Connection structure of SMA spring used in actuator

Abstract

The present invention relates to a connection structure of a shape memory alloy (SMA) spring (a spring made of shape memory alloy materials) used in an actuator. Specifically, the present invention relates to an actuator, which utilizes an SMA spring to generate an auxiliary force, and to a connection structure for the SMA spring used in the actuator, which provides mechanical characteristics enabling a robust connection of multiple strands of SMA springs to generate the auxiliary force, while enabling an electrical connection at the same time. In addition, according to the connection structure of the SMA spring of the present invention, the series-parallel combination structure can be changed, and thus it is possible to change the total resistance value of the actuator and arrange the SMA springs without entanglement. Also, the present invention has the advantage of adjusting the number of connections of the SMA springs.

Description

Wiring structure of SMA springs used in actuators

[0001] The present invention relates to a wiring structure of an SMA spring used in an actuator.

[0002] Specifically, in an actuator that generates auxiliary force using an SMA spring (a spring made of a shape memory alloy material), the present invention relates to a wiring structure of an SMA spring used in an actuator that has mechanical characteristics that enable a plurality of SMA springs to be firmly connected to generate auxiliary force, and at the same time, enables electrical connection.

[0003] In addition, since the wiring structure of the SMA spring of the present invention allows for a change in the series-parallel coupling structure, it has the advantage of being able to change the resistance value of the entire actuator while allowing for arrangement without twisting, and being able to adjust the number of wiring lines of the SMA spring.

[0004] A wearable robot or wearable suit refers to a mechanical device that is worn on the human body and performs a function.

[0005] These wearable suits are functionally AI-powered to perform processing tasks that humans cannot perform, or structurally assist human movement or muscle generation.

[0006]

[0007] In addition, with technological advancements, various technologies are being combined to diversify functionality. For example, due to advancements in sensor, control, and software technologies, it is being utilized in various fields such as military, disaster relief, industrial work, rehabilitation treatment, and daily assistance.

[0008] In particular, wearable suits assist the wearer's physical abilities in physically demanding environments such as disaster sites or mountainous terrain, thereby increasing the time and scope of human work.

[0009] Additionally, it provides great help in modern life by helping the wearer to strengthen their muscles or overcome physical defects in daily life.

[0010]

[0011] These wearable suits can be divided into passive types and active types depending on how they are powered.

[0012] The above passive type refers to a method that uses a preset force such as a spring or elastic band, and the above active type refers to a method that uses a changeable force such as a motor or actuator.

[0013]

[0014] Since the above active type uses heavy equipment, it naturally has a considerable weight, which significantly limits its movement and makes it quite expensive.

[0015] On the other hand, the passive type has the advantage of being considerably lighter and cheaper when using elastic bands, but it is difficult to use it as an auxiliary force for muscle strength because it only utilizes the accumulation and release of force.

[0016] In addition, among the passive types, springs are mainly used for the purpose of fixing posture, and because they are still used for the purpose of fixing posture, they form an exoskeleton, which has significant limitations in movement.

[0017] The present applicant proposes a wearable suit that utilizes a spring-type device to assist the wearer's muscle strength. This type of wearable suit overcomes the limitations of limited movement while also taking advantage of the lightweight and inexpensive advantages of the spring-type device.

[0018]

[0019] As a related technology, a wearable muscle strength assistance device is described in Patent Publication No. 10-2022-0053349.

[0020] The above technology is a wearable device that can be worn as an exoskeleton type to assist muscle strength, including an upper unit that comes into contact with the upper body of the wearer and a lower unit that comes into contact with the lower body of the wearer; And a mounting portion that is selectively connected to one side of the upper unit so as to be detachable and coupled, extends in one direction so as to enable mounting of an article, and at least a portion thereof extends upward when coupled to the upper unit; wherein the upper unit includes a base frame and an elastic cylinder coupled to the base frame, and the lower unit includes a support coupled to the upper unit, a first frame extending from the support, a second frame extending in an extension line of the first frame, and a joint portion that is connected to each of the first frame and the second frame so as to enable elastic rotation between the first frame and the second frame, and wherein one end of the joint portion is connected to a wire and the other end of the wire is connected to the elastic cylinder, so that when the upper unit and the lower unit are vertically erected and at least one of bending and curved is performed, an elastic restoring force is transmitted to the wire from the elastic cylinder to restore it to the erected state, thereby increasing the tension of the wire.

