A SMA motor wire assembly device and assembly method

Abstract

The invention discloses an SMA motor wire assembly device and an assembly method, comprising a wire clamping module, a pressing module, a rotating fixed module and a needle mold test module, wherein the wire clamping module comprises a plurality of clamping jaws and a three-axis motion system for driving the clamping jaws to move; the pressing module comprises a product pressing head, two wire pressing heads and a pressing head driving device for driving the product pressing head and the two wire pressing heads to move; the rotating fixed module comprises a carrier and a rotating driving device for controlling the rotation of the carrier; the needle mold test module comprises a needle mold interface, a test contact and a needle mold driving mechanism for driving the test contact to be electrically connected to the carrier. The invention can realize the wire pulling, wire clamping and wire pressing of SMA wires. The product can be fixed during the wire pressing process to ensure that the product does not deviate. The needle mold test module can realize efficient and fast connection between the test device and the product. The wire clamping module can flexibly send the SMA to the edge of the product first, and realize the wire pressing operation on all sides of the product in cooperation with the rotation of the carrier.

Description

Technical Field

[0001] The present invention relates to the technical field of shape memory alloys (SMA), and in particular to an SMA motor wire assembly device and an assembly method. Background Art

[0002] Shape memory alloy (SMA) is a special metal material that has the ability to restore its shape after proper heat treatment. This material is called shape memory alloy, and this ability is also called shape memory effect. Usually, SMA produces plastic deformation at low temperature, and when the temperature rises, it overcomes the plastic deformation and returns to the memorized shape.

[0003] SMA is very suitable for small load, high speed, high precision robot assembly operations, and has great potential for application in sample moving devices in electron microscopes, reaction devices in chemical equipment, and driving devices in atomic reactors. SMA is usually used as a wire and installed on a specific product. During its debugging and assembly process, it needs to be accurately clamped to the product, and the insulation layer on its outer surface needs to be removed. Therefore, a clamping device that can quickly and efficiently complete the combination of SAM wire and product is needed in the prior art. Summary of the invention

[0004] In order to solve the deficiencies in the prior art, the present invention provides an SMA motor wire assembly device and an assembly method, which solve the technical problems of low SMA wire clamping accuracy and efficiency in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A SMA motor wire assembly device, characterized in that it includes a wire clamping module, a pressing module, a rotating fixed module and a needle mold test module, the wire clamping module includes a plurality of clamping jaws and a three-axis motion system for driving the clamping jaws to move; the pressing module includes a product press head, two wire press heads and a press head driving device for driving the product press head and the two wire press heads to move; the rotating fixed module includes a carrier and a rotating driving device for controlling the rotation of the carrier; the needle mold test module includes a needle mold interface, a test contact and a needle mold driving mechanism for driving the test contact to be electrically connected to the carrier, and the clamping jaws include a front clamping jaw group and a rear clamping jaw group.

[0007] Preferably, the aforementioned SMA motor wire assembly device is characterized in that: the front jaw group includes jaw one and jaw two, the rear jaw group includes jaw three and jaw four, and the side of the jaw is provided with a transverse cylinder and a push rod, the transverse cylinder is used to drive the front jaw group to move relative to the rear jaw group, and the push rod is used to limit the lateral position of the front jaw group and the rear jaw group.

[0008] Preferably, the aforementioned SMA motor wire assembly device is characterized in that: the front jaw group and the rear jaw group are also connected to a wedge block, the wedge block is connected to the wedge hole, the wedge block is connected to a downward pressure cylinder, and the downward pressure cylinder is used to drive the wedge block to slide relative to the wedge hole.

[0009] Preferably, the aforementioned SMA motor wire assembly device is characterized in that: the three-axis motion system includes a clamping jaw X-axis slide rail, a clamping jaw Y-axis slide rail and a clamping jaw Z-axis slide rail which are connected in sequence, the clamping jaw Z-axis slide rail is connected to the clamping jaw, and the clamping jaw Y-axis slide rail is connected to the equipment frame.

