Intelligent assembly device based on smart material

Abstract

The application provides a smart assembling device based on smart materials, and relates to the technical field of truss assembling, which comprises an assembling joint mechanism and a control mechanism. The assembling joint mechanism comprises a joint shell, a rod piece gripper, a spring, a micro-motion trigger and a gripper limiting assembly. The gripper limiting assembly is arranged on the back cover of the joint shell, the rod piece gripper is embedded in the joint shell, the gripping end of the rod piece gripper is hollow and faces the truss rod piece, and the gripping end is provided with an opening. A first groove is arranged on the side of the embedded end of the rod piece gripper away from the truss rod piece, and the spring is arranged in the first groove. The micro-motion trigger is connected with the control mechanism. The control mechanism outputs a first signal to the gripper limiting assembly, so that the rod piece gripper is stretched out of the joint shell through the spring. The outer surface of the gripping end of the rod piece gripper is sleeved with a shape memory alloy ring. The control mechanism is also used for outputting a second signal to the shape memory alloy ring, so that the rod piece gripper grips the truss rod piece. The device has flexibility and lower cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of truss assembly, in particular to an intelligent assembly device based on intelligent materials. BACKGROUND

[0002] With the continuous development of industrial automation technology, truss assembly gradually develops towards automation. Automated truss assembly can significantly improve production efficiency, reduce labor costs, and improve assembly accuracy. This technology is particularly important in manufacturing, especially in the fields of construction, aerospace, automobile manufacturing, etc., 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 horizontal truss assembly, which can be automatically assembled, significantly improving production efficiency, reducing labor costs, and improving assembly accuracy. However, this requires the use of robots, automated production lines, sensors, and control equipment under the automatic assembly system, which are usually expensive and costly. In extreme environments, such as high temperature, high humidity, dust, or marine environments, the performance of these devices will be limited, and additional protective measures will be required, increasing the complexity of the system and further increasing the cost. In addition, the automated assembly system is usually optimized for specific truss designs. If the truss design changes, the system may need to be reprogrammed or the equipment adjusted, which is a complex and time-consuming process with low adaptability and flexibility. SUMMARY

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

[0005] To solve the above problems, the present application provides an intelligent assembly device based on intelligent materials, comprising an assembly joint mechanism and a control mechanism, the assembly joint mechanism comprising a joint shell, a rod gripper, a spring, a micro-motion trigger, and a gripper limiting assembly, the joint shell comprising a shell body with two open ends and a rear cover mounted at one open end of the shell body, the rear cover of the joint shell being connected to the control mechanism; the gripper limiting assembly is provided on the rear cover of the joint shell, the embedded end of the rod gripper is located in the shell body and is connected with the gripper limiting assembly, the rod gripper is hollow inside, and an opening is provided at the gripping end thereof for gripping the truss rod, a first groove is provided on the end face of the embedded end of the rod gripper, and the spring is pressed into the first groove; the shaft center of the embedded end of the rod gripper and the rear cover of the joint shell are both provided with through holes, the micro-motion trigger is inserted into the rod gripper from the gripping end of the rod gripper and sequentially passes through the two through holes, and is connected with the control mechanism;

[0006] The control mechanism is used to output a first signal to the gripper limiting assembly when the micro-motion trigger is triggered, the gripper limiting assembly is separated from the rod gripper according to the first signal, so that the rod gripper is stretched out of the joint shell under the elastic force of the spring, and the clamping end of the rod gripper is sleeved with a shape memory alloy ring 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 is contracted according to the second signal, so that the rod gripper clamps the truss rod.

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

[0008] Optionally, a third protruding column is arranged in the first groove, the spring is sleeved on the third protruding column, and a clamping groove is arranged in the side wall of the third protruding column, and one end of the gripper limiting piece is connected with the clamping groove.

[0009] Optionally, the embedded end of the rod gripper is provided with a pop-up limiting piece which can pop up along the radial direction thereof, and a pop-up limiting hole is arranged in the inner side wall of the end of the joint shell away from the rear cover, and the pop-up limiting piece is used to pop up when passing through the pop-up limiting hole and abut against the hole wall of the pop-up limiting hole.

[0010] Optionally, an e-shaped clasp spring is arranged on the rear cover of the joint shell around the circumference of the through hole, and a second groove is arranged on the end of the micro-motion trigger which extends out of the through hole around the circumference, and the e-shaped clasp spring is connected with the second groove.

[0011] Optionally, a gripper interface is connected to the clamping end of the rod gripper through a mortise and tenon joint, and the inner diameter of the gripper interface gradually increases away from the embedded end.

