KR102343009B1 - Apparatus for manufacturing spring by twisting wire and coiling twisted wire automatically - Google Patents

Abstract

The present invention relates to an apparatus for automatically manufacturing a spring through twisting and coiling, and the apparatus for automatically manufacturing a spring through twisting and coiling according to the present invention secures one end of a wire and winds the wire on the outer surface to perform coiling (coiling) ) comprising a shaft, a first driving unit for twisting the wire by fixing and rotating the other end of the wire, and a second driving unit for rotating the shaft, twisting the wire having both ends fixed by operating the first driving unit, and a second driving unit It is characterized in that the twisted wire is wound around the shaft by operating the coil.

Description

Automatic spring production device through twisting and coiling {APPARATUS FOR MANUFACTURING SPRING BY TWISTING WIRE AND COILING TWISTED WIRE AUTOMATICALLY}

The present invention relates to an apparatus for automatically manufacturing a spring through twisting and coiling, and more particularly, as a spring that can be used for actuators such as artificial muscles, first twisting a wire and then coiling the twisted wire automatically produces a spring It relates to a spring automatic manufacturing device.

A shape memory alloy is an alloy that returns to the state of its parent phase when heat is applied. Therefore, shape memory alloys are widely used as actuators in various fields.

When shape memory alloys are used as actuators, they are mainly used in the form of wires, plates, springs, etc. However, the wire form has a short displacement and thus has limitations in use, so it is changed to a spring form and used.

At this time, if the wire is twisted to form a spring in a state in which torsion is applied, the displacement is further increased, so that the usability in a narrow space can be further increased.

The manufacturing process is largely divided into a twisting process, a coiling process, and an annealing process. To describe the conventional method of manufacturing a spring-type actuator, first, the upper end of the shape memory alloy wire is hung on a pole, a weight is hung on the lower end to apply a certain tension, and then the wire is rotated by a certain number of revolutions to apply torsion (twisting). fair). Next, the upper end fixed to the column is fixed to a separate shaft, and the torsioned wire is wound around the outer periphery of the shaft by rotating the shaft using a drill (coiling process). Finally, the wire coiled on the shaft is put into an oven and annealed to complete (annealing process).

However, in the conventional case, when fixing the upper end of the wire to the shaft after the twisting process, it takes a lot of time, and there is a problem that the twisted wire is untied or broken in this process.

A wire-type actuator using a shape memory alloy has a large specific output, but it is difficult to generate a large force with a single actuator. In this case, in order to achieve stable control while having uniform performance, it is preferable to manufacture each single actuator to have the same performance. However, there is a problem in that the above-described conventional manufacturing method has a large variation in performance between finished products.

Republic of Korea Patent Publication 10-2018-0083116

Accordingly, an object of the present invention is to solve such a problem in the prior art, and in a state where both ends of the wire are fixed, the twisting process and the coiling process are automatically continuously performed and twisting and coiling that can manufacture a spring It is to provide a spring automatic manufacturing device through.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

The above object, according to the present invention, a shaft for fixing one end of the wire and winding the wire on the outer surface for coiling; a first driving unit fixing and rotating the other end of the wire to twist the wire; and a second driving unit for rotating the shaft, twisting a wire having both ends fixed by operating the first driving unit, and winding and coiling the twisted wire around the shaft by operating the second driving unit This can be achieved by means of a spring automatic manufacturing device through the ring.

Here, the wire may be a shape memory alloy wire.

Here, the first driving unit includes a motor; and a tension adjusting unit coupled to the shaft of the motor to rotate, fixing the other end of the wire and adjusting the tension of the wire.

Here, the tension adjusting unit may be formed of a spring having one end coupled to the shaft of the motor and the other end fixing the other end of the wire.

Here, it may further include a first transfer unit for fixing and transferring the first driving unit.

Here, the first transfer unit is a linear guide; and a linear block fixing the first driving unit and moving along the linear guide.

Here, it may further include a second transfer unit for fixing and transferring the shaft and the second driving unit.

Here, the second transfer unit is a linear guide; and a linear block fixing the shaft and the second driving unit and moving along the linear guide.

