Intelligent assembling device based on intelligent materials

Abstract

The invention provides an intelligent assembling device based on intelligent materials, and relates to the technical field of truss assembly.The device comprises an assembling connector mechanism and a control mechanism, the assembling connector mechanism comprises a connector shell, a rod piece gripper, a spring, a micro-motion triggering piece and a gripper limiting assembly, and the gripper limiting assembly is arranged on a rear cover of the connector shell; the rod piece gripper is embedded in the connector shell, the interior of the gripping end of the rod piece gripper is hollow, faces the truss rod piece and is provided with an opening, a first groove is formed in the side, away from the truss rod piece, of the embedding end of the rod piece gripper, and the spring is arranged in the first groove in a pressed mode; the micro-motion triggering piece is connected with the control mechanism; the control mechanism outputs a first signal to the gripper limiting assembly so that the rod piece gripper can stretch out of the connector shell through the spring, the outer surface of the gripping end of the rod piece gripper is sleeved with a shape memory alloy ring, and the control mechanism is further used for outputting a second signal to the shape memory alloy ring so that the rod piece gripper can grip the truss rod piece. The device provided by the invention has flexibility and lower cost.

Description

Technical Field

[0001] The present invention relates to the technical field of truss assembly, and in particular to an intelligent assembly device based on intelligent materials. Background Art

[0002] With the continuous development of industrial automation technology, truss assembly is gradually moving towards automation. Automated truss assembly can significantly improve production efficiency, reduce labor costs, and improve assembly accuracy. This technology is particularly important in the manufacturing industry, especially in the fields of construction, aerospace, and automobile manufacturing, where truss structures are widely used due to their high strength and stability.

[0003] In the prior art, various types of robots, such as industrial robots, welding robots, and modular robots, are mainly used for cross-frame assembly, which can perform automated assembly, significantly improve production efficiency, reduce labor costs, and improve assembly accuracy. However, this requires the use of robots, automated production lines, sensors, and control equipment under automated assembly systems. These devices are usually expensive and costly. In extreme environments, such as high temperature, high humidity, dust, or harsh environments such as the ocean, the performance of these devices will be limited and require additional protection measures, which increases the complexity of the system and further increases costs. In addition, automated assembly systems are usually optimized for specific truss designs. If the truss design changes, the system may need to reprogram or adjust the equipment. This adjustment process is complex and time-consuming, and has low adaptability and flexibility. Summary of the invention

[0004] The present invention aims to solve at least one of the above problems.

[0005] In order to solve the above problems, the present invention provides an intelligent assembly device based on intelligent materials, including an assembly joint mechanism and a control mechanism, wherein the assembly joint mechanism includes a joint shell, a rod gripper, a spring, a micro-trigger and a gripper limit assembly, wherein the joint shell includes a shell body with openings at both ends and a back cover installed at an opening at one end of the shell body, and the back cover of the joint shell is connected to the control mechanism; the gripper limit assembly is arranged on the back cover of the joint shell, the embedded end of the rod gripper is located in the shell body and is clamped with the gripper limit assembly, the rod gripper is hollow inside, and an opening is provided at its gripping end for gripping a truss rod, a first groove is provided on the end surface of the embedded end of the rod gripper, and the spring is pressed in the first groove; a through hole is provided at the embedded end of the rod gripper and the axis of the back cover of the joint shell, and the micro-trigger is inserted into the rod gripper from the gripping end of the rod gripper, and passes through the two through holes in sequence to be connected to the control mechanism;

[0006] The control mechanism is used to output a first signal to the gripper limit assembly when the micro-trigger is triggered, and the gripper limit assembly is separated from the rod gripper according to the first signal, so that the rod gripper extends out of the joint housing under the elastic force of the spring, and a shape memory alloy ring is provided on the gripping end outer sleeve of the rod gripper, and the shape memory alloy ring is made of shape memory alloy. The control mechanism is also used to output a second signal to the shape memory alloy ring, and the shape memory alloy ring contracts according to the second signal, so that the rod gripper grips the truss rod.

[0007] Optionally, the gripper limit assembly includes a gripper limiter, a shape memory locking hook and a tension spring, the gripper limiter is fixed on the rear cover of the connector shell and rotates based on a fixed point, one end of the gripper limiter is arranged inside the connector shell and is clamped with the embedded end of the rod gripper, so that the rod gripper compresses the spring and enters a retracted state, the other end of the gripper limiter is arranged outside the connector shell and is connected to a first protruding column on the surface of the connector shell through the tension spring, and is connected to a second protruding column on the surface of the connector shell through the shape memory locking hook, the shape memory locking hook is made of the shape memory alloy, the shape memory locking hook is used to stretch and deform according to the second signal to disconnect from the second protruding column, and the tension spring is used to drive the gripper limiter to rotate to separate from the rod gripper after the shape memory locking hook is disconnected from the second protruding column, so that the rod gripper enters a released state.

[0008] Optionally, a third protruding column is provided in the first groove, the spring is sleeved on the third protruding column, a clamping groove is provided on the side wall of the third protruding column, and one end of the gripper limiter is clamped in the clamping groove.