[0012] Optionally, the control mechanism comprises a micro switch assembly and a circuit control assembly, the micro switch assembly comprises a switch housing and a micro switch block, the switch housing and the micro switch block are both cubic structures, the micro switch block is arranged in the switch housing, a micro switch is arranged in the micro switch block, the micro switch is electrically connected with the circuit control assembly, at least one surface of the switch housing is connected with the base of the connector housing, the shell body of the switch housing connected with the rear cover of the connector housing is provided with a first connecting hole, the micro switch block is provided with a second connecting hole corresponding to the first connecting hole, the micro switch is connected with the micro trigger through the first connecting hole and the second connecting hole, and the number of the micro switches is one-to-one corresponding to the number of the micro triggers.

[0013] Optionally, the circuit control assembly comprises 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 cuboid structure, and a power supply cavity is arranged in the circuit housing, the power supply is arranged in the power supply cavity, a cover plate is arranged at the opening of the power supply cavity, the cover plate is detachably connected with the circuit housing, one end of the circuit housing is provided with a third recess, the control circuit board is arranged in the third recess, and the control circuit board is connected with the power supply and the micro switch block respectively.

[0014] Optionally, the micro trigger 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, the trigger rod is arranged at the shaft center of the trigger plate and is perpendicular to the trigger plate, the trigger rod is inserted by the gripping end of the rod gripper and sequentially passes through two through holes and is connected with the control mechanism.

[0015] Optionally, the shape memory alloy comprises one or a combination of the following materials: a thermal response material, a conductive reinforcing phase material, a nano-particle material, a radio frequency sensitive particle material and a light sensitive material.

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

[0017] The gripper limiting assembly is arranged at one end of the joint shell, and the gripper limiting assembly is connected with the embedded end of the rod gripper, so that the rod gripper is embedded in the joint shell, the rod gripper is protected from the external environment, no additional protection measures are needed, and thus the cost is reduced. The spring is pressed in the first groove by the gripper limiting assembly, and the end of the joint shell away from the rear cover and the gripping end of the rod gripper are both directed to the truss rod and are provided with openings. Thus, when the gripper limiting 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 out of the joint shell, so that the gripping end of the rod gripper is close to and surrounds the truss rod, so as to facilitate subsequent gripping of the truss rod. The micro-motion trigger is inserted into the gripping end of the rod gripper and sequentially passes through the through hole and is connected with the control mechanism, so that the trigger signal can be generated more conveniently, and on the basis of directly connecting with the control mechanism and immediately feeding back the trigger signal to the control mechanism, the space of the overall device can be saved, the structure material of the device is reduced, and thus the cost is further reduced. When the truss is assembled, only one end of the truss rod is inserted into the gripping end of the rod gripper and touches the micro-motion trigger, and the micro-motion trigger immediately transmits the trigger signal to the control mechanism. The control mechanism outputs a first signal to the gripper limiting assembly, so that the gripper limiting assembly is separated from the rod gripper and the limitation on the compressed state of the spring is released. At this time, the spring changes from the compressed state to the stretched state and provides elastic force to the embedded end of the rod gripper, so that the rod gripper extends out of the joint shell, and thus one end of the truss rod enters 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 grips the truss rod. Since the rod gripper is hollow and provided with an opening and the truss assembly is completed by the continuous contraction of the shape memory alloy ring, the device can adapt to truss rods of different sizes without the need for redesign, and the flexibility and adaptability of the device are increased. In addition, the intelligent assembly device of the application does not need to be matched with robots, automatic production lines, sensors and control equipment, and the cost can be greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Structure schematic view of the intelligent assembly device based on intelligent materials provided by the embodiment of the application;

[0019] Figure 2 Structure schematic view of the intelligent assembly device based on intelligent materials provided by the embodiment of the application;

[0020] Figure 3 Structure schematic view of the intelligent assembly device based on intelligent materials provided by the embodiment of the application;

[0021] Figure 4 Structure diagram of the assembly joint mechanism provided by the embodiment of the present application;

[0022] Figure 5 Structure diagram of the assembly joint mechanism provided by the embodiment of the present application;

[0023] Figure 6 Structure diagram of the assembly joint mechanism provided by the embodiment of the present application;

[0024] Figure 7 Structure diagram of the assembly joint mechanism provided by the embodiment of the present application;

[0025] Figure 8 Structure diagram of the rod gripper provided by the embodiment of the present application;

