Automatic testing system and automatic testing method for strength of cement mortar test piece

Abstract

The invention discloses a cement mortar test piece strength automatic test system and an automatic test method, and belongs to the technical field of cement mortar test piece fracture resistance and compression resistance tests, the cement mortar test piece strength automatic test system comprises a test piece storage device, a fracture resistance testing machine, a compression resistance testing machine, a fracture resistance cleaning mechanism, a compression resistance cleaning mechanism, a mechanical arm and an upper computer; the mechanical arm can grab the cement mortar test piece on the test piece storage device according to a preset program and place the cement mortar test piece on an objective table of the anti-bending testing machine for carrying out an anti-bending strength test, and the mechanical arm can also grab the cement mortar test piece which is folded into two sections after the anti-bending strength test is completed to the anti-compression testing machine for carrying out a compressive strength test; the upper computer is in signal connection with the anti-bending testing machine and the anti-compression testing machine, and can record the anti-bending strength and compressive strength data of the cement mortar test piece. The full-automatic operation for testing the fracture resistance and the compressive strength of the cement mortar test piece is realized, the productivity is improved, and the problem that the accuracy of a test result is influenced by traditional manual operation is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of flexural and compressive tests of cement mortar specimens, and in particular relates to an automatic strength testing system and an automatic testing method for cement mortar specimens. Background Art

[0002] Cement is the most important binder in concrete, and its strength grade has an important influence on the strength, durability and construction performance of concrete. Strength testing of cement mortar specimens is the main method to determine the strength grade of cement. This strength test mainly includes flexural strength test and compressive strength test. It has a wide range of application scenarios and a very high frequency of application. It is an indispensable detection step in the concrete production process.

[0003] At present, the strength test of cement mortar specimens mainly relies on cement mortar strength compression testing machines and cement mortar strength flexural testing machines. The testing process is completely dependent on manual work. Both flexural strength testing and compressive strength testing include the operation process of "placing specimens - pressurizing - removing specimens - recording data". "Recording data" includes recording the flexural strength data and compressive strength data corresponding to each specimen. Generally, when testing a specimen, the flexural strength test is performed first. After the flexural strength test operation is completed, the specimen folded into two parts is subjected to compressive strength tests respectively. When testing a large number of specimens, operators need to constantly repeat the process of "placing specimens - applying pressure - removing specimens - recording data". This is labor-intensive, time-consuming and labor-intensive. Moreover, because both the flexural strength test and the compressive strength test require that the specimens be correctly placed as required (the scraped surface of the specimens must face a specific direction on the loading tables of the flexural testing machine and the compressive testing machine) before loading, the manual and repeated execution of the "placing specimens - applying pressure - removing specimens - recording data" operation is likely to cause inaccurate specimen placement, thereby affecting the accuracy of the test results.

[0004] For example, the Chinese patent with announcement number CN219799029 U discloses a cement mortar compression tester. This utility model reduces the workload of the operator when cleaning the tester, but the entire test process still requires manual participation. The Chinese patent with announcement number CN212301122U discloses a cement mortar strength detection device. This utility model improves the accuracy of the test results, but still requires manual participation throughout the test. Currently, there is no equipment on the market that can realize fully automatic testing of the flexural and compressive strength of cement mortar specimens.

[0005] Therefore, how to realize the full-process automatic testing of the flexural strength test and the compressive strength test of cement mortar specimens is a technical problem that technical personnel in this field are looking forward to solving. Summary of the invention

[0006] In view of this, the present invention provides a cement mortar specimen strength automatic testing system and automatic testing method, which solves the technical problem that the current process of strength testing of cement mortar specimens relies entirely on manual work.

[0007] The present invention adopts the following technical solutions:

[0008] A cement mortar specimen strength automatic testing system comprises a specimen storage device, a flexural testing machine, a compression testing machine, a flexural cleaning mechanism, a compression cleaning mechanism, a mechanical arm and a host computer;

[0009] The specimen storage device is used to store cement mortar specimens;

[0010] The flexural testing machine is used to test the flexural strength of cement mortar specimens;

[0011] The compression testing machine is used to test the compressive strength of cement mortar specimens;

[0012] The anti-bending cleaning mechanism is used to clean the stage of the anti-bending testing machine;

[0013] The compression cleaning mechanism is used to clean the loading platform of the flexural testing machine;

[0014] The robotic arm can grab the cement mortar specimen on the specimen storage device according to a preset program and place it on the loading platform of the flexural testing machine for flexural strength testing. The robotic arm can also grab the cement mortar specimen that is folded into two parts after the flexural strength test is completed and place it on the compression testing machine for compression strength testing;

[0015] The host computer is connected with the flexural testing machine and the compression testing machine by signals, and can record the flexural strength and compression strength data of the cement mortar specimen.