[0009] Optionally, the embedded end of the rod gripper is provided with a pop-up limit piece that can pop out along its radial direction, and the inner wall of the joint shell at one end away from the rear cover is provided with a pop-up limit hole, and the pop-up limit piece is used to pop out when passing through the pop-up limit hole and abut against the hole wall of the pop-up limit hole.

[0010] Optionally, the rear cover of the joint housing is provided with an e-shaped retaining spring around the circumference of the through hole, and a second groove is circumferentially opened at one end of the micro-trigger extending out of the through hole, and the e-shaped retaining spring is engaged with the second groove.

[0011] Optionally, the gripping end of the rod gripper is connected to a gripper interface through a mortise and tenon joint, and an inner diameter of the gripper interface gradually increases in a direction away from the embedding end.

[0012] Optionally, the control mechanism includes a microswitch assembly and a circuit control assembly, the microswitch assembly includes a switch housing and a microswitch block, the switch housing and the microswitch block are both cubic structures, and the microswitch block is arranged in the switch housing, a microswitch is provided in the microswitch block, the microswitch is electrically connected to the circuit control assembly, at least one surface of the switch housing is connected to the base of the connector housing, and a shell body of the switch housing connected to the back cover of the connector housing is provided with a first connecting hole, the microswitch block is provided with a second connecting hole corresponding to the first connecting hole, the microswitch is connected to the microtrigger component through the first connecting hole and the second connecting hole, and the number of the microswitches corresponds one-to-one to the number of the microtrigger components.

[0013] Optionally, the circuit control component includes a circuit housing, a control circuit board and a power supply, the switch housing is arranged on the circuit housing, the circuit housing is a rectangular structure, and a power supply cavity is arranged inside, the power supply is arranged in the power supply cavity, and a cover plate is provided at the opening of the power supply cavity, the cover plate is detachably connected to the circuit housing, a third groove is provided at one end of the circuit housing, the control circuit board is arranged in the third groove, and the control circuit board is respectively connected to the power supply and the micro switch block.

[0014] Optionally, the micro-trigger includes a trigger plate and a trigger rod, the diameter of the trigger plate is slightly smaller than the inner diameter of the gripping end of the rod gripper, the trigger rod is arranged at the axis of the trigger plate and is perpendicular to the trigger plate, the trigger rod is inserted from the gripping end of the rod gripper, and passes through the two through holes in sequence to be connected to the control mechanism.

[0015] Optionally, the shape memory alloy includes one or a combination of thermally responsive materials, conductive enhanced phase materials, nanoparticle materials, radio frequency sensitive particle materials and light sensitive materials.

[0016] The beneficial effects of the intelligent assembly device based on intelligent materials of the present invention are:

[0017] By setting the grip limit assembly at one end of the joint shell, and the grip limit assembly is clamped with the embedded end of the rod gripper, the rod gripper can be embedded in the joint shell to protect the rod gripper from the external environment, without the need for additional protective measures, thereby reducing costs. The grip limit assembly presses the spring into the first groove, and the end of the joint shell away from the rear cover and the gripping end of the rod gripper are both facing the truss rod and provided with an opening. Then, when the grip limit assembly releases the limiting effect on the spring, the elastic force provided by the spring to the rod gripper can make the rod gripper extend outward from the inside of the joint shell, so that the gripping end of the rod gripper approaches and surrounds the truss rod, so as to facilitate the subsequent gripping of the truss rod. Then, the micro-trigger is inserted from the gripping end of the rod gripper, and sequentially passes through the through holes to connect with the control mechanism, so that the trigger signal can be generated more conveniently, and on the basis of realizing direct connection with the control mechanism and immediately feeding back the trigger signal to the control mechanism, it can also save the space of the overall device and reduce the structural materials of the device, thereby further reducing costs. When assembling the truss, it is only necessary to insert one end of the truss rod into the gripping end of the rod gripper and touch the micro-motion trigger. The micro-motion trigger will immediately transmit the trigger signal to the control mechanism, and the control mechanism will then output a first signal to the gripper limit assembly to separate the gripper limit assembly from the rod gripper, and at the same time release the restriction on the compression state of the spring. At this time, the spring is converted from a compressed state to an extended state, providing elastic force to the embedded end of the rod gripper, so that the rod gripper can extend outward from the inside of the joint shell, so that one end of the truss rod is completely entered into the rod gripper. At this time, the control mechanism outputs a second signal to the shape memory alloy ring sleeved on the outer surface of the gripping end of the rod gripper. Since the shape memory alloy ring is made of shape memory alloy, it shrinks according to the second signal until the rod gripper tightly grasps the truss rod. Since the rod gripper is hollow inside and has an opening, and the truss assembly is completed by continuously shrinking the shape memory alloy ring, the device can adapt to truss rods of different sizes without the need for redesign, thereby increasing the flexibility and adaptability of the device. In addition, the intelligent assembly device of the present invention does not require matching robots, automated production lines, sensors and control equipment, which can greatly reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 One of the structural schematic diagrams of the intelligent assembly device based on intelligent materials provided in an embodiment of the present invention;

[0019] Figure 2 A second structural schematic diagram of an intelligent assembly device based on intelligent materials provided in an embodiment of the present invention;

[0020] Figure 3 A third structural schematic diagram of an intelligent assembly device based on intelligent materials provided in an embodiment of the present invention;