[0026] Figure 9 Structure diagram of the rod gripper provided by the embodiment of the present application;

[0027] Figure 10 Structure diagram of the rod gripper provided by the embodiment of the present application;

[0028] Figure 11 Structure diagram of the rod gripper provided by the embodiment of the present application;

[0029] Figure 12 Structure diagram of the rod gripper provided by the embodiment of the present application;

[0030] Figure 13 Structure diagram of the rod gripper provided by the embodiment of the present application;

[0031] Figure 14 Structure diagram of the rod gripper provided by the embodiment of the present application;

[0032] Figure 15 Structure diagram of the rod gripper provided by the embodiment of the present application;

[0033] Figure 16 Structure diagram of the rod gripper provided by the embodiment of the present application;

[0034] Figure 17 Structure diagram of the control mechanism provided by the embodiment of the present application;

[0035] Figure 18 Structure diagram of the circuit control assembly provided by the embodiment of the present application;

[0036] Figure 19 Structure diagram of the control mechanism provided by the embodiment of the present application;

[0037] Figure 20 The structural schematic diagram of the micro switch provided by the embodiment of the present application is shown.

[0038] Label explanation:

[0039] 1, assembly joint mechanism; 11, joint shell; 111, first protruding column; 112, second protruding column; 113, ejection limiting hole; 114, e-shaped spring; 12, lever hand; 121, third protruding column; 122, ejection limiting piece; 123, hand interface; 13, spring; 14, micro-motion trigger piece; 15, hand limiting assembly; 151, hand limiting piece; 152, shape memory locking hook; 153, tension spring; 16, shape memory alloy ring; 2, control mechanism; 21, micro switch assembly; 211, switch shell; 212, micro switch block; 213, micro switch; 22, circuit control assembly; 221, circuit shell; 222, control circuit board; 223, power supply; 224, cover plate; 3, truss lever. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purpose, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application 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 make the present application more thorough and complete. It should be understood that the drawings and embodiments of the present application are only for illustrative purposes, and are not intended to limit the scope of protection of the present application.

[0041] The term "comprising" and its variants as used herein are open-ended, that is "including but not limited to"; the term "based on" is "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Related definitions of other terms will be given in the following description. It should be noted that the "first", "second", etc. concepts mentioned in the present application are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0042] It should be noted that the modification of "one" or "multiple" mentioned in the present application is illustrative and not limiting, and those skilled in the art should understand that, unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0043] In view of the problems of the above-mentioned related technologies, such as Figures 1 to 3As shown, the smart assembly device based on smart material provided by the embodiment of the application comprises an assembly joint mechanism 1 and a control mechanism 2. The assembly joint mechanism 1 comprises a joint shell 11, a rod piece gripper 12, a spring 13, a micro-motion trigger 14 and a gripper limiting assembly 15. The joint shell 11 comprises a shell body with two open ends and a rear cover installed at one open end of the shell body. The rear cover of the joint shell 11 is connected with the control mechanism 2. The gripper limiting assembly 15 is arranged on the rear cover of the joint shell 11. The embedded end of the rod piece gripper 12 is located in the shell body and is clamped with the gripper limiting assembly 15. The rod piece gripper 12 is hollow inside, and an opening is arranged at the gripping end thereof for gripping a truss rod piece 3. A first groove is arranged on the end face of the embedded end of the rod piece gripper 12, and the spring 13 is arranged in the first groove. The embedded end of the rod piece gripper 12 and the shaft center of the rear cover of the joint shell 11 are both provided with through holes. The micro-motion trigger 14 is inserted into the rod piece gripper 12 from the gripping end of the rod piece gripper 12 and sequentially passes through the two through holes and is connected with the control mechanism 2.

[0044] The control mechanism 2 is used for outputting a first signal to the gripper limiting assembly 15 when the micro-motion trigger 14 is triggered. The gripper limiting assembly 15 is separated from the rod piece gripper 12 according to the first signal, so that the rod piece gripper 12 is stretched out of the joint shell 11 under the elastic force of the spring 13. The gripping end of the rod piece gripper 12 is sleeved with a shape memory alloy ring 16 made of shape memory alloy. The control mechanism 2 is also used for outputting a second signal to the shape memory alloy ring 16. The shape memory alloy ring 16 is contracted according to the second signal, so that the rod piece gripper 12 grips the truss rod piece 3.