[0021] However, the above technology has the problem that it cannot prevent the limitation of movement as described above due to the formation of an exoskeleton, and the weight increases due to the use of an actuator.

[0022]

[0023] As another technology, Patent Publication No. 10-2388069 describes a wearable robot module for muscle strength assistance for each part using a fabric-type flexible motor and a wearable robot including the same.

[0024] The technology is a wearable robot module for muscle assistance, comprising: an intention recognition unit configured to determine a wearer's movement intention; a control unit configured to generate a driving control signal to a driving unit based on a signal from the intention recognition unit; and a flexible driving unit configured to generate a driving force for muscle assistance based on the driving control signal from the control unit, wherein the flexible driving unit includes a waist connection unit and a leg connection unit configured to be connected to the waist and legs of the wearer; a plurality of connecting members configured to be connected to each of the waist connection unit and the leg connection unit to transmit a driving force; and a cloth-type flexible actuator installed between the waist connection unit and the leg connection unit at a portion corresponding to a muscle that performs an extension motion and configured to generate a driving force.

[0025] The above technology is a technology that uses springs to assist muscle strength, but the use of springs is different from that sought in the present invention in that they are used by being sewn into fibers as a bundle.

[0026] The purpose of the present invention is to provide a wiring structure of an SMA spring used in an actuator that generates auxiliary force using an SMA spring (a spring made of a shape memory alloy material), which has mechanical characteristics that enable a plurality of SMA springs to be firmly connected to generate auxiliary force, and at the same time enables electrical connection.

[0027]

[0028] Another object of the present invention is to provide a wiring structure of an SMA spring used in an actuator, which has the advantage of being able to change the resistance value of the entire actuator while allowing for arrangement without twisting, and being able to adjust the number of wiring lines of the SMA spring, since the series-parallel coupling structure can be changed according to the wiring structure of the SMA spring.

[0029] In order to achieve the above-described purpose, the wiring structure of the SMA spring used in the actuator according to the present invention is a wiring structure of the SMA spring used in the actuator using a spring of a shape memory alloy material, and is characterized in that the SMA spring is combined with at least one selected from among a base support (100) and an additional support (200).

[0030]

[0031] At this time, as an example of the SMA spring being combined with at least one selected from among the base support (100) or the additional support (200), the SMA spring itself may be combined with at least one selected from among the base support (100) or the additional support (200).

[0032] Alternatively, each end of the SMA spring may be held and pressed to be coupled with one or more selected ones of the base support (100) or the additional support (200).

[0033] Alternatively, the SMA spring may be configured to have both ends artificially stretched to form a solid end, and the solid end may be combined with at least one selected from among the base support (100) and the additional support (200).

[0034]

[0035] Meanwhile, the base support (100) includes a hole (101), and the SMA spring is coupled to the base support (100) by penetrating the hole (101).

[0036]

[0037] In addition, the SMA spring is characterized in that it is wound in a state in which it is coupled to the base support (100) and is in contact with one side of the outer surface of the base support (100).

[0038]

[0039] In addition, the additional support (200) includes a through hole (201), and the SMA spring is coupled to the additional support (200) by penetrating the through hole (201).

[0040]

[0041] In addition, the SMA spring is characterized in that it is wound in a state in which it is coupled to the additional support (200) and is in contact with one side of the outer surface of at least one additional support (200).

[0042]

[0043] In addition, the base support (100) is characterized by including a hollow (102) that penetrates in the upper / lower direction on one side of the center.

