Study On A New Mortise And Tenon Joint Of Wooden Building And Its Intelligent Construction Technology

Last decade,Computer software technology and intelligent robot technology have developed rapidly,which also have a great impact on architectural design methods and construction technology.With powerful open source hardware technology and the high flexibility of the six-axis robotic arm,efficient automation from design to manufacturing can be achieved.Wood,as a natural and renewable green building material,has great advantages in ecological energy conservation.Under the background of the rapid development of the modern wood structure industry and production mode,the robot timber construction technology can be used as a powerful technical support,bringing a steady stream of innovative power for the development of modern wood structure.In this paper,a new type of mortise and tenon joint is proposed by improving and optimizing the traditional joint.The new mortise and tenon joint combines and improves the dovetail and hoop joint.The monotone loading experiment shows that the mortise and tenon joint is semi-rigid and it has good bearing capacity,which can firmly connect the beam and column.It is suitable for beam-column joints of side column,corner column and middle column,and all kinds of beam-column joints have the same structure form,which is conducive to the industrialization and standardization of this kind of mortise and tenon joints.In terms of hardware assembly,by analyzing the processing requirements of timber components milling based on the robotic arm,a milling tool head which can be applied to the robotic arm is designed.According to the processing characteristics of the beam and column components,an automatic fixing device is developed which can adjust and fix the position of the timber components by open source hardware control.A complete milling wood component system based on the robotic arm is composed of a mechanical arm,a milling tool head and an automatic fixture.In terms of software design,a new mortise and tenon joint model is established by using Rhino,Grasshopper,KUKA|prc and other parametric design tools.Parameterization design and simulation based on visual programming are carried out for the machining path of the cutter.The control program of Arduino which can be imported into the open source hardware is written in IDE environment to control the automatic fixed device.Finally,the program exported by KUKA|prc and Arduino is used to control the processing system of timber components based on the robotic arm.The required mortise and tenon beam-column components are processed,and a timber frame model with the new mortise and tenon beam-column joint is assembled.It is proved that the robotic timber processing system and the new mortise and tenon beam-column joint meet the design requirements and have engineering application value.