[0045] Specifically, as Figures 4 to 7As shown, the device comprises an assembly joint mechanism 1 and a control mechanism 2, the assembly joint mechanism 1 comprises a joint shell 11, a rod gripper 12, a spring 13, a micro-motion trigger 14 and a gripper limiting assembly 15, the shell body of the joint shell 11 is fixed on the rear cover of the joint shell 11, the rear cover of the joint shell 11 is connected with the control mechanism 2, the shell body of the joint shell 11 is hollow inside and has an open end for being arranged towards the truss rod 3, and the shell body of the joint shell 11 is used for accommodating the rod gripper 12, the spring 13 and the micro-motion trigger 14. The gripper limiting assembly 15 is arranged on the rear cover of the joint shell 11, and when the embedded end of the rod gripper 12 is close to the rear cover of the joint shell 11, the embedded end of the rod gripper 12 is clamped with the gripper limiting assembly 15, so that the rod gripper 12 is embedded in the joint shell 11. The rod gripper 12 is hollow inside, and the gripping end thereof is towards the truss rod 3 and is provided with an opening for inserting the truss rod 3, and a first groove is formed 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 rear cover of the joint shell 11, the spring 13 is compressed and accommodated in the first groove, at the same time, the embedded end of the rod gripper 12 is clamped with the gripper limiting assembly 15, so that the rod gripper 12 is embedded in the joint shell 11 and is subjected to the elastic force from the spring 13, so as to facilitate the subsequent rod to be ejected from the joint shell 11. The embedded end of the rod gripper 12 and the rear cover of the joint shell 11 are both provided with through holes, the micro-motion 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, so as to be connected with the control mechanism 2, since the micro-motion trigger 14 is directly connected with the control mechanism 2, after the truss rod 3 touches the micro-motion trigger 14, the micro-motion trigger 14 can immediately transmit the trigger signal to the control mechanism 2, so as to improve the response speed of the device. When the micro-motion trigger 14 is triggered, the control mechanism 2 receives the trigger signal and outputs a first signal to the gripper limiting assembly 15, the gripper limiting assembly 15 is separated from the rod gripper 12 according to the first signal, so that the rod gripper 12 is stretched out of the joint shell 11 under the pushing of 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 a specified stimulus, for example, heat stimulus, electric stimulus, solution stimulus, magnetic stimulus, radio frequency stimulus, microwave stimulus, light stimulus or combined stimulus, etc., therefore, the shape memory alloy ring 16 can contract after receiving the second signal from the control mechanism 2, so as to make the rod gripper 12 grip the truss rod 3.

[0046] Exemplarily, as Figure 5As shown, the opening of the gripping end of the rod gripper 12 is circumferentially spaced with a buffer groove, and the gripping end of the rod gripper 12 can be divided into multiple clamping jaws along the circumference through the buffer groove. When the shape memory alloy ring 16 is compressed, the multiple clamping jaws are squeezed to grab the rod, which can reduce the stress concentration phenomenon and increase the practicability of the device.

[0047] In this embodiment, the gripper limiting assembly 15 is arranged at one end of the joint shell 11, and the gripper limiting assembly 15 is connected with the embedded end of the rod gripper 12, so that the rod gripper 12 is embedded in the joint shell 11 to protect the rod gripper 12 from the external environment without additional protection measures, thereby reducing the cost. The spring 13 is pressed into the first groove by the gripper limiting assembly 15, and the gripping end of the joint shell 11 and the rod gripper 12 are both open towards the truss rod 3, so that when the gripper limiting assembly 15 releases the limiting action on the spring 13, the spring 13 provides elastic force to the rod gripper 12 to make the rod gripper 12 extend out of the joint shell 11 under the action of the reaction force, so that the multiple clamping jaws of the rod gripper gripping end approach and surround the truss rod, thereby facilitating the subsequent multiple clamping jaws to grip the truss rod 3. Then the micro-motion trigger 14 is inserted into the gripping end of the rod gripper 12 and sequentially passes through the through hole to be connected with the control mechanism 2, so that the trigger signal can be generated more conveniently, and on the basis of realizing direct connection with the control mechanism 2 and immediate feedback of the trigger signal to the control mechanism 2, the space of the overall device can be saved and the structure of the device can be reduced, thereby further reducing the cost. When assembling the truss, only one end of the truss rod 3 needs to be inserted into the gripping end of the rod gripper 12 and touch the micro-motion trigger 14, and the micro-motion trigger 14 will immediately transmit the trigger signal to the control mechanism 2, and the control mechanism 2 will output a first signal to the gripper limiting assembly 15 to separate the gripper limiting assembly 15 from the rod gripper 12, and at the same time, the limitation on the compression state of the spring 13 is released. At this time, the spring 13 changes from the compressed state to the stretched state to provide elastic force to the embedded end of the rod gripper 12, so that the rod gripper 12 extends out of the joint shell 11, thereby making one end of the truss rod 3 enter 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, and the shape memory alloy ring 16 is made of shape memory alloy, so that it shrinks according to the second signal until the rod gripper 12 tightly grips the truss rod 3. Since the rod gripper 12 is hollow and has an opening, and the truss assembly is completed by continuously shrinking the shape memory alloy ring 16, the device can adapt to truss rods 3 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 application does not need to be matched with robots, automatic production lines, sensors and control equipment, which can greatly reduce the cost.