[0044]

[0045] In addition, the additional support (200) is characterized in that it has at least one number and the SMA spring is wound along the outer surface of the additional support (200) so that the additional support (200) is adjacent to the base support (100).

[0046]

[0047] In addition, in the case where the number of the additional supports (200) exceeds one, it is characterized in that a plurality of additional supports (200) are stacked and placed adjacent to each other, and then the SMA spring is wound.

[0048]

[0049] As an example, a 'ㄷ' shaped coupling pin (300) is further included, and the coupling pin (300) is characterized in that one side penetrates the hollow (102) of the base support (100) and comes into contact with one surface of the base support (100) and the additional support (200), and the other side comes into contact with the other surface of the base support (100) and the additional support (200), thereby coupling the base support (100) and the additional support (200).

[0050]

[0051] As another example, a 'ㄷ' shaped coupling pin (300) is further included, and the coupling pin (300) is characterized in that one side penetrates the hollow (102) of the base support (100) and contacts one surface of the base support (100), and the other side contacts the other surface of the base support (100), thereby fixing the SMA spring coupled to the base support (100).

[0052]

[0053] As another example, a 'ㄷ' shaped coupling pin (300) is further included, and the coupling pin (300) is characterized in that one side is in contact with one surface of the additional support (200) and the other side is in contact with the other surface of the additional support (200), thereby fixing the SMA spring coupled to the additional support (200).

[0054] According to the wiring structure of the SMA spring used in the actuator according to the present invention

[0055] First, in an actuator that generates auxiliary force using an SMA spring (a spring made of shape memory alloy material), it has the advantage of having mechanical characteristics that allow multiple strands of SMA springs to be firmly connected to generate auxiliary force, while also allowing electrical connection at the same time.

[0056] Second, since the series-parallel coupling structure can be changed according to the wiring structure of the SMA spring, it has the advantage of being able to change the resistance value of the entire actuator while allowing it to be arranged without being twisted, and being able to adjust the number of wiring of the SMA spring.

[0057] Fig. 1 shows an example of a wearable suit to which the wiring structure of the SMA spring used in the actuator of the present invention is applied.

[0058] Fig. 2 illustrates an actuator using an SMA spring used in the wearable suit of Fig. 1.

[0059] Fig. 3 is a diagram showing the wiring structure of an SMA spring used in an actuator according to the present invention.

[0060] Figure 4 illustrates the process of combining an SMA spring of a wiring structure of an SMA spring used in an actuator according to the present invention.

[0061] FIG. 5 is a lateral view illustrating the process of completing the wiring structure of an SMA spring used in an actuator according to the present invention.

[0062] Fig. 6 is a side view showing an example of a completed wiring structure of an SMA spring used in an actuator according to the present invention.

[0063] Terms or words used in this specification and claims should not be interpreted as limited to their usual or dictionary meanings, but should be interpreted as meanings and concepts that conform to the technical idea of ​​the present invention, based on the principle that the inventor can appropriately define the concept of the term to best explain his or her own invention.

[0064]

[0065] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are only the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention. Therefore, it should be understood that there may be various equivalents and modified examples that can replace them at the time of filing this application.

[0066]

[0067] Hereinafter, before explaining with reference to the drawings, it is to be noted that matters that are not necessary to reveal the gist of the present invention, that is, known configurations that can be obviously added by a person skilled in the art with ordinary knowledge, are not illustrated or specifically described.

[0068]

[0069] In describing the present invention, when describing components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. This is only to distinguish the components from other components, and the nature, order, or sequence of the components are not limited by the terms.

[0070] Additionally, when it is described that a component is 'connected', 'coupled' or 'connected' to another component, it should be understood that the component may be directly connected or connected to the other component, but that another component may also be 'connected', 'coupled' or 'connected' between each component.

[0071] Additionally, when a part is said to 'include' or 'have' a certain component, it should be understood that this does not exclude other components unless specifically stated to the contrary, but rather includes other components or includes all configurations that would be obvious to a person skilled in the art.