[0021] Figure 4 One of the structural schematic diagrams of the assembly joint mechanism provided by an embodiment of the present invention;

[0022] Figure 5 A second structural schematic diagram of the assembly joint mechanism provided by an embodiment of the present invention;

[0023] Figure 6 A third structural schematic diagram of an assembly joint mechanism provided by an embodiment of the present invention;

[0024] Figure 7 A fourth structural schematic diagram of an assembly joint mechanism provided by an embodiment of the present invention;

[0025] Figure 8 One of the structural schematic diagrams of the rod gripper provided in an embodiment of the present invention;

[0026] Fig. 9 A second structural schematic diagram of a rod gripper provided in an embodiment of the present invention;

[0027] Fig.10 One of the structural schematic diagrams of the rod gripper in the retracted state provided by the embodiment of the present invention;

[0028] Fig.11 The second structural schematic diagram of the rod gripper in the retracted state provided by the embodiment of the present invention;

[0029] Fig.12 The third structural schematic diagram of the rod gripper in the retracted state provided by the embodiment of the present invention;

[0030] Fig.13 One of the structural schematic diagrams of the rod gripper release state provided by an embodiment of the present invention;

[0031] Fig.14 The second structural schematic diagram of the rod gripper in the released state provided by the embodiment of the present invention;

[0032] Fig.15 The third structural schematic diagram of the rod gripper in the released state provided by the embodiment of the present invention;

[0033] Fig.16 A fourth structural schematic diagram of a rod gripper in a released state provided by an embodiment of the present invention;

[0034] Fig.17 One of the structural schematic diagrams of the control mechanism provided by the embodiment of the present invention;

[0035] Fig.18 A schematic diagram of the structure of a circuit control component provided by an embodiment of the present invention;

[0036] Fig.19 A second structural diagram of a control mechanism provided by an embodiment of the present invention;

[0037] Fig. 20 A schematic structural diagram of a micro switch provided in an embodiment of the present invention.

[0038] Description of reference numerals:

[0039] 1. Assembly joint mechanism; 11. Joint housing; 111. First protruding column; 112. Second protruding column; 113. Pop-up limit hole; 114. E-shaped retaining spring; 12. Rod gripper; 121. Third protruding column; 122. Pop-up limit member; 123. Gripper interface; 13. Spring; 14. Micro-trigger; 15. Gripper limit assembly; 151. Gripper limit member; 152. Shape memory locking hook; 153. Tension spring; 16. Shape memory alloy ring; 2. Control mechanism; 21. Micro switch assembly; 211. Switch housing; 212. Micro switch block; 213. Micro switch; 22. Circuit control assembly; 221. Circuit housing; 222. Control circuit board; 223. Power supply; 224. Cover plate; 3. Truss rod. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0041] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0042] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0043] In view of the problems existing in the above-mentioned related technologies, such as Figures 1 to 3As shown, an intelligent assembly device based on intelligent materials provided by an embodiment of the present invention includes an assembly joint mechanism 1 and a control mechanism 2, wherein the assembly joint mechanism 1 includes a joint housing 11, a rod gripper 12, a spring 13, a micro-trigger 14 and a gripper limit assembly 15, wherein the joint housing 11 includes a shell body with openings at both ends and a back cover installed at an opening at one end of the shell body, and the back cover of the joint housing 11 is connected to the control mechanism 2; the gripper limit assembly 15 is arranged on the back cover of the joint housing 11, and the embedded end of the rod gripper 12 is Located in the shell body and clamped with the gripper limit assembly 15, the rod gripper 12 is hollow inside, and its gripping end is provided with an opening for gripping the truss rod 3, and the end surface of the embedded end of the rod gripper 12 is provided with a first groove, and the spring 13 is pressed in the first groove; the embedded end of the rod gripper 12 and the axis of the rear cover of the joint shell 11 are both provided with through holes, and the micro-trigger 14 is inserted into the rod gripper 12 from the gripping end of the rod gripper 12, and sequentially passes through the two through holes respectively, and is connected with the control mechanism 2;

[0044] The control mechanism 2 is used to output a first signal to the gripper limit assembly 15 when the micro-trigger 14 is triggered, and the gripper limit assembly 15 is separated from the rod gripper 12 according to the first signal, so that the rod gripper 12 extends out from the joint housing 11 under the elastic force of the spring 13, and a shape memory alloy ring 16 is provided on the gripping end sleeve of the rod gripper 12, and the shape memory alloy ring 16 is made of shape memory alloy. The control mechanism 2 is also used to output a second signal to the shape memory alloy ring 16, and the shape memory alloy ring 16 contracts according to the second signal, so that the rod gripper 12 grips the truss rod 3.