[0048] Optionally, the grip limit assembly 15 includes a grip limiter 151, a shape memory locking hook 152 and a tension spring 153, the grip limiter 151 is fixed to the back cover of the connector shell 11 and rotates based on a fixed point, and one end of the grip limiter 151 is arranged inside the connector shell 11 and is engaged 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 grip limiter 151 is arranged outside the connector shell 11 and is engaged with the first convex portion on the surface of the connector shell 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 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.

[0049] Specifically, if Figures 5 to 7 As shown, the grip limit assembly 15 includes a grip limiter 151, a shape memory locking hook 152 and a tension spring 153. The grip limiter 151 is fixed to 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 it intersects with the grip limiter 151, so that the grip limiter 151 can rotate based on a fixed point. One end of the grip limiter 151 is provided 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 grip limiter 151 is provided 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 handle limiting part 151 is connected with the first protruding column 111 on the surface of the joint shell 11 through the tension spring 153, and is connected with the second protruding column 112 on the surface of the joint shell 11 through the 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 the side of the handle limiting part 151 and the rod handle 12 in the direction of separation in the vertical section. At this time, the tension spring 153 is in the stretched state, and the shape memory locking hook 152 is in the hooked state, so as to maintain the clamping state of the embedded end of the handle limiting part 151 and the rod handle 12, and the rod handle 12 is limited 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 obtained. When the shape memory locking hook 152 is not subjected to a specified stimulus, it remains in the locked state, thereby maintaining the clamping state of the embedded end of the handle limiting part 151 and the rod handle 12, and further maintaining the folding state of the rod handle 12. After receiving a second signal, the shape memory locking hook 152 is subjected to a specified stimulus, for example, a thermal stimulus, an electrical stimulus, a solution stimulus, a magnetic stimulus, a radio frequency stimulus, a microwave stimulus, a light stimulus, and a combined stimulus, etc. The shape memory locking hook 152 is transformed from the locked state to the straight plate stretched state, and is disconnected with the second protruding column 112, as shown in the figure. At this time, the tension spring 153 enters the contracted state from the stretched state and generates a pulling force. Under the action of the pulling force of the tension spring 153, the other end of the handle limiting part 151 is pulled towards the first protruding column 111. At the same time, the handle limiting part 151 rotates based on the fixed point, so that one end of the handle limiting part 151 is away from the clamping groove, so as to separate the handle limiting part 151 from the rod handle 12, and the rod handle 12 enters the released state and extends out from the inside of the joint shell 11. Figures 13 to 16

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

[0051] Under external excitation, the temperature of the shape memory alloy is heated above the glass transition temperature, and then a load is applied to make it reach the target configuration. Then the temperature is lowered to the glass transition temperature, and the shape memory alloy can be kept in this temporary configuration and can independently bear external load, so as to realize the shaping of the structure and obtain the shape memory locking hook 152.

[0052] Optionally, a third protruding column 121 is arranged in the first recess, and the spring 13 is sleeved on the third protruding column 121. The side wall of the third protruding column 121 is provided with a clamping groove, and one end of the handle limiting part 151 is clamped with the clamping groove.

[0053] Specifically, as shown in the figure, Figures 8 to 10 ​As shown, the embedded end of the rod gripper 12 is provided with a third protruding column 121 along the circumference of the through hole away from one end of the truss rod 3, that is, the third protruding column 121 is arranged in the first recess, and the end of the third protruding column 121 close to the back cover of the joint shell 11 is provided with a clamping groove on the column, that is, the side wall of the third protruding column 121 is provided with a clamping groove, one end of the gripper limiting piece 151 is hook-shaped, the hook head is clamped with the clamping groove, so that the rod gripper 12 is embedded in the joint shell 11, at this time, the hook body is in abutment with the spring 13, so that the spring 13 is pressed between the groove wall of the first recess and the third protruding column 121, and the rod gripper 12 enters the retracted state.

