SMA wire 2 is installed on the hook portion 77 and the terminal 75b of the lever 76b. The control unit 14 stops the driving of the urethane roller 37 when the rotating unit 33b is rotated by a predetermined angle to the position where the terminal 75b is installed.

  The length of the SMA wire 2 pulled out from the reel 11 in this step is short, and it is easy for the control unit 14 to control the tension of the SMA wire 2 so as not to exceed b1 even when a disturbance is applied to the SMA wire 2. The fluctuation range of is very small.

  S4: A step of crimping the terminal 75.

  In the previous step, the SMA wire 2 is in the groove of the terminal 75b as shown in FIG. Further, the terminal 75b is located immediately below the punch 45b. The controller 14 rotates the motor 43b to lower the punch 45b until a predetermined load is applied to the terminal 75b, and then reversely rotates the motor 43b to raise the punch 45b. In this step, the SMA wire 2 is fixed to the terminal 75b, and the installation process is completed.

  S5: A step of setting the tension control target value to bx.

  The control unit 14 sets the tension control target value to bx less than b1, and controls the motor 15 according to the tension value detected by the tension sensor 12. After the installation process of steps S3 and S4 is completed, the control unit 14 sets the tension control target value to bx less than b1, and controls the tension of the SMA wire 2 to be bx. In the subsequent processes, the control target value of the tension of the SMA wire 2 is set lower than b1 as in step S1, so that it is possible to prevent the residual strain from occurring due to the tension of the SMA wire 2 exceeding b1 due to some error factor.

  S6: This is a step of supplying the transport pallet.

  A transport pallet 32a on which a new construction object 70a is mounted on the rotating unit 33a is moved in the direction of arrow F1 by a driving means (not shown) and stopped at the position of FIG.

  S7: A step of crimping the terminal 74.

  In the previous step, the SMA wire 2 is in the groove of the terminal 74a as shown in FIG. The terminal 74a is located directly under the punch 45a. The controller 14 rotates the motor 43b to lower the punch 45a until a predetermined load is applied to the terminal 74a, and then reversely rotates the motor 43a to raise the punch 45a. In this step, the SMA wire 2 is fixed to the terminal 74a of the new construction object 70a.

  S8: This is a step of cutting the SMA wire 2.

  The SMA wire 2 is located immediately below the cutting edge of the cutter 46. The control unit 14 instructs the cutter driving mechanism 47 to lower the cutter 46 toward the SMA wire 2 and cut the SMA wire 2.

  S9: A step of discharging the transport pallet.

  As shown in FIG. 7 (e), the conveying pallet 32 b on which the erected object 70 b has been mounted on the rotating part 33 b is moved in the direction of arrow F 3 by a driving means (not shown) and discharged from the conveying part 31. After the delivery pallet 32b is discharged, the delivery pallet 32a on which the new construction object 70a is mounted on the rotating portion 33a remains, and the process returns to step S1 to perform the construction process of the same procedure.

  This is the end of the description of the flowchart.

  Thus, in the manufacturing system 1 of the present invention, the SMA wire 2 is heated and cooled by the heating unit 20 to remove residual strain, and the tension of the SMA wire 2 is controlled to the stress target value b1 of the SMA wire 2 after installation. While it is installed on the installation object 70. Even if the stress applied to the SMA wire 2 fluctuates during assembly, the stress-strain characteristic transitions within the range indicated by the oblique lines in FIG. There is no error.

  Therefore, it is possible to continuously produce the installation target object 70 in which the initial position of the drive target object is not shifted due to residual distortion in a short time.

  Next, a second embodiment will be described.

  In the first embodiment, the SMA wire 2 passes through the heating unit 20 while receiving a tension, is cooled immediately after being heated by the heating unit 20, and undergoes phase transformation only once. As a characteristic of the SMA wire 2, when stress is applied from an unloaded state and heating and cooling are repeated under this stress, the strain tends to increase with the number of repetitions. Although the amount of change after the second round-trip is slight, depending on the material composition and processing, there is a change of about 0.1% after the second round-trip until the strain converges.