Here, the angle between the wire and the shaft during coiling is preferably 75° or more and 90° or less.

According to the automatic spring manufacturing apparatus through twisting and coiling of the present invention as described above, it is possible to continuously perform twisting and coiling in a state where both ends of the wire are fixed, thereby reducing the time required for manufacturing and reducing the manufacturing time of the actuator. It has the advantage of being able to equalize the performance.

In addition, there is an advantage in that actuators having various shapes and various performances can be automatically manufactured by automatically controlling the number of revolutions in the shaft replacement, twisting or coiling process, and automatic control of the coiling interval.

1 is a view showing an automatic spring manufacturing apparatus through twisting and coiling according to an embodiment of the present invention.
FIG. 2 is a view for explaining the tension adjusting unit of FIG. 1 .
3 is a view for explaining a process of automatically manufacturing a spring using the automatic spring manufacturing apparatus through the twisting and coiling of FIG. 1 .
4 is a view for explaining types of springs according to a twisting direction and a coiling direction.
5 is a view for explaining the function of the tension control unit.
6 is a view for explaining an angle between a wire and a shaft during a coiling process.

The specific details of the embodiments are included in the detailed description and drawings.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout

Hereinafter, the present invention will be described with reference to the drawings for explaining an apparatus for automatically manufacturing a spring through twisting and coiling according to embodiments of the present invention.

1 is a view illustrating an automatic spring manufacturing apparatus through twisting and coiling according to an embodiment of the present invention, and FIG. 2 is a view for explaining the tension adjusting unit of FIG. 1 .

The automatic spring manufacturing apparatus through twisting and coiling according to an embodiment of the present invention may include a shaft 110 , a first driving unit 120 , and a second driving unit 130 . In addition, the first transfer unit 140 and the second transfer unit 150 may be further included.

As shown in FIG. 1 , one end of the wire W is fixed to the first driving unit 120 and the other end of the wire W is fixed to the outer surface of the shaft 110 . As described above, when the first driving unit 120 rotates to rotate the wire W in the axial direction in a state in which both ends of the wire W are fixed, twisting of the wire W is performed.

In the present invention, using the shape memory alloy wire (W) as the wire (W) is described as an example of manufacturing a spring used as a actuator operated by heat, but the spring through twisting and coiling of the present invention The wire (W) used in the automatic manufacturing apparatus is not limited thereto, and a spring can be manufactured using the wire (W) of various materials.

The first driving unit 120 may be configured as a step motor (hereinafter, a motor constituting the first driving unit 120 is referred to as a first motor 122 ), and the motor shaft 123 of the first motor 122 . One end of the wire (W) may be fixed.

In addition, the first driving unit 120 is disposed between the first motor 122 and the wire (W) to transmit the rotational force of the first motor 122 and a tension adjusting unit 124 for fixing the wire (W) is further added. may include As shown in FIG. 2 , the tension control unit 124 may be formed of a spring having elasticity, and the upper end of the tension control unit 124 is coupled to the motor shaft 123 of the first motor 122 and tension A wire W may be fixed to the lower end of the adjusting unit 124 .

Accordingly, when the first motor 122 rotates, it is possible to rotate the wire W in the axial direction through the tension adjusting unit 124 . At this time, since the tension control unit 124 forms a spring having elasticity, the tension of the wire W can be adjusted by the elasticity of the tension control unit 124 . This serves to reduce the load applied to the shaft 110 during the twisting or coiling process as will be described later.

In addition, the first driving unit 120 is fixed to the first transfer unit 140 can be moved up and down.

As an example of the first transfer unit 140 , the first driving unit 120 including the linear guide 142 and the first motor 122 disposed vertically is fixed as shown and the linear guide 142 is followed. It may be composed of a linear block 144 that moves up and down, and a motor (hereinafter referred to as a second motor 146 ) that provides power and controls the linear block 144 to move up and down along the linear guide 142 . . As will be described later, since the wire W is wound around the outer circumferential surface of the shaft 110 during the coiling process, the distance between both ends of the wire W is shortened. It is necessary to move the upper end of the wire (W) downward by lowering the first driving unit 120 by control.