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

[0055] Specifically, as shown in the drawings, Figure 8 the embedded end of the rod gripper 12 is provided with a pop-up limiting piece 122 which can pop up along the radial direction thereof close to one end of the truss rod 3, the inner side wall of the end of the joint shell 11 away from the back cover is provided with a pop-up limiting hole 113, and the embedded end of the rod gripper 12 is provided with a mounting hole in the circumference, the pop-up limiting piece 122 is located in the mounting hole, and the bottom of the pop-up limiting piece 122 is provided with a spring piece to provide a spring force, when the rod gripper 12 is in the retracted state, the pop-up limiting piece 122 abuts against the shell body of the joint shell 11, that is, the pop-up limiting piece 122 is pressed in the mounting hole, after the rod gripper 12 enters the released state, the rod gripper 12 pops out, and the pop-up limiting piece 122 moves along with the rod gripper 12, when the pop-up limiting piece 122 passes through the pop-up limiting hole 113, the pop-up limiting piece 122 pops up through the spring force of the bottom, and part of the pop-up limiting piece 122 abuts against the hole wall of the pop-up limiting hole 113, and the other part abuts against the mounting hole, so as to realize the pop-up limiting of the rod gripper 12, and avoid that the rod gripper 12 completely separates from the joint shell 11.

[0056] Optionally, the back cover of the joint shell 11 is provided with an e-shaped clamping spring 114 around the circumference of the through hole, and the end of the micro-motion trigger 14 extending out of the through hole is provided with a second recess in the circumference, and the e-shaped clamping spring 114 is clamped with the second recess.

[0057] Specifically, as shown in the drawings, Figures 5 to 7 the back cover of the joint shell 11 is provided with an e-shaped clamping spring 114 around the circumference of the through hole, and the end of the micro-motion trigger 14 extending out of the through hole is provided with a second recess in the circumference, and the e-shaped clamping spring 114 is clamped with the second recess, so as to avoid that the micro-motion trigger 14 slides out of the through hole.

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

[0059] Specifically, as shown in Figure 8 and Figure 9 , the rod gripper 12 is tenon-and-mortise connected with a gripper interface 123 at the gripping end, and the gripper interface 123 is in a "horn" shape, and the inner diameter of the gripper interface 123 gradually increases in the direction away from the embedding end, so as to increase the contact area with the truss rod 3, expand the assembly error, and make the end of the truss rod 3 more easily aligned with the rod gripper 12.

[0060] Optionally, 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, both of which are in a cubic structure, and the micro switch block 212 is arranged in the switch housing 211, the micro switch block 212 is provided with a micro switch 213, the micro switch 213 is electrically connected with the circuit control assembly 22, at least one surface of the switch housing 211 is connected with the base of the joint housing 11, and the shell body of the surface of the switch housing 211 connected with the rear cover of the joint 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 with the micro trigger 14 through the first connecting hole and the second connecting hole, and the number of the micro switch 213 corresponds to the number of the micro trigger 14.

[0061] Specifically, as shown in Figure 17 , Figure 19 and Figure 20 , 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, both of which are in a cubic structure, and the micro switch block 212 is arranged in the switch housing 211, the micro switch block 212 is provided with a micro switch 213, the micro switch 213 is electrically connected with the circuit control assembly 22, at least one surface of the switch housing 211 is connected with the base of the joint housing 11, and the shell body of the surface of the switch housing 211 connected with the rear cover of the joint 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 with the micro trigger 14 through the first connecting hole and the second connecting hole, and the number of the micro switch 213 corresponds to the number of the micro trigger 14.

[0062] Exemplarily, different joint angles and numbers of joints are designed according to requirements to adapt to different truss connection forms, and four joints are shown in the drawings of the embodiments of the present application.

[0063] Exemplarily, each surface connected with the joint shell 11 is provided with an e-shaped snap spring hole.

[0064] Optionally, the circuit control assembly 22 comprises a circuit shell 221, a control circuit board 222 and a power supply 223, the switch shell 211 is arranged on the circuit shell 221, the circuit shell 221 is a cuboid structure and is internally provided with a power supply cavity, the power supply 223 is arranged in the power supply cavity, and a cover plate 224 is arranged at the opening of the power supply cavity, the cover plate 224 is detachably connected with the circuit shell 221, one end of the circuit shell 221 is provided with a third recess, the control circuit board 222 is arranged in the third recess, and the control circuit board 222 is respectively connected with the power supply 223 and the micro switch block 212.