[0045] Specifically, Figures 4 to 7As shown, the device includes an assembly joint mechanism 1 and a control mechanism 2. The assembly joint mechanism 1 includes a joint housing 11, a rod gripper 12, a spring 13, a micro-trigger 14, and a gripper stop assembly 15. The body of the joint housing 11 is fixed to the rear cover of the joint housing 11. The rear cover of the joint housing 11 is connected to the control mechanism 2. The body of the joint housing 11 is hollow inside, and one end is open for being arranged toward the truss rod 3. The body of the joint housing 11 is used to accommodate the rod gripper 12, the spring 13, and the micro-trigger 14. The gripper stop assembly 15 is arranged on the rear cover of the joint housing 11, and when the embedded end of the rod gripper 12 is close to the rear cover of the joint housing 11, the gripper stop assembly 15 is clamped with the embedded end of the rod gripper 12, so that the rod gripper 12 is embedded in the joint housing 11. The rod gripper 12 is hollow inside, and its gripping end faces the truss rod 3 and is provided with an opening to facilitate the insertion of the truss rod 3. A first groove is provided on the end face of the embedded end of the rod gripper 12. When the embedded end of the rod gripper 12 is close to the back cover of the joint housing 11, the spring 13 is compressed and accommodated in the first groove. At the same time, the gripper limit assembly 15 is clamped with the embedded end of the rod gripper 12, so that the rod gripper 12 is embedded in the joint housing 11 and is subjected to the elastic force from the spring 13, so that the subsequent rod can be ejected from the joint housing 11. Through holes are provided at the embedded end of the rod gripper 12 and the axis of the rear cover of the joint housing 11. The micro-trigger 14 is inserted into the rod gripper 12 from the gripping end of the rod gripper 12, and sequentially passes through the through holes on the embedded end and the rear cover to connect with the control mechanism 2. Since the micro-trigger 14 is directly connected to the control mechanism 2, after the truss rod 3 triggers the micro-trigger 14, the micro-trigger 14 can immediately transmit the trigger signal to the control mechanism 2, thereby improving the response speed of the device. When the micro-trigger 14 is triggered, the control mechanism 2 receives the trigger signal and outputs a first signal to the gripper limit assembly 15. The gripper limit assembly 15 is separated from the rod gripper 12 according to the first signal, so that the rod gripper 12 is pushed out of the joint housing 11 by the elastic force of the spring 13. Since the outer surface of the gripping end of the rod gripper 12 is sleeved with a shape memory alloy ring 16, and the shape memory alloy ring 16 is made of shape memory alloy, the shape memory alloy will deform when subjected to specified stimulation, such as thermal stimulation, electrical stimulation, solution stimulation, magnetic stimulation, radio frequency stimulation, microwave stimulation, light stimulation or combined stimulation, so the shape memory alloy ring 16 can contract after receiving the second signal from the control mechanism 2, so that the rod gripper 12 can grip the truss rod 3.

[0046] For example, Figure 5As shown, the opening of the gripping end of the rod gripper 12 is circumferentially spaced with buffer grooves, and the gripping end of the rod gripper 12 can be circumferentially separated into a plurality of jaws through the buffer grooves. When the shape memory alloy ring 16 is compressed, the plurality of jaws are squeezed to grip the rod, thereby reducing stress concentration and increasing the practicality of the device.

[0047] In this embodiment, the grip limit assembly 15 is disposed at one end of the joint housing 11, and the grip limit assembly 15 is clamped with the embedded end of the rod gripper 12, so that the rod gripper 12 can be embedded in the joint housing 11 to protect the rod gripper 12 from the external environment, and no additional protective measures are required, thereby reducing costs. The spring 13 is pressed into the first groove by the grip limit assembly 15, and the gripping ends of the joint housing 11 and the rod gripper 12 are both facing the truss rod 3 and open. When the grip limit assembly 15 releases the limiting effect on the spring 13, the spring 13 provides elastic force to the rod gripper 12, so that the rod gripper 12 extends outward from the inside of the joint housing 11 under the action of the reaction force, so that the multiple clamping claws at the gripping end of the rod gripper approach and surround the truss rod, so that the subsequent multiple clamping claws can grasp the truss rod 3. Then, the micro-trigger 14 is inserted from the gripping end of the rod gripper 12, and passes through the through holes in sequence to connect with the control mechanism 2. This makes it easier to generate a trigger signal. In addition, the space of the entire device can be saved and the structural materials of the device can be reduced on the basis of directly connecting with the control mechanism 2 and immediately feeding back the trigger signal to the control mechanism 2, thereby further reducing the cost. When assembling the truss, it is only necessary to insert one end of the truss rod 3 into the gripping end of the rod gripper 12 and touch the micro-trigger 14. The micro-trigger 14 will immediately transmit the trigger signal to the control mechanism 2. The control mechanism 2 will then output a first signal to the gripper limit assembly 15, so that the gripper limit assembly 15 is separated from the rod gripper 12, and at the same time, the restriction on the compression state of the spring 13 is released. At this time, the spring 13 is converted from a compressed state to an extended state, providing an elastic force to the embedded end of the rod gripper 12, so that the rod gripper 12 can be extended outward from the inside of the joint housing 11, thereby making the truss One end of the rod 3 is completely inserted into the rod gripper 12. At this time, the control mechanism 2 outputs a second signal to the shape memory alloy ring 16 sleeved on the outer surface of the gripping end of the rod gripper 12. Since the shape memory alloy ring 16 is made of shape memory alloy, it shrinks according to the second signal until the rod gripper 12 tightly grasps the truss rod 3. Since the rod gripper 12 is hollow inside and has an opening, the truss assembly is completed by the continuous shrinkage of the shape memory alloy ring 16, so that the device can adapt to truss rods 3 of different sizes without redesign, which increases the flexibility and adaptability of the device. In addition, the intelligent assembly device of the present invention does not require matching robots, automated production lines, sensors and control equipment, which can greatly reduce costs.