[0072] In addition, terms such as 'part', 'module', and 'unit' described in the specification mean a unit that processes at least one function or operation, which can be implemented by hardware, software, or a combination thereof.

[0073]

[0074] The present invention relates to a wiring structure of an SMA spring used in an actuator.

[0075] Specifically, in an actuator that generates auxiliary force using an SMA spring (a spring made of a shape memory alloy material), the present invention relates to a wiring structure of an SMA spring used in an actuator that has mechanical characteristics that enable a plurality of SMA springs to be firmly connected to generate auxiliary force, and at the same time, enables electrical connection.

[0076] Meanwhile, the actuator in the present invention includes a wearable suit that provides assistance to the wearer, and the actuator connected to the wearable suit with an SMA spring as described above can refer to the wearable suit of the applicant's patent application No. 10-2023-0091808.

[0077] In addition, since the wiring structure of the SMA spring of the present invention allows for a change in the series-parallel coupling structure, it has the advantage of being able to change the resistance value of the entire actuator while allowing for arrangement without twisting, and being able to adjust the number of wiring lines of the SMA spring.

[0078]

[0079] Before the explanation, let me elaborate on the wearable suit. In order to overcome the problems of increased unit price and heaviness of those that use separate power sources such as conventional motors or actuators, the wearable suit is provided with a number of springs made of shape memory alloy material to provide assistive power to the wearer.

[0080] The present applicant has applied for and received a registration decision for a wearable suit under application number 10-2023-0091808. That is, the wiring structure of the SMA spring used in the actuator according to the present invention can be applied to all types of wearable suits that use an SMA spring (a spring based on a shape memory alloy) as the power source of the actuator.

[0081]

[0082] The wearable suit is described below based on drawings 1 and 2 of the attached drawings.

[0083] FIG. 1 illustrates an example of a wearable suit to which the wiring structure of the SMA spring used in the actuator of the present invention is applied, and FIG. 2 explains an actuator using the SMA spring used in the wearable suit of FIG. 1.

[0084]

[0085] wearable suit

[0086] The wearable suit exemplified in the present invention provides assistive power to a wearer wearing the wearable suit by providing a number of springs made of a shape memory alloy material in order to overcome problems such as increased unit price and heaviness of those using separate power means such as conventional motors or actuators.

[0087]

[0088] The wearable suit of the present invention according to Fig. 1 of the attached drawing comprises: a device part (10) worn on the back of a wearer; a shoulder strap (20) coupled to one side so that the device part (10) can be worn; and an abdominal fixing part (30) worn on the abdomen of the wearer for stable fixation of the device part (10).

[0089] At this time, the shoulder straps (20) may be configured as a pair of two like a normal bag to facilitate the wearer's use of the device (10), but are not necessarily limited to this, and any structure capable of carrying the device (10) can be readily configured by a person skilled in the art.

[0090] In addition, the abdominal fixing member (30) may be in the form of two belts extending in both directions of the body part (10) and wrapping around the wearer's abdomen and then joining the two ends. At this time, the joining of the two ends may use a conventional Velcro, a buckle or a button, or any other joining configuration.

[0091]

[0092] In addition, the wearable suit according to the present invention may further include a wire guide (40) protruding from one side of the device portion (10).

[0093] The above wire guide (40) is a means for assisting the wire exposed from the device section (10) to be guided from the outside of the device section (10). As shown in FIGS. 3 and 3c of the attached drawings, it includes a hollow portion inside and has at least one roller in the hollow portion to guide the wire exposed from the device section (10). At this time, it may be advantageous to use a butterfly roller as the roller for guiding.

[0094] As can be seen in Fig. 3c of the attached drawing, the wire guide (40) may be configured to have a slightly inclined direction on one side of the device portion (10), but may be configured such that the guided wire protrudes at least toward the bottom or front of the device portion (10), and for this purpose, the wire guide (40) may be configured such that the hole at the end through which the wire passes is formed on the lower surface or the front surface (toward the wearer).