[0010] Preferably, the aforementioned SMA motor wire assembly device is characterized in that: the pressing module includes a pressing slider, a guide drive device and a base plate connected to the guide drive device, there are two pressing sliders, the two pressing sliders are respectively connected to two wire pressing heads, the product pressing head is connected to one of the pressing sliders, and the guide drive device is used to drive the pressing slider to slide up and down along the base plate.

[0011] Preferably, the aforementioned SMA motor wire assembly device is characterized in that: the pressing module also includes a pressing motor, the guide drive device includes a guide rail and a ball screw, the motor is used to drive the ball screw to rotate, and the guide rail is connected between the pressing slider and the base plate.

[0012] Preferably, the aforementioned SMA motor wire assembly device is characterized in that: the needle mold test module also includes a needle mold bracket, the needle mold drive mechanism includes a Y-axis slide rail and a needle mold X-axis slide rail, the needle mold bracket, the Y-axis slide rail, and the needle mold X-axis slide rail are connected in sequence, and the needle mold interface and the test contacts are both connected to the needle mold X-axis slide rail.

[0013] Preferably, the aforementioned SMA motor wire assembly device is characterized in that: the product pressure head is also connected to the product through a gasket, and the gasket is fixedly connected to the product.

[0014] A method for assembling SMA motor wires, characterized in that:

[0015] Strip the insulation layer of the SMA wire and clamp the SMA wire with the wire clamping module;

[0016] The wire clamping module clamps the SMA wire and moves it to the wire pressing position of the product. When clamping, the SMA wire between the front clamping jaw group and the rear clamping jaw group is in a straight line state;

[0017] The SMA wires between the front clamping jaw group and the rear clamping jaw group are bent by moving the front clamping jaw group and the rear clamping jaw group;

[0018] Press the SMA wire to the edge of the product;

[0019] Cut the SMA wire;

[0020] The carrier rotates to rotate the next side of the product to the crimping position.

[0021] Preferably, the aforementioned SMA motor wire assembly method is characterized in that: the SMA wire is pressed to the edge of the product by a pressing module, the pressing module includes a product pressing head and a wire pressing head, the product pressing head is used to press the SMA to the product, and the product pressing head is used to fix the product.

[0022] The beneficial effects achieved by the present invention are as follows: the present invention can realize the pulling, clamping and pressing of SMA wires, and can cut the wires and remove the insulation layer by laser. The product can be fixed during the pressing process to ensure that the product does not deviate.

[0023] The needle mold test module of the present invention includes a two-axis motion mechanism, which can realize efficient and fast connection between the test device and the product. The clamping module includes a plurality of clamps and a three-axis motion system. By driving the clamps through the three-axis motion system, the SMA can be flexibly sent to the edge of the product first, and the clamping operation of all edges of the product can be realized in coordination with the rotation of the carrier. The whole process is fast and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an axonometric diagram of the overall structure of the present invention;

[0025] Figure 2 This is a structural diagram of the wire clamping module of the present invention;

[0026] Figure 3 It is a structural diagram of the clamping jaws of the present invention;

[0027] Figure 4 It is a structural diagram of the clamp and the carrier of the present invention;

[0028] Figure 5 It is a structural diagram of the needle mold test module of the present invention;

[0029] Figure 6 It is a structural diagram of the needle mold test module and the carrier of the present invention;

[0030] Figure 7 It is a structural diagram of the pressing module of the present invention;