[0048] Optionally, the gripper limit assembly 15 includes a gripper limiter 151, a shape memory locking hook 152 and a tension spring 153, wherein the gripper limiter 151 is fixed to the rear cover of the joint housing 11 and rotates based on a fixed point, and one end of the gripper limiter 151 is arranged inside the joint housing 11 and is clamped with the embedded end of the rod gripper 12, so that the rod gripper 12 compresses the spring 13 and enters a retracted state, and the other end of the gripper limiter 151 is arranged outside the joint housing 11 and is clamped with a first convex portion on the surface of the joint housing 11 through the tension spring 153. The shape memory locking hook 152 is made of the shape memory alloy, and the shape memory locking hook 152 is used to stretch and deform according to the second signal to disconnect from the second protruding column 112. The tension spring (153) is used to drive the gripper limit member 151 to rotate to separate from the rod gripper 12 after the shape memory locking hook 152 is disconnected from the second protruding column 112, so that the rod gripper 12 enters a released state.

[0049] Specifically, Figures 5 to 7 As shown, the gripper limit assembly 15 includes a gripper limiter 151, a shape memory locking hook 152 and a tension spring 153. The gripper limiter 151 is fixed on the back cover of the joint housing 11 and rotates based on a fixed point. The back cover of the joint housing 11 is provided with a slide groove at the edge where the gripper limiter 151 intersects, so that the gripper limiter 151 can rotate based on a fixed point. One end of the gripper limiter 151 is arranged inside the joint housing 11. When the embedded end of the rod gripper 12 is close to the back cover of the joint housing 11, it is engaged with the embedded end of the rod gripper 12, and at the same time, the rod gripper 12 compresses the spring 13 and enters a retracted state. The other end of the gripper limiter 151 is arranged outside the joint housing 11. When engaged with the embedded end of the rod gripper 12, as shown in FIG. Figure 6 , Figures 10 to 12As shown, the gripper limiter 151 is connected to the first protruding column 111 on the surface of the joint shell 11 through a tension spring 153, and is connected to the second protruding column 112 on the surface of the joint shell 11 through a shape memory locking hook 152. The first protruding column 111 and the second protruding column 112 are both vertically arranged, and the first protruding column 111 is located on one side of the separation direction of the gripper limiter 151 and the rod gripper 12 in the vertical section. At this time, the tension spring 153 is in a stretched state, and the shape memory locking hook 152 is in a hooked state, thereby maintaining the gripper limiter 151 and the embedded end clamping state of the rod gripper 12, and the rod gripper 12 is restricted in the joint shell 11. Since the shape memory locking hook 152 is made of shape memory alloy, after the shape memory alloy is shaped, the shape memory locking hook 152 can be made. When not subjected to a specified stimulus, the shape memory locking hook 152 remains in a locked state, thereby maintaining the engagement state between the gripper stopper 151 and the embedded end of the rod gripper 12, and then the retracted state of the position rod gripper 12. After receiving the second signal, the shape memory locking hook 152 is subjected to a specified stimulus, such as thermal stimulus, electrical stimulus, solution stimulus, magnetic stimulus, radio frequency stimulus, microwave stimulus, light stimulus, and combined stimulus, and is transformed from a locked state to a straight plate extension state, and is disconnected from the second protruding column 112, such as Figures 13 to 16 As shown, at this time, the tension spring 153 enters a tightened state from a stretched state and generates tension. Under the tension of the tension spring 153, the other end of the gripper limiter 151 is pulled toward the first protruding column 111. At the same time, the gripper limiter 151 rotates based on the fixed point, so that one end of the gripper limiter 151 is away from the slot, so that the gripper limiter 151 is separated from the rod gripper 12, and the rod gripper 12 enters a released state and extends out from the inside of the joint housing 11.

[0050] In one embodiment, the shape memory alloy needs to be shaped to obtain the shape memory locking hook 152, and the shaping step includes:

[0051] Under external stimulation, the temperature of the shape memory alloy is heated to above the glass transition temperature, and then a load is applied to make it reach the target configuration; the temperature is then lowered to the glass transition temperature, and the shape memory alloy can be maintained in the temporary configuration and can independently withstand the external load, thereby realizing the shaping of the structure and obtaining the shape memory locking hook 152.

[0052] Optionally, a third protruding column 121 is provided in the first groove, the spring (13) is sleeved on the third protruding column (121), a slot is provided on the side wall of the third protruding column 121, and one end of the gripper limiter 151 is engaged with the slot.

[0053] Specifically, Figures 8 to 10As shown, a third protruding column 121 is provided along the circumference of the through hole at one end of the embedded end of the rod gripper 12 away from the truss rod 3, that is, a third protruding column 121 is provided in the first groove, and a card slot is provided on the column body of the third protruding column 121 at one end close to the rear cover of the joint shell 11, that is, a card slot is provided on the side wall of the third protruding column 121, and one end of the gripper limiter 151 is hook-shaped, and the hook head is engaged with the card slot, so that the rod gripper 12 is embedded in the joint shell 11. At this time, the hook body abuts against the spring 13, so that the spring 13 is pressed between the groove wall of the first groove and the third protruding column 121, and the rod gripper 12 enters a retracted state.