[0095] The reason the wires are designed to point downward at least is to facilitate the direction of force when assisting the wearer's muscular strength. To elaborate, when lifting the upper body, this distributes the force, allowing for more support for backward pulling rather than downward pulling.

[0096]

[0097] In this way, a connecting part (50) is connected to the end of the wire that passes through the wire guide part (40), and the connecting part (50) is connected to a tripod using a ring.

[0098] At this time, the reason the tripod is connected using a ring is to facilitate rotation, which not only prevents the wire from tangling but also reduces discomfort in using the wearer's legs.

[0099]

[0100] In addition, a connecting strap (60) is connected to the tripod of the connecting portion (50). At this time, the connecting strap (60) has a connecting method in which one strap passes through the tripod and then is connected in reverse. Accordingly, both ends of the connecting strap (60) face downward, and a lower body belt (70) that is connected to the lower body of the wearer is connected to each of the both ends of the connecting strap (60).

[0101] This lower body belt (70), like the abdominal fixing member (30) described above, is fixed to the wearer's legs using various connecting means such as Velcro, buckles, and buttons.

[0102] At this time, since the two lower body belts (70) are connected to each end of the above-described single connecting strap (60), the connecting strap (60) can move freely in the tripod of the connecting portion (50), making the legs of the wearer wearing the lower body belt (70) more comfortable.

[0103]

[0104] A spring is provided inside this device (10) to assist the wearer's muscle strength, and the spring uses a shape memory alloy.

[0105] In detail, the shape memory alloy capable of contraction and expansion is electrically connected by being joined through a terminal. At this time, the shape memory alloy contracts and expands due to the electrical connection, thereby enabling the wire to be pulled out from the device portion (10).

[0106] By using a spring made of shape memory alloy material, it has the effect of reducing not only weight but also noise compared to using a separate driving means such as a motor.

[0107]

[0108] As described above, a spring made of a shape memory alloy material that contracts and expands when supplied with electricity, heat is generated by the spring's electrical resistance to the applied electricity, and the spring made of the shape memory alloy material contracts as its temperature increases. In addition, when the supply of electricity is cut off, it cools and expands again.

[0109]

[0110] Looking at the internal configuration of the device (10) with a supplementary explanation of the spring, first, an upper terminal (11) is configured inside the device (10), and a wire (1) for supplying power is configured in the upper terminal (11).

[0111] These wires (1), although not shown in the drawing, are connected to a power supply source provided on one side inside or outside the device unit (10) and perform the function of supplying power.

[0112]

[0113] In addition, the upper terminal (11) is provided with a first wire (14) extending in the upper / lower direction of the device section (10), and a support member (13) is coupled to the other end of the first wire (14), and the support member (13) is coupled to one side inside the device section (10).

[0114] Additionally, a number of springs (15) are arranged on the other side of the upper terminal (11), and the other end of the spring (15) is coupled to the moving member (12).

[0115] This movable member (12) is provided so that the first wire (14) passes through it.

[0116] At this time, the first wire (14) is composed of two wires between the upper terminal (11) and the support member (13) and has the function of assisting the up / down movement of the movable member (12).

[0117]

[0118] In addition, a second wire (16) is connected to the central region from the movable member (12) to the support member (13). At this time, the second wire (16) is coupled to the movable member (12) and passes through the support member (13) so as to be exposed to the outside of the device unit (10). At this time, the wire guide (40) described above guides the exposed second wire (16).

[0119] That is, when the moving member (12) moves in the up / down direction along the first wire (14) according to the contraction and expansion of the spring (15), the length at which the other end of the second wire (16) coupled to the moving member (12) is drawn out to the outside of the device part (10) may be different.

[0120]

[0121] The load applied when the moving member (12) moves due to the contraction and expansion of the spring (15) having the shape memory alloy material generates a force that can assist the muscle strength for the movement of the lower limbs of the wearer wearing the lower limb belt (70) connected through the second wire (16).