[0031] Figure 8 The present invention Figure 7 A partial enlarged view of

[0032] The meaning of the accompanying drawings: 1-X-axis slide rail of the clamping jaw; 2-Y-axis slide rail of the clamping jaw; 3-Z-axis slide rail of the clamping jaw; 4-clamping jaw group; 5-pressing slider; 6-needle mold bracket; 7-carrier; 8-laser module; 41-clamping jaw one; 42-clamping jaw two; 43-clamping jaw three; 44-clamping jaw four; 45-transverse cylinder; 46-thrust rod; 47-pressing cylinder; 48-wedge block; 49-wedge hole; 51-guide drive device; 52-pressing motor; 53-product pressing head; 54-wire pressing head; 541-wire pressing protrusion; 61-needle mold Y-axis slide rail; 62-needle mold X-axis slide rail; 63-needle mold interface; 64-test contact; 71-pad. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0034] like Figures 1 to 8 As shown: This embodiment discloses an SMA motor wire assembly device, including a wire clamping module, a pressing module, a rotating fixing module, a laser module 8 and a needle mold testing module.

[0035] The clamping module includes a plurality of clamps and a three-axis motion system. The clamps include a clamp 1 41, a clamp 2 42, a clamp 3 43, and a clamp 4 44 arranged in sequence. The three-axis motion system includes a clamp X-direction slide rail 1, a clamp Y-direction slide rail 2, and a clamp Z-direction slide rail 3 connected in sequence. The clamp Y-direction slide rail 2 is used to fix the entire clamping module and connect the entire clamping module to the equipment rack. The clamp Z-direction slide rail 3 connects the four clamps, and the movement of all the clamps is realized through the cooperation of the three-axis motion system.

[0036] like Figure 3 As shown: the clamp includes a front clamp group and a rear clamp group. The front clamp group includes a clamp 1 41 and a clamp 2 42, and the rear clamp group includes a clamp 3 43 and a clamp 44. The side of the clamp is provided with a lateral cylinder 45 and a push rod 46. The lateral cylinder 45 realizes the movement of the front clamp group relative to the rear clamp group by telescoping, so as to control the straightening and bending of the SMA line. The push rod 46 can move relative to the clamp, which is equivalent to the side limit of the clamp, and is used to limit the lateral position of the front clamp group and the rear clamp group. In order to facilitate the improvement of its adjustment accuracy, the push rod 46 of this embodiment can adopt a micrometer.

[0037] When the SMA wire needs to be pressed to the side of the product, all the jaws need to be extended synchronously. This is achieved in the present embodiment. The front jaw group and the rear jaw group are also connected to a wedge block 48. The wedge block 48 is connected to a wedge hole 49. The wedge block 48 is connected to a pressing cylinder 47. When the pressing cylinder 47 is extended or retracted, the wedge block 48 slides relative to the wedge hole 49 to achieve synchronous extension of the front jaw group and the rear jaw group so that the SMA wire can extend to the side of the product.

[0038] Combined with 7 and Figure 8 :The pressing module includes a pressing slider 5, a guide drive device 51, a pressing motor 52 and a bottom plate connected to the guide drive device 51. The bottom plate is arranged vertically. The guide drive device 51 can select a guide slider in combination with a ball screw. The ball screw is driven to rotate by the pressing motor 52. The rotation of the ball screw enables the pressing slider 5 to move in the direction of the carrier. A product pressing head 53 and a wire pressing head 54 are provided below the pressing slider 5. The product pressing head 53 is used to press the upper cover of the entire carrier to fix the product; the wire pressing head 54 is used to press the SMA wire. It should be noted that when the product pressing head 53 fixes the product, a pad 71 can be placed between the product and the product pressing head 53 according to actual conditions. The pad 71 is fixedly connected to the product and has a certain degree of elasticity. The pad 71 has the function of protecting the product to prevent it from being crushed by the product pressing head 53. Moreover, it is also convenient to grab the product by grabbing the pad 71.

[0039] The rotating fixing module mainly includes a carrier 7 and a rotating driving device for controlling the rotation of the carrier 7. The rotating driving device can be any one of the existing technologies. The carrier 7 is used to fix the product and the subsequent SMA wire is pressed onto the product.

[0040] The structure and principle of the laser module 8 belong to the prior art, and its main function is to cut the SMA wire or strip the insulation of the SMA.