[0054] Optionally, the embedded end of the rod gripper 12 is provided with a pop-up limit piece 122 which can pop out along its radial direction, and the inner wall of the joint shell 11 at one end away from the rear cover is provided with a pop-up limit hole 113, and the pop-up limit piece 122 is used to pop out when passing through the pop-up limit hole 113 and abut against the hole wall of the pop-up limit hole 113.

[0055] Specifically, Figure 8 As shown, the embedded end of the rod gripper 12 is circumferentially provided with a pop-up limiting member 122 that can be popped out in its radial direction near one end of the truss rod 3, and the inner side wall of the joint housing 11 away from the rear cover is provided with a pop-up limiting hole 113, and the embedded end of the rod gripper 12 is circumferentially provided with a mounting hole, and the pop-up limiting member 122 is located in the mounting hole, and an elastic member is provided at the bottom of the pop-up limiting member 122 to provide elastic force. When the rod gripper 12 is in the retracted state, the pop-up limiting member 122 abuts against the shell body of the joint housing 11, that is, the pop-up limiting member 113 is in the position of the pop-up limiting member 113. 22 is pressed in the mounting hole. After the rod gripper 12 enters the released state, the rod gripper 12 pops outward, and the pop-up limiting member 122 moves along with the rod gripper 12. When the pop-up limiting member 122 passes through the pop-up limiting hole 113, the pop-up limiting member 122 pops out through the elastic member at the bottom, and a part of the pop-up limiting member 122 abuts against the hole wall of the pop-up limiting hole 113, and the other part abuts against the mounting hole, thereby realizing the pop-up limiting of the rod gripper 12 and preventing the rod gripper 12 from completely separating from the joint housing 11.

[0056] Optionally, the rear cover of the joint housing 11 is provided with an e-shaped retaining spring 114 around the circumference of the through hole, and a second groove is circumferentially opened at one end of the micro-trigger 14 extending out of the through hole, and the e-shaped retaining spring 114 is engaged with the second groove.

[0057] Specifically, Figures 5 to 7 As shown, the rear cover of the joint housing 11 is provided with an E-shaped retaining spring 114 around the circumference of the through hole, and a second groove is circumferentially opened at one end of the micro-trigger 14 extending out of the through hole, and the E-shaped retaining spring 114 is engaged with the second groove to prevent the micro-trigger 14 from slipping out of the through hole.

[0058] Optionally, the gripping end of the rod gripper 12 is connected to a gripper interface 123 by a mortise and tenon joint, and the inner diameter of the gripper interface 123 gradually increases in a direction away from the embedding end.

[0059] Specifically, Figure 8 and Fig. 9 As shown, the gripping end of the rod gripper 12 is connected to a gripper interface 123 by a mortise and tenon joint. The gripper interface 123 is in a "trumpet" shape, and the inner diameter of the gripper interface 123 gradually increases in the direction away from the embedded end to increase the contact area with the truss rod 3, expand the assembly error, and make it easier to align the end of the truss rod 3 with the rod gripper 12.

[0060] Optionally, the control mechanism 2 includes a micro-switch assembly 21 and a circuit control assembly 22, the micro-switch assembly 21 includes a switch housing 211 and a micro-switch block 212, the switch housing 211 and the micro-switch block 212 are both cubic structures, and the micro-switch block 212 is arranged in the switch housing 211, a micro-switch 213 is arranged in the micro-switch block 212, the micro-switch 213 is electrically connected to the circuit control assembly 22, at least one surface of the switch housing 211 is connected to the base of the connector housing 11, and a shell body of the switch housing 211 connected to the back cover of the connector housing 11 is provided with a first connecting hole, the micro-switch block 212 is provided with a second connecting hole corresponding to the first connecting hole, the micro-switch 213 is connected to the micro-trigger 14 through the first connecting hole and the second connecting hole, and the number of the micro-switches 213 corresponds one-to-one to the number of the micro-trigger 14.

[0061] Specifically, Fig.17 , Fig.19 and Fig. 20 As shown, the control mechanism 2 includes a micro switch assembly 21 and a circuit control assembly 22. The micro switch assembly 21 includes a switch housing 211 and a micro switch block 212. The switch housing 211 and the micro switch block 212 are both cubic structures, and the micro switch block 212 is arranged in the switch housing 211. A micro switch 213 is arranged in the micro switch block 212. The micro switch 213 is electrically connected to the circuit control assembly 22. At least one surface of the switch housing 211 is connected to the base of the joint housing 11. Each surface connected to the joint housing 11 is provided with a connection hole for easy connection. The surface shell body of the switch housing 211 connected to the base of the joint housing 11 is provided with a first connection hole. The micro switch block 212 is arranged at a second connection hole corresponding to the first connection hole. The micro switch 213 is connected to the micro trigger member 14 through the first connection hole and the second connection hole. The number of micro switches 213 corresponds to the number of micro trigger members 14.

[0062] Exemplarily, different joint angles and numbers of joints are designed as needed to adapt to different truss connection forms. In the drawings of the embodiments of the present invention, there are four joints.

[0063] Exemplarily, each surface connected to the joint housing 11 is provided with an E-shaped retaining spring hole.