[0122]

[0123] According to the wearable suit according to the present invention configured as described above, by providing a plurality of springs made of a shape memory alloy material to provide assistive power to a wearer wearing the wearable suit, it has the advantage of overcoming problems such as increased unit price and heaviness of those using separate power means such as conventional motors or actuators.

[0124]

[0125] SMA spring wiring structure

[0126] The wiring structure of this spring (15, SMA spring of the present invention) will be explained through FIGS. 3 to 6 of the attached drawings.

[0127] Fig. 3 is a diagram illustrating a wiring structure of an SMA spring used in an actuator according to the present invention, and Fig. 4 is a diagram illustrating a process of combining an SMA spring of a wiring structure of an SMA spring used in an actuator according to the present invention.

[0128] In addition, FIG. 5 is a side view illustrating a process of completing a wiring structure of an SMA spring used in an actuator according to the present invention, and FIG. 6 is a side view illustrating an example of a completed wiring structure of an SMA spring used in an actuator according to the present invention.

[0129]

[0130] Referring to the attached drawing, the SMA spring (spring (15) in the drawing) is artificially extended at both ends to make it thin. Such ends are referred to as “real ends” in this specification.

[0131] Additionally, in the attached drawings, the actual end portions are shown in a somewhat bold manner for ease of explanation of the present invention. It should be understood that in reality, the actual end portions have a considerably thin thickness.

[0132]

[0133] In order to be connected to the upper terminal (11) of the wearable suit described above during the wiring of these SMA springs, the upper terminal (11) is configured to include a base support (100) and two additional supports (200).

[0134] The above base support (100) is configured to have a relatively wide width compared to the above additional support (200), and a hollow (102) penetrating in the up / down direction is formed on one side of the center, and a plurality of through holes (101) are formed to penetrate in the up / down direction at a position on one side avoiding the hollow (102) of the base support (100) and are arranged in the length direction of the base support (100).

[0135] In addition, the additional support (200) is configured in the shape of a bar plate, and a plurality of through holes (201) extending upward and downward on one side are formed to be arranged along the length direction of the additional support (200).

[0136]

[0137] The end of the SMA spring passes through each of the holes (101, 201) of the base support (100) and the additional support (200). To elaborate, the end of the SMA spring is artificially pulled to form the end, and the end passes through the hole (101) of the base support (100), and then passes through the hole (201) of each of the two additional supports (200) in sequence.

[0138] At this time, the above SMA springs can be selectively combined in a plurality of numbers along the holes (101, 201) formed along the longitudinal direction of the support (100, 200), and the number of these SMA springs can vary depending on the auxiliary power required by the actuator of the wearable suit.

[0139]

[0140] As shown in FIGS. 3 and 4 of the attached drawings, when the end of the SMA spring penetrates the hole (101, 201) of the base support (100) -> additional support (200), as shown in FIG. 5 of the attached drawings, the end is exposed by penetrating to the additional support (200) and wrapping the end around the outside of the additional support (200), and the additional support (200) is rolled so that the end is wrapped around the outside of the additional support (200).

[0141] This is illustrated on the right side of Figure 5 of the attached drawing. Figure 5 of the attached drawing shows the end portion to be somewhat thick, but in reality, the end portion has a very thin thickness, so that when it is wound around the outside of the additional support (200), as in Figure 6 of the attached drawing, the additional support (200) will be adjacent to the base support (100), and even if there is an end portion wound around the outside of the additional support (200), it will be slightly spaced apart.

[0142]

[0143] When the winding is completed in this way, the hollow part (102) of the base support (100) is used to fix one side of the base support (100) through which the thread end is passed and the additional support (200) in a wound state using a 'ㄷ' shaped connecting pin (300).

[0144] By fixing at least two of these coupling pins (300) along the length of the support (100, 200), the SMA spring can be prevented from being separated from the support.