[0065] Specifically, as shown in Figure 18 and Figure 19 , the circuit control assembly 22 comprises a circuit shell 221, a control circuit board 222 and a power supply 223, the switch shell 211 is arranged on the circuit shell 221, the circuit shell 221 is a cuboid structure and is internally provided with a power supply cavity, the power supply 223 is arranged in the power supply cavity, and a cover plate 224 is arranged at the opening of the power supply cavity, the cover plate 224 is detachably connected with the circuit shell 221, one end of the circuit shell 221 is provided with a third recess, the control circuit board 222 is arranged in the third recess, and the control circuit board 222 is respectively connected with the power supply 223 and the micro switch block 212.

[0066] Exemplarily, as shown in Figure 17 and Figure 19 , the outer surface of the circuit shell 221 is provided with a fourth recess to facilitate the connection of the switch shell 211 and the joint shell 11.

[0067] Optionally, the micro trigger 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 by the gripping end of the rod gripper 12 and sequentially passes through the two through holes to be connected with the control mechanism 2.

[0068] Specifically, as shown in Figure 5 and Figure 7As shown, the micro-motion trigger 14 includes a trigger plate and a trigger rod, the trigger plate is polygonal structure, and the diameter of the trigger plate is slightly smaller than the inner diameter of the gripping end of the truss rod 3, so as to increase the contact area of the micro-motion trigger 14 and the truss rod 3, expand the assembly error, and make the end of the truss rod 3 more easily trigger the micro-motion trigger 14, the trigger rod is arranged at the center of the trigger plate and is perpendicular to the trigger plate, the trigger rod is inserted by the gripping end of the rod gripper 12 and sequentially passes through two through holes, so as to be directly connected with the control mechanism 2.

[0069] Optionally, the shape memory alloy includes one or a combination of the following materials: a thermal responsive material, a conductive reinforcing phase material, a nanoparticle material, a radio frequency sensitive particle material, and a light sensitive material.

[0070] Specifically, the shape memory alloy includes one or a combination of the following materials: a thermal responsive material, a conductive reinforcing phase material, a nanoparticle material, a radio frequency sensitive particle material, and a light sensitive material. When the shape memory alloy includes a thermal responsive material, a thermal drive is adopted, a resistance heater is pasted on 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 of the following conductive reinforcing phase materials: single-walled, multi-walled carbon nanotubes, graphene, carbon black, carbon nanometer paper, carbon nanometer fiber, chopped carbon fiber, continuous carbon fiber, or hybrid particle filling, an electric drive mode is adopted, and an external power source is connected with the above-mentioned 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 mode is adopted; when the shape memory alloy includes radio frequency sensitive particle materials such as carbon nanotubes, a radio frequency drive mode is adopted; when the shape memory alloy includes light sensitive materials, a light drive mode is adopted; when the shape memory alloy includes one or a combination of the above-mentioned materials, one or a combination of the above-mentioned drive modes is adopted.

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

Claims

1. An intelligent assembly device based on smart materials, characterized by, The utility model provides a kind of assembly joint mechanism (1) and control mechanism (2), the assembly joint mechanism (1) includes joint shell (11), bar piece gripper (12), spring (13), micro-motion trigger (14) and gripper limiting component (15), the joint shell (11) includes the shell body of two end openings and the rear cover installed at the end opening of the shell body, the rear cover of the joint shell (11) is connected with the control mechanism (2);The gripper limiting component (15) is located on the rear cover of the joint shell (11), and the embedded end of the bar piece gripper (12) is located in the shell body and is clamped with the gripper limiting component 15, the bar piece gripper (12) is hollow inside, and its gripping end is provided with opening for grabbing truss bar (3), the end face of the embedded end of the bar piece gripper (12) is provided with first recess, and the spring (13) is pressed in the first recess;The embedded end of the bar piece gripper (12) and the rear cover of the joint shell (11) are both provided with through hole, the micro-motion trigger (14) is inserted into the bar piece gripper (12) by the gripping end of the bar piece gripper (12), and sequentially passes two through holes respectively, and is connected with the control mechanism (2); The control mechanism (2) is used to output first signal to the gripper limiting component (15) when the micro-motion trigger (14) is triggered, and the gripper limiting component (15) is separated from the bar piece gripper (12) according to the first signal, so that the bar piece gripper (12) is stretched out from the joint shell (11) under the elastic force of the spring (13), the gripping end of the bar piece gripper (12) is provided with shape memory alloy ring (16), the shape memory alloy ring (16) is made of shape memory alloy, and the control mechanism (2) is also used to output second signal to the shape memory alloy ring (16), and the shape memory alloy ring (16) is contracted according to second signal, so that the bar piece gripper (12) grips the truss bar (3).