[0064] Optionally, the circuit control component 22 includes a circuit housing 221, a control circuit board 222 and a power supply 223. The switch housing 211 is arranged on the circuit housing 221. The circuit housing 221 is a rectangular structure and has a power supply cavity inside. The power supply 223 is arranged in the power supply cavity, and a cover plate 224 is provided at the opening of the power supply cavity. The cover plate 224 is detachably connected to the circuit housing 221. A third groove is provided at one end of the circuit housing 221. The control circuit board 222 is arranged in the third groove. The control circuit board 222 is respectively connected to the power supply 223 and the micro switch block 212.

[0065] Specifically, Fig.18 and Fig.19 As shown, the circuit control component 22 includes a circuit housing 221, a control circuit board 222 and a power supply 223. The switch housing 211 is arranged on the circuit housing 221. The circuit housing 221 is a rectangular structure and has a power supply cavity inside. The power supply 223 is arranged in the power supply cavity and fixed with a cover plate 224. A third groove is arranged at one end of the circuit housing 221. The control circuit board 222 is arranged in the third groove. The control circuit board 222 is respectively connected to the power supply 223 and the micro switch block 212.

[0066] For example, Fig.17 and Fig.19 As shown, a fourth groove is provided on the outer surface of the circuit housing 221 to facilitate the connection between the switch housing 211 and the connector housing 11 .

[0067] Optionally, the micro-trigger 14 includes a trigger plate and a trigger rod, the diameter of the trigger plate is slightly smaller than the inner diameter of the gripping end of the rod gripper 12, the trigger rod is arranged at the axis of the trigger plate and is perpendicular to the trigger plate, the trigger rod is inserted from the gripping end of the rod gripper 12, and passes through the two through holes in sequence to be connected to the control mechanism 2.

[0068] Specifically, Figure 5 and Figure 7As shown, the micro-trigger 14 includes a trigger plate and a trigger rod. The trigger plate is a polygonal structure, and the diameter of the trigger plate is slightly smaller than the inner diameter of the gripping end of the rod gripper 12, so as to increase the contact area between the micro-trigger 14 and the truss rod 3, expand the assembly error, and make it easier for the end of the truss rod 3 to touch the micro-trigger 14. The trigger rod is arranged at the axis of the trigger plate and is perpendicular to the trigger plate. The trigger rod is inserted from the gripping end of the rod gripper 12 and passes through the two through holes in sequence, so as to be directly connected to the control mechanism 2.

[0069] Optionally, the shape memory alloy includes one or a combination of thermally responsive materials, conductive enhanced phase materials, nanoparticle materials, radio frequency sensitive particle materials and light sensitive materials.

[0070] Specifically, the shape memory alloy includes one or more combinations of thermal response materials, conductive reinforcement phase materials, nanoparticle materials, radio frequency sensitive particle materials, and light sensitive materials. When the shape memory alloy includes thermal response materials, thermal drive is adopted, and a resistive heater is attached to the lower surface of the shape memory locking hook 152 or the shape memory alloy ring 16, or an external heat source is used for heating; when the shape memory alloy includes one or more conductive reinforcement phase materials such as single-walled and multi-walled carbon nanotubes, graphene, carbon black, carbon nanopaper, carbon nanofibers, chopped carbon fibers, continuous carbon fibers, or mixed particle fillings, an electric drive method is adopted, and an external power supply is connected to the above materials to form a loop; when the shape memory alloy includes nanoparticle materials such as carbon nanotubes, graphene oxide, and silicon carbide, a microwave drive method is adopted; when the shape memory alloy includes radio frequency sensitive particle materials such as carbon nanotubes, a radio frequency drive method is adopted; when the shape memory alloy includes light sensitive materials, a light drive method is adopted; when the shape memory alloy includes one or more material combinations, one or more of the above drive methods are adopted.

[0071] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An intelligent assembly device based on intelligent materials, characterized in that: The invention comprises an assembly joint mechanism (1) and a control mechanism (2); the assembly joint mechanism (1) comprises a joint housing (11), a rod gripper (12), a spring (13), a micro-motion trigger (14) and a gripper limit assembly (15); the joint housing (11) comprises a shell body with openings at both ends and a back cover installed at an opening at one end of the shell body; the back cover of the joint housing (11) is connected to the control mechanism (2); the gripper limit assembly (15) is arranged on the back cover of the joint housing (11); the embedded end of the rod gripper (12) is located in the shell body and is connected to the control mechanism (2); The gripper limit assembly 15 is clamped, the rod gripper (12) is hollow inside, and its gripping end is provided with an opening for gripping the truss rod (3), the end surface of the embedded end of the rod gripper (12) is provided with a first groove, and the spring (13) is pressed into the first groove; the embedded end of the rod gripper (12) and the axis of the rear cover of the joint housing (11) are both provided with through holes, the micro-trigger (14) is inserted into the rod gripper (12) from the gripping end of the rod gripper (12), and sequentially passes through the two through holes respectively, and is connected to the control mechanism (2); The control mechanism (2) is used to output a first signal to the gripper limit assembly (15) when the micro-trigger (14) is triggered, and the gripper limit assembly (15) is separated from the rod gripper (12) according to the first signal, so that the rod gripper (12) extends out from the joint housing (11) under the elastic force of the spring (13), and the gripping end of the rod gripper (12) is provided with a shape memory alloy ring (16) made of shape memory alloy. The control mechanism (2) is also used to output a second signal to the shape memory alloy ring (16), and the shape memory alloy ring (16) contracts according to the second signal, so that the rod gripper (12) grips the truss rod (3).