  Explaining this phenomenon with reference to FIG. 11, the relationship between strain and stress shifts in the direction of the broken line S2 shown in FIG. That is, at the same strain b2, the stress moves from point B to point D in the figure, and the stress decreases from b1 to d1.

  In the second embodiment, the tension at the time of erection is set to be higher by an amount corresponding to the decrease in stress b1-d1 so as to cope with the case of using the SMA wire 2 in which such a phenomenon (hereinafter referred to as initial spread) occurs. , Try to counteract the initial stage.

  That is, in the second embodiment, the control unit 14 sets the control target value for controlling the tension of the SMA wire 2 to b1 + (b1-d1) in step S2 described with reference to FIG.

  Other procedures and the configuration of the manufacturing system 1 are the same as those in the first embodiment, and a description thereof will be omitted.

  Next, a third embodiment will be described.

  In the third embodiment, by providing a plurality of heating units 20, the SMA wire 2 in which initial spread occurs is reciprocated a plurality of times.

  FIG. 10 is an example of a block diagram of the manufacturing system 1 in the third embodiment of the present invention. The difference from the first embodiment is that a heating unit 20a, a heating unit 20b, and a guide roller 14d are provided in a path on which the SMA wire 2 is installed. The heating unit 20a and the heating unit 20b have the same configuration as the heating unit 20 described in the first embodiment, and the phase transformation is repeated when the heating unit 20a and the heating unit 20b are passed.

  Although the case where two heating units 20 are provided is illustrated in the present embodiment, the necessary number of heating units 20 may be provided so that the distortion of the SMA wire 2 sufficiently converges. By doing so, since the distortion is sufficiently converged when the SMA wire 2 is installed on the installation object 70, the initial extension does not occur after the installation.

  Other configurations and procedures of the manufacturing system 1 are the same as those in the first embodiment, and a description thereof will be omitted.

  As described above, according to the present invention, it is possible to provide a manufacturing system and a manufacturing method capable of continuous production in a short time so that the initial position of the driven object does not shift.

It is a block diagram of manufacturing system 1 in a 1st embodiment of the present invention. 3 is a cross-sectional view illustrating an example of a configuration of a heating unit 20. FIG. It is an external view of the conveyance part 31 in embodiment of this invention. It is a top view of the conveyance part 31 in embodiment of this invention. It is explanatory drawing of the crimping operation | movement by the punch 45. FIG. The flowchart explaining the procedure in which the manufacturing system 1 constructs and fixes a SMA wire to a construction object in the 1st Embodiment of this invention. In 1st Embodiment of this invention, it is explanatory drawing explaining operation | movement of the conveyance part 31 for every procedure which constructs and fixes a SMA wire to a construction object. It is a top view of an example of the construction target object. It is a side view of an example of the construction target object. It is an example of the block diagram of the manufacturing system 1 in the 3rd Embodiment of this invention. It is a graph which shows the example of the stress-strain characteristic of SMA.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Manufacturing system 2 SMA wire 10 Stock control unit 11 Reel 12 Tension sensor 13 Guide roller 14 Guide roller 15 Motor 17 Control part 20 Heating unit 21 Temperature sensor 22 Heater 23 Guide roller 24 Liquid 25 Case 30 Fastening unit 31 Conveyance part 32 Conveyance Pallet 33 Rotating part 34 Work receiving part 43 Motor 44 Load sensor 45 Punch 46 Cutter 70 Installation object 72 Lens drive frame 74, 75 Terminal 76 Lever 78 Hinge part

Claims (6)