2. The smart material based smart assembly device of claim 1, wherein, The grab hand limiting assembly (15) comprises a grab hand limiting piece (151), a shape memory locking hook (152) and a tension spring (153), the grab hand limiting piece (151) is fixed on the rear cover of the joint shell (11) and rotates based on the fixed point, one end of the grab hand limiting piece (151) is arranged inside the joint shell (11) and is connected with the embedded end of the rod piece grab hand (12), so that the rod piece grab hand (12) compresses the spring (13) and enters the storage state, the other end of the grab hand limiting piece (151) is arranged outside the joint shell (11) and is connected with the first protruding column (111) on the surface of the joint shell (11) through the tension spring (153) and is connected with the second protruding column (112) on the surface of the joint shell (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 for deforming according to the second signal to disconnect with the second protruding column (112), and the tension spring (153) is used for driving the grab hand limiting piece (151) to rotate to separate from the rod piece grab hand (12) after the shape memory locking hook (152) is disconnected with the second protruding column (112), so that the rod piece grab hand (12) enters the release state.

3. The smart material based smart assembly device of claim 2, wherein, The third protruding column (121) is arranged in the first groove, the spring (13) is sleeved on the third protruding column (121), and the side wall of the third protruding column (121) is provided with a clamping groove, and one end of the grab hand limiting piece (151) is clamped in the clamping groove.

4. The smart material based smart assembly device of claim 1, wherein, The embedded end of the rod piece grab hand (12) is provided with a pop-up limiting piece (122) which can pop up along the radial direction, the inner side wall of the end of the joint shell (11) away from the rear cover is provided with a pop-up limiting hole (113), and the pop-up limiting piece (122) is used for popping up when passing through the pop-up limiting hole (113) and abutting against the hole wall of the pop-up limiting hole (113).

5. The smart material based smart assembly device of claim 1, wherein, The rear cover of the joint shell (11) is provided with an e-shaped clamping spring (114) around the through hole, one end of the micro-motion trigger piece (14) extending out of the through hole is provided with a second groove in the circumferential direction, and the e-shaped clamping spring (114) is clamped in the second groove.

6. The smart material based smart assembly device of claim 1, wherein, The grab hand interface (123) is connected to the grab end of the rod piece grab hand (12) through a mortise and tenon joint, and the inner diameter of the grab hand interface (123) gradually increases away from the embedded end.

7. The smart material based smart assembly device of claim 1, wherein, The control mechanism (2) comprises a micro switch assembly (21) and a circuit control assembly (22), the micro switch assembly (21) comprises a switch shell (211) and a micro switch block (212), the switch shell (211) and the micro switch block (212) are both cubic structures, and the micro switch block (212) is arranged in the switch shell (211), the micro switch block (212) is provided with a micro switch (213), the micro switch (213) is electrically connected with the circuit control assembly (22), at least one surface of the switch shell (211) is connected with the base of the connector shell (11), and the shell body of the switch shell (211) connected with the rear cover of the connector shell (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 with the micro trigger (14) through the first connecting hole and the second connecting hole, and the number of the micro switch (213) corresponds to the number of the micro trigger (14).

8. The smart material based smart assembly device of claim 7, wherein, The circuit control assembly (22) comprises a circuit shell (221), a control circuit board (222) and a power supply (223), the switch shell (211) is arranged on the circuit shell (221), the circuit shell (221) is a cuboid structure, and is internally provided with a power supply cavity, the power supply (223) is arranged in the power supply cavity, and the opening of the power supply cavity is provided with a cover plate (224), the cover plate (224) is detachably connected with the circuit shell (221), one end of the circuit shell (221) is provided with a third groove, the control circuit board (222) is arranged in the third groove, and the control circuit board (222) is connected with the power supply (223) and the micro switch block (212) respectively.

9. The smart material based smart assembly device of claim 1, wherein, The micro trigger (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 piece 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 by the gripping end of the rod piece gripper (12) and sequentially passes through two through holes, and is connected with the control mechanism (2).

10. The smart material based smart assembly device of claim 1, wherein, The shape memory alloy comprises one or a combination of several of a thermal response material, a conductive reinforcing phase material, a nano-particle material, a radio frequency sensitive particle material and a light sensitive material.

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