The shaft 110 is disposed in the horizontal direction under the first driving unit 120 , and fixes the other end of the wire W to the outer surface of the shaft 110 , and is connected to the second driving unit 130 in the axial direction. make a rotation

One end of the shaft 110 is rotatably fixed to the fixing block 134 , and the other end of the shaft 110 is a motor (hereinafter referred to as a third motor 132 ) constituting the second driving unit 130 . It is connected to the shaft and rotates according to the control of the third motor 132 . When the shaft 110 is rotated by the third motor 132 in a state where the other end of the wire W is fixed to the outer surface of the shaft 110, the wire W is wound along the outer peripheral surface of the shaft 110 and the coil make a ring

In addition, the shaft 110 and the second driving unit 130 may be fixed to the second transfer unit 150 to move left and right in the horizontal direction.

Like the first transfer unit 140 , the second transfer unit 150 fixes the second driving unit 130 including the horizontally arranged linear guide 152 , the third motor 132 and the fixing block 134 , and The linear block 154 moving left and right along the linear guide 152, and a motor that provides power and controls the linear block 154 to move left and right along the linear guide 152 (hereinafter, the fourth motor 156) ) may be composed of.

One end of the shaft 110 is rotatably fixed to the fixed block 134 fixed to one side of the upper surface of the linear block 154, and the third motor 132 is fixed to the other side of the linear block 154 to make 3 The other end of the shaft 110 is fixed to the motor shaft of the motor 132 . As will be described later, when the shaft 110 is rotated to perform coiling, if the left and right positions of the shaft 110 are fixed, the same point is repeatedly wound, so that the coils overlap. Therefore, during coiling by rotating the shaft 110 , the second transfer unit 150 moves the shaft 110 and the second driving unit 130 together in a horizontal direction to form a spring coil.

Hereinafter, the operation of the automatic spring manufacturing apparatus through twisting and coiling according to an embodiment of the present invention described above with reference to FIGS. 1 and 2 will be described.

3 is a view for explaining a process for automatically manufacturing a spring using the automatic spring manufacturing apparatus through the twisting and coiling of FIG. FIG. 5 is a view for explaining the function of the tension control unit, and FIG. 6 is a view for explaining the angle between the wire (W) and the shaft during the coiling process.

First, as shown in (a) of FIG. 3 , the shaft 110 having a corresponding diameter according to the coiling diameter is connected to the fixing block 134 as the second driving unit 130 and the motor shaft of the third motor 132 . fixed in between. Accordingly, in the present invention, the shaft 110 can be replaced with the second driving unit 130 so that coiling can be performed with various diameters.

In addition, one end of the wire W having a predetermined diameter is fixed to the tension adjusting unit 124 constituting the first driving unit 120 , and the other end of the wire W is fixed to the outer surface of the shaft 110 . . At this time, as the diameter of the shape memory alloy wire (W) increases, it is possible to increase the force of the actuator.

Next, as shown in (b) of FIG. 3, the wire W is twisted (twisting) by rotating the first motor 122 in a predetermined number of rotations and directions.

As shown in FIG. 4 , when a spring-type actuator is manufactured using a shape company alloy wire W, it can be manufactured in two main types. Heterotype springs are springs whose twisting and coiling directions are opposite to each other, and have an advantage in that the cooling rate is faster than that of the general spring type. The homo-type spring has the same twisting direction and the same coiling direction, and has the advantage of having stronger and contracting force compared to the general spring type.

Accordingly, in the present invention, a driver that meets the requirements among the two types can be used to control the direction of rotation of at least one of the first motor 122 for twisting the wire and the third motor 132 for coiling the wire. can be produced

As shown in (b) of FIG. 3 , when the twisting is performed, a large tension may be generated in the wire due to the displacement and contraction due to the twisting. At this time, if the positions of both ends of the wire (W) are fixed, a large load is applied to the shaft 110 as shown in FIG. 5 , so that twisting or coiling cannot be smoothly performed. Accordingly, in the present invention, the tension can be adjusted so that the wire W has a constant tension by the tension adjusting unit 124 for fixing the upper end of the wire W to prevent a large load from being applied to the shaft 110 . do.