In a manufacturing system for laying a wire made of a shape memory alloy on a construction object,
(a) a winding member for winding the wire;
(b) installation means for installing the wire drawn from the winding member on the installation object;
(c) detection means for detecting the tension of the wire disposed on the path between the wrapping member and the installation target;
(d) tension adjusting means for adjusting the tension;
(e) control means for controlling the tension adjusting means based on the tension value measured by the detecting means so that the tension becomes a predetermined control target value ;
(f) disposed in the path between the winding and the member and the erection object, while passing through the wire towards the said erection object side is pull out from the winding member, a wire portion in transit Heating means for heating above the austenite transformation end temperature;
Have
While the wire is transformed from the martensite phase to the austenite phase while passing through the heating means, the wire leaves the heating means and reaches the installation object side,
The erection means is
(b-1) Transport processing and erection processing, that is,
A conveying process for conveying the erected object in a state in which a relative positional relationship between one end of the wire that has passed through the heating means and the erected object is fixed;
The wire in a state of being transformed from the martensite phase to the austenite phase by heating with the heating means after the transporting process and then returning to the martensite phase after exiting the heating means is installed on the installation object. Construction process,
A transport unit for performing
(b-2) a fastening unit for performing a fastening process for fixing the wire erected on the erected object to the erected object;
Have
The control means includes
(e-1) In the transport process, a first tension control unit that controls the tension setting unit in a state where the control target value is set to the first target value;
(e-2) in the installation process and the fastening process, a second tension control unit that sets the control target value to a second target value and controls the tension setting unit;
Have
The second target value is determined based on a stress target value for the wire after erection on the erected object, while the first target value is set to a value less than the second target value. A featured manufacturing system. The erection means is
In a state where the wire is fixed to the installation target through the fastening process, a part of the wire disposed between the heating means and the installation target and the new installation target The manufacturing system according to claim 1, wherein the relative positional relationship is fixed . The control means includes
By passing through the heating means, a reference stress target value determined based on the stress characteristic of the wire in a stage where the transformation from the austenite phase to the martensite phase is reciprocated once is generated by the second and subsequent iterations of the transformation. manufacturing system according to claim 1 or 2, wherein the controller controls the tension adjustment means the stress target value obtained by correcting depending on the amount of reduction in stress of the wire, as the control target value. 4. The manufacturing system according to claim 1, wherein the manufacturing system includes a plurality of heating units, and the wire sequentially passes through the plurality of heating units . In a manufacturing method for laying a wire made of a shape memory alloy on an erected object,
(A) a drawer installation step of drawing out the wire from a winding member around which the wire is wound and laying it on the installation object;
(B) In parallel with the drawer installation step, a detection step of detecting the tension of the wire disposed on the path between the installation object from the winding member;
(C) In parallel with the drawer installation step, a tension adjustment step of adjusting the tension to a predetermined control target value based on the tension value measured in the detection step;
(D) In parallel with the drawer erection step, a heating step of heating a portion of the wire that passes through a predetermined section of a path between the winding member and the erection target to an austenite transformation end temperature or higher,
Have
The wire is transformed from the martensite phase to the austenite phase by the heating process while passing through the predetermined section, and reaches the installation object out of the predetermined section.
The drawer erection process includes
(A-1) a conveying step of conveying the erected object in a state where a relative positional relationship between one end of the wire and the erected object is fixed;
(A-2) The wire in a state where the martensite phase is transformed from the martensite phase to the austenite phase by heating in the heating means after the conveying step, and is cooled and returned to the martensite phase after exiting the heating means. An erection process for erection on the object ;
(A-3) a fastening step of fixing the wire installed in the installation step to an installation object;
Have
The tension adjusting step
(C-1) a step of adjusting the tension by setting the control target value to a first target value in the transporting step;
(C-2) at the time of the installation step and the fastening step, the step of setting the control target value to a second target value and adjusting the tension;
Have
The second target value is determined based on a stress target value for the wire after erection on the erected object, while the first target value is set to a value less than the second target value. production method made shall be the feature. In a manufacturing method of a lens unit having a lens driving mechanism that moves a lens by expansion and contraction of a wire made of a shape memory alloy,
Method of manufacturing a lens unit, wherein the wire to the lens drive mechanism and the rack set to Turkey is the erection object by the method of claim 5.

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