[0145]

[0146] According to the wiring structure of the SMA spring used in the actuator according to the present invention configured as described above,

[0147] First, in an actuator that generates auxiliary force using an SMA spring (a spring made of shape memory alloy material), it has the advantage of having mechanical characteristics that allow multiple strands of SMA springs to be firmly connected to generate auxiliary force, while also allowing electrical connection at the same time.

[0148] Second, since the series-parallel coupling structure can be changed according to the wiring structure of the SMA spring, it has the advantage of being able to change the resistance value of the entire actuator while allowing it to be arranged without being twisted, and being able to adjust the number of wiring of the SMA spring.

[0149]

[0150] The description using the drawings above only describes the main aspects of the present invention, and it is obvious that the present invention is not limited to the configuration of the drawings, as various designs are possible within the technical scope.

Claims

1. The wiring structure of an SMA spring used in an actuator using a spring made of shape memory alloy material. A wiring structure of an SMA spring used in an actuator, characterized in that the above SMA spring is combined with at least one selected from among a base support (100) and an additional support (200).

2. In claim 1, The wiring structure of an SMA spring used in an actuator, characterized in that the SMA spring is coupled with at least one selected from among a base support (100) and an additional support (200) by pressing each end.

3. In claim 1, The above SMA spring is formed by artificially stretching both ends to form a solid end, The above-mentioned part is, A wiring structure of an SMA spring used in an actuator, characterized in that it is combined with at least one selected from among a base support (100) and an additional support (200).

4. In claim 1, The above base support (100) includes a through hole (101), A wiring structure of an SMA spring used in an actuator, characterized in that the SMA spring is connected to the base support (100) by penetrating a through hole (101).

5. In claim 1, A wiring structure of an SMA spring used in an actuator, characterized in that the above SMA spring is wound in a state in which it is coupled to a base support (100) while being in contact with one side of the outer surface of the base support (100).

6. In claim 1, The above additional support (200) includes a through hole (201), A wiring structure of an SMA spring used in an actuator, characterized in that the SMA spring is connected to an additional support (200) by penetrating a through hole (201).

7. In claim 1, A wiring structure of an SMA spring used in an actuator, characterized in that the above SMA spring is wound in a state in which it is coupled to an additional support (200) while being in contact with one side of the outer surface of at least one additional support (200).

8. In claim 1, The above base support (100) is A wiring structure of an SMA spring used in an actuator, characterized in that it includes a hollow (102) that penetrates upward and downward on one side of the center.

9. In claim 1, The above additional support (200) is Has at least one number, A wiring structure of an SMA spring used in an actuator, characterized in that the SMA spring is wound along the outer surface of an additional support (200) so that the additional support (200) is adjacent to the base support (100).

10. In claim 9, A wiring structure of an SMA spring used in an actuator, characterized in that when the number of the above additional supports (200) exceeds one, a plurality of additional supports (200) are stacked and placed adjacent to each other, and then the SMA spring is wound.

11. In claim 9 or 10, It further includes a 'ㄷ' shaped coupling pin (300), The above coupling pin (300) is One side penetrates the hollow (102) of the base support (100) and comes into contact with one surface of the base support (100) and the additional support (200), By combining the other side so that it is in contact with the other side of the base support (100) and the additional support (200), A wiring structure of an SMA spring used in an actuator, characterized by combining a base support (100) and an additional support (200).

12. In claim 8, It further includes a 'ㄷ' shaped coupling pin (300), The above coupling pin (300) is One side penetrates the hollow (102) of the base support (100) and comes into contact with one surface of the base support (100), By being joined so that the other side is in contact with the other side of the base support (100), A wiring structure of an SMA spring used in an actuator, characterized by fixing an SMA spring coupled to a base support (100).

13. In claim 1, It further includes a 'ㄷ' shaped coupling pin (300), The above coupling pin (300) is One side is in contact with one surface of the above additional support (200), By being joined so that the other side is in contact with the other side of the additional support (200), A wiring structure of an SMA spring used in an actuator, characterized by fixing an SMA spring coupled to an additional support (200).

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