Next, as shown in FIG. 3(c), the third motor 132 of the second driving unit 130 is rotated at a predetermined number of rotations and directions to be wound around the outer peripheral surface of the shaft 110 to perform coiling. will do When the wire W is wound around the shaft 110 while coiling is performed, the length of the wire W between the shaft 110 and the tension control unit 124 is reduced. Accordingly, the first driving unit 120 supporting the upper end of the wire W is lowered by the first conveying unit 140 according to the coiling speed.

In addition, if the position of the shaft 110 is fixed while coiling is in progress, coiling occurs at the same point so that the coils overlap. Accordingly, as illustrated, the shaft 110 and the second driving unit 130 are moved together to the right at a constant speed by the second transfer unit 150 so that the coils are not overlapped and coiled in one direction. At this time, it is possible to control the coil spacing according to the transport speed by the second transfer unit 150 . When the feed rate by the second transfer unit 150 is high, the distance between the coils becomes large, and when the feed rate is slow, the distance between the coils becomes small, so that it can be formed densely. Of course, the transfer speed of the second transfer unit 150 may vary depending on the coiling speed by the third motor 132 or the descending speed by the first transfer unit 140 .

At this time, the vertical direction descending speed by the first transfer unit 140 and the horizontal transfer speed by the second transfer unit 150, as shown in FIG. 6, the angle between the wire (W) and the shaft 110 is 75 It is preferable to control to have a constant value with a value of ° or more and 90 ° or less. When the angle is smaller than 75°, a phenomenon in which the coils overlap may occur, and when the angle is larger than 90°, the coils may be sparsely formed.

When the coiling is finished as shown in (d) of FIG. 3 , the upper end of the wire W fixed to the tension control unit 124 is released and fixed to one end of the shaft 110 , and the subsequent annealing process is performed. .

The scope of the present invention is not limited to the above-described embodiments, but may be implemented in various types of embodiments within the scope of the appended claims. Without departing from the gist of the present invention claimed in the claims, it is considered to be within the scope of the description of the claims of the present invention to various extents that can be modified by any person skilled in the art to which the invention pertains.

110: shaft
120: first driving unit
122: first motor
123: motor shaft
124: tension control unit
130: second driving unit
132: third motor
134: fixed block
140: first transfer unit
142: linear guide
144: linear block
146: third motor
150: second transfer unit
152: linear guide
154: linear block
156: fourth motor
W: wire

Claims (9)

a shaft for fixing one end of the wire and winding the wire on an outer surface to perform coiling;
a first driving unit fixing and rotating the other end of the wire to twist the wire; and
a second driving unit for rotating the shaft;
Operate the first driving unit to twist the wire having both ends fixed, and operate the second driving unit to wind the twisted wire around the shaft to coil it,
The first driving unit
motor; and
It is coupled to the shaft of the motor and rotates, and includes a tension adjusting unit for fixing the other end of the wire and adjusting the tension of the wire,
One end of the tension adjusting unit is coupled to the shaft of the motor, and the other end is an automatic spring manufacturing apparatus through twisting and coiling formed of a spring for fixing the other end of the wire. The method of claim 1,
The wire is a shape memory alloy wire, a spring automatic production device through twisting and coiling. delete delete The method of claim 1,
A spring automatic manufacturing apparatus through twisting and coiling further comprising a first transfer unit for fixing and transferring the first driving unit. 6. The method of claim 5,
The first transfer unit
linear guide; and
A spring automatic manufacturing apparatus through twisting and coiling including a linear block that fixes the first driving unit and moves along the linear guide. The method of claim 1,
A spring automatic manufacturing apparatus through twisting and coiling further comprising a second transfer unit for fixing and transferring the shaft and the second driving unit. 8. The method of claim 7,
The second transfer unit
linear guide; and
A spring automatic manufacturing apparatus through twisting and coiling comprising a linear block that fixes the shaft and the second driving unit and moves along the linear guide. The method of claim 1,
An automatic spring manufacturing device through twisting and coiling in which the angle between the wire and the shaft during coiling is greater than or equal to 75° and less than or equal to 90°.

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