[0041] Needle mold test module such as Figure 5 and Figure 6 As shown: the needle mold test module includes a two-axis motion mechanism, a needle mold bracket 6, a needle mold interface 63 and a test contact 64. The two-axis motion mechanism includes a needle mold Y-direction slide rail 61 and a needle mold X-direction slide rail 62. The needle mold bracket 6, the Y-direction slide rail 61 and the needle mold X-direction slide rail 62 are connected in sequence, and the needle mold interface 63 and the test contact 64 are arranged on the needle mold X-direction slide rail 62. The needle mold X-direction slide rail 62 is used to adjust the lateral position of the test contact 64, and the Y-direction slide rail 61 is used to push the test contact 64 to connect with the corresponding test structure on the carrier 7.

[0042] This embodiment also discloses a method for assembling SMA motor wires:

[0043] First, the SMA wires at both ends of the clamps are cut by the laser module 8, that is, the SMA wires after cutting are still clamped by the four clamps at the same time, and the remaining SMA wires after cutting are recovered and sorted by the corresponding device for reuse next time. This device belongs to the prior art.

[0044] The insulation layer of the SMA wire is stripped, and the SMA wire is clamped by the wire clamping module. The insulation layer is stripped by laser.

[0045] The wire clamping module clamps the SMA wire and moves it to the wire pressing position of the product. Since the SMA wire is already in a straight line before clamping, the SMA wire is in a straight line between the front clamping jaw group and the rear clamping jaw group after clamping.

[0046] The SMA wires between the front jaw groups and the rear jaw groups are bent by moving the front jaw group and the rear jaw group. That is to say, the relative movement of jaw 1 41 and jaw 2 42 bends the SMA wire between the front jaw groups, and the relative movement of jaw 3 43 and jaw 44 bends the SMA wire between the rear jaw groups. The bending portion is used to meet the length requirement of the SMA wire.

[0047] The SMA wire between the front jaw group and the rear jaw group is pressed to the edge of the product. The process first drives the front jaw group and the rear jaw group through the three-axis motion system of the wire clamping module, and then relies on the downward pressure cylinder 47 to drive the wedge block 48 to move relative to the wedge hole 49 to further drive the front jaw group and the rear jaw group to move to the wire pressing position of the product.

[0048] Then, the SMA wire is pressed to an edge of the product through the pressing module. Specifically, the product pressing head 53 and the wire pressing head 54 are pressed against the cushion block 71 and the wire pressing position of the product respectively by lowering the pressing slider 5, so that the product is pressed against the SMA wire while fixing the product.

[0049] Then the SMA wire can be cut to complete the installation of the SMA wire on one side of the product. The SMA wire can be cut by laser.

[0050] Then the carrier 7 rotates 90° and repeats the above process. After the carrier rotates one circle, the four sides of the entire product are fixed with SMA wires, the carrier moves to the test position, and the two-axis motion mechanism of the needle mold test module is adjusted to connect the test contact 64 to the test interface of the carrier 7 (the needle mold interface 63 has been connected to the corresponding product test device through the electrical connector) to achieve the connection between the product and the product test device.

[0051] The invention can realize the pulling, clamping and pressing of SMA wires, and can cut the wires and remove the insulating layer by laser. The product can be fixed during the pressing process to ensure that the product does not deviate.

[0052] The needle mold test module of the present invention includes a two-axis motion mechanism, which can realize efficient and fast connection between the test device and the product. The clamping module includes a plurality of clamps and a three-axis motion system. By driving the clamps through the three-axis motion system, the SMA can be flexibly sent to the edge of the product first, and the clamping operation of all edges of the product can be realized in coordination with the rotation of the carrier. The whole process is fast and efficient.