2. The intelligent assembly device based on intelligent materials according to claim 1, characterized in that: The gripper limit assembly (15) comprises a gripper limiter (151), a shape memory locking hook (152) and a tension spring (153); the gripper limiter (151) is fixed on the rear cover of the joint housing (11) and rotates based on a fixed point; one end of the gripper limiter (151) is arranged inside the joint housing (11) and is clamped with the embedded end of the rod gripper (12), so that the rod gripper (12) compresses the spring (13) and enters a retracted state; the other end of the gripper limiter (151) is arranged outside the joint housing (11) and is clamped with a first end of the joint housing (11) on the surface of the joint housing (11) through the tension spring (153). The shape memory locking hook (152) is connected to a protruding column (111) and is connected to a second protruding column (112) on the surface of the connector housing (11) through the shape memory locking hook (152), the shape memory locking hook (152) is made of the shape memory alloy, the shape memory locking hook (152) is used to stretch and deform according to the second signal to disconnect from the second protruding column (112), and the tension spring (153) is used to drive the gripper limiter (151) to rotate to separate from the rod gripper (12) after the shape memory locking hook (152) is disconnected from the second protruding column (112), so that the rod gripper (12) enters a released state.

3. The intelligent assembly device based on intelligent materials according to claim 2, characterized in that: A third protruding column (121) is arranged in the first groove, the spring (13) is sleeved on the third protruding column (121), a clamping groove is opened on the side wall of the third protruding column (121), and one end of the gripping limiter (151) is clamped in the clamping groove.

4. The intelligent assembly device based on intelligent materials according to claim 1, characterized in that: The embedded end of the rod gripper (12) is provided with a pop-up limiting member (122) that can be popped out in its radial direction, and the inner side wall of the end of the joint housing (11) away from the rear cover is provided with a pop-up limiting hole (113), and the pop-up limiting member (122) is used to pop out when passing through the pop-up limiting hole (113) and abut against the hole wall of the pop-up limiting hole (113).

5. The intelligent assembly device based on intelligent materials according to claim 1, characterized in that: The rear cover of the joint housing (11) is provided with an E-shaped retaining spring (114) around the circumference of the through hole, and one end of the micro-trigger (14) extending out of the through hole is provided with a second groove in the circumference, and the E-shaped retaining spring (114) is engaged with the second groove.

6. The intelligent assembly device based on intelligent materials according to claim 1, characterized in that: The gripping end of the rod gripper (12) is mortise-and-tenon connected to a gripper interface (123), and the inner diameter of the gripper interface (123) gradually increases in a direction away from the embedding end.

7. The intelligent assembly device based on intelligent materials according to claim 1, characterized in that: The control mechanism (2) comprises a micro switch assembly (21) and a circuit control assembly (22); the micro switch assembly (21) comprises a switch housing (211) and a micro switch block (212); the switch housing (211) and the micro switch block (212) are both cubic structures, and the micro switch block (212) is arranged in the switch housing (211); a micro switch (213) is arranged in the micro switch block (212); the micro switch (213) is electrically connected to the circuit control assembly (22); At least one surface of the switch housing (211) is connected to the base of the connector housing (11), and a shell body of the switch housing (211) connected to the rear cover of the connector housing (11) is provided with a first connection hole, and the micro switch block (212) is provided with a second connection hole corresponding to the first connection hole, and the micro switch (213) is connected to the micro trigger member (14) through the first connection hole and the second connection hole, and the number of the micro switches (213) corresponds to the number of the micro trigger members (14) one by one.

8. The intelligent assembly device based on intelligent materials according to claim 7, characterized in that: The circuit control component (22) comprises a circuit housing (221), a control circuit board (222) and a power supply (223); the switch housing (211) is arranged on the circuit housing (221); the circuit housing (221) is a rectangular parallelepiped structure and is provided with a power supply cavity therein; the power supply (223) is arranged in the power supply cavity; a cover plate (224) is provided at the opening of the power supply cavity; the cover plate (224) is detachably connected to the circuit housing (221); a third groove is provided at one end of the circuit housing (221); the control circuit board (222) is arranged in the third groove; and the control circuit board (222) is respectively connected to the power supply (223) and the micro switch block (212).

9. The intelligent assembly device based on intelligent materials according to claim 1, characterized in that: The micro-motion trigger member (14) comprises a trigger plate and a trigger rod. The diameter of the trigger plate is slightly smaller than the inner diameter of the gripping end of the rod gripper (12). The trigger rod is arranged at the axis of the trigger plate and is perpendicular to the trigger plate. The trigger rod is inserted from the gripping end of the rod gripper (12) and sequentially passes through the two through holes to be connected to the control mechanism (2).

10. The intelligent assembly device based on intelligent materials according to claim 1, characterized in that: The shape memory alloy includes one or a combination of thermal response materials, conductive enhancement phase materials, nano-particle materials, radio frequency sensitive particle materials and light sensitive materials.

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