[0053] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An SMA motor wire assembly device, characterized in that: The invention comprises a wire clamping module, a pressing module, a rotating fixed module and a needle mold test module, wherein the wire clamping module comprises a plurality of clamping jaws and a three-axis motion system for driving the clamping jaws to move; the pressing module comprises a product pressing head (53), two wire pressing heads (54) and a pressing head driving device for driving the product pressing head (53) and the two wire pressing heads (54) to move; the rotating fixed module comprises a carrier (7) and a rotating driving device for controlling the rotation of the carrier (7); the needle mold test module comprises a needle mold interface (63), a test contact (64) and a needle mold driving mechanism for driving the test contact (64) to be electrically connected to the carrier (7); the clamping jaw comprises a front clamping jaw group and a rear clamping jaw group; The front clamping jaw group includes a clamping jaw 1 (41) and a clamping jaw 2 (42), and the rear clamping jaw group includes a clamping jaw 3 (43) and a clamping jaw 4 (44). The side of the clamping jaw is provided with a transverse cylinder (45) and a push rod (46). The transverse cylinder (45) is used to drive the front clamping jaw group to move relative to the rear clamping jaw group, and the push rod (46) is used to limit the lateral positions of the front clamping jaw group and the rear clamping jaw group. The front clamping jaw group and the rear clamping jaw group are both connected to a wedge block (48), the wedge block (48) is connected to a wedge hole (49), the wedge block (48) is connected to a downward pressure cylinder (47), and the downward pressure cylinder (47) is used to drive the wedge block (48) to slide relative to the wedge hole (49); The three-axis motion system comprises a clamping jaw X-direction slide rail (1), a clamping jaw Y-direction slide rail (2) and a clamping jaw Z-direction slide rail (3) which are connected in sequence, the clamping jaw Z-direction slide rail (3) is connected to the clamping jaw, and the clamping jaw Y-direction slide rail (2) is connected to the equipment frame; The pressing die set comprises a pressing slider (5), a guide drive device (51) and a bottom plate connected to the guide drive device (51); there are two pressing sliders (5), the two pressing sliders (5) are respectively connected to two line pressing heads (54); the product pressing head (53) is connected to one of the pressing sliders (5); and the guide drive device (51) is used to drive the pressing slider (5) to slide up and down along the bottom plate.

2. The SMA motor wire assembly device according to claim 1, characterized in that: The pressing die set further comprises a pressing motor (52), the guide drive device (51) comprises a guide rail and a ball screw, the pressing motor (52) is used to drive the ball screw to rotate, and the guide rail is connected between the pressing slider (5) and the bottom plate.

3. The SMA motor wire assembly device according to claim 1, characterized in that: The needle mold test module also includes a needle mold bracket (6), and the needle mold driving mechanism includes a Y-direction slide rail (61) and a needle mold X-direction slide rail (62). The needle mold bracket (6), the Y-direction slide rail (61), and the needle mold X-direction slide rail (62) are connected in sequence, and the needle mold interface (63) and the test contact (64) are both connected to the needle mold X-direction slide rail (62).

4. The SMA motor wire assembly device according to claim 1, characterized in that: The product pressing head (53) is also connected to the product via a cushion block (71), and the cushion block (71) is fixedly connected to the product.

5. A SMA motor wire assembly method, based on the SMA motor wire assembly device according to any one of claims 1 to 4, characterized in that: Strip the insulation layer of the SMA wire and clamp the SMA wire with the wire clamping module; The wire clamping module clamps the SMA wire and moves it to the wire pressing position of the product. When clamping, the SMA wire between the front clamping jaw group and the rear clamping jaw group is in a straight line state; The SMA wires between the front clamping jaw group and the rear clamping jaw group are bent by moving the front clamping jaw group and the rear clamping jaw group; Press the SMA wire to the edge of the product; Cut the SMA wire; The carrier (7) rotates to rotate the next side of the product to the pressing line position.

6. The SMA motor wire assembly method according to claim 5, characterized in that: The SMA wire is pressed to the edge of the product by a pressing module, wherein the pressing module comprises a product pressing head (53) and a wire pressing head (54), wherein the wire pressing head (54) is used to press the SMA to the product, and the product pressing head (53) is used to fix the product.

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