[0016] Furthermore, the specimen storage device comprises a material storage portion and a material feeding portion;

[0017] The material storage part is used to place cement mortar test pieces;

[0018] The feeding part is used to transport the cement mortar specimen to a preset position so that the robot arm can grab the cement mortar specimen.

[0019] Furthermore, the feeding part vertically transports the cement mortar specimen.

[0020] Further, the material storage section includes at least one square material storage room;

[0021] The square material storage room can accommodate stacked cement mortar specimens, the square material storage room limits the horizontal freedom of the cement mortar specimens, and a square discharge port is arranged above the square material storage room for discharging the cement mortar specimens.

[0022] Furthermore, the feeding part includes a lifting member, a moving member and a driving member;

[0023] One end of the lifting member is connected to the moving member, and the other end extends into the square material storage room, and the lifting member is used to lift the cement mortar test piece in the square material storage room;

[0024] The moving member is connected to the driving member by power, and the driving member can drive the moving member to move vertically;

[0025] When the moving member moves vertically upward, it can drive the lifting member to move upward, so that the cement mortar test piece in the square material storage room moves from bottom to top and is discharged from the square discharge port.

[0026] Furthermore, the feeding part also includes a guide rail and a screw rod;

[0027] The movable member is a slide, the slide is threadedly matched with the lead screw, and the slide is slidably matched with the guide rail;

[0028] The driving member is a motor, which is dynamically connected to the screw rod and can drive the slide to move vertically;

[0029] The lifting member is a horizontally arranged steel plate;

[0030] The square discharge port is provided with a first induction switch. When the cement mortar specimens stacked on the uppermost layer are completely discharged from the square discharge port, the first induction switch triggers the motor to stop rotating. When the cement mortar specimens stacked on the uppermost layer are grabbed by the robotic arm, the first induction switch triggers the motor to drive the slide table to move vertically upward.

[0031] The feeding part also includes a second induction switch and a third induction switch;

[0032] When the slide moves to the upper limit position, the second induction switch triggers the motor to reverse and causes the slide to move downward; when the slide moves to the upper limit position, the cement mortar specimen at the bottom layer in the square material storage room has completely come out of the square material outlet;

[0033] When the slide moves downward to the lower limit position, the third induction switch triggers the motor to stop rotating.

[0034] Furthermore, the mechanical arm is provided with a code scanner for scanning the information code on the cement mortar specimen to obtain information including the number of the cement mortar specimen;

[0035] The robotic arm is also provided with a camera, which can obtain the position of the cement mortar specimen on the specimen storage device, and is used for the robotic arm to adjust the position of the fixture.

[0036] Further, it also includes a relay station;

[0037] The robotic arm can first grab the specimen after the flexural strength test and place it on the transfer table according to a preset program, and then grab the cement mortar specimen on the transfer table and place it on the compression testing machine for compressive strength testing;

[0038] The mechanical arm can clamp the cement mortar test piece on the transfer table from the upper and lower directions;

[0039] The transfer platform comprises a first limiting portion, the first limiting portion is provided with a horizontal support member, and the horizontal support member is provided with an opening;

[0040] The width of the horizontal support member is smaller than the width of the cement mortar specimen;

[0041] Second limiting parts are arranged on both sides of the horizontal support member in a lateral direction, the height of the top of the second limiting part is greater than the height of the top of the first limiting part, and the second limiting part can move in a lateral direction of the horizontal support member;

[0042] The horizontal support member is used for placing the cement mortar specimen; the second limiting portion is used for limiting the left and right positions of the cement mortar specimen placed on the horizontal support member.

[0043] The present invention provides a cement mortar specimen strength automatic testing method, comprising:

[0044] Step 1: The robotic arm grabs a cement mortar specimen from the specimen storage device and places it on the stage of the flexural testing machine to perform a flexural strength test, obtains the flexural strength C1 and transmits it to the host computer;

[0045] After the cement mortar specimen is broken into two pieces during the flexural strength test and is taken away by the mechanical arm, the flexural cleaning mechanism cleans the stage of the flexural testing machine;

[0046] Step 2: The mechanical arm grabs a broken cement mortar specimen and places it on the stage of the compression testing machine to perform a compressive strength test, obtains the compressive strength C2 and transmits it to the host computer;

[0047] After the compressive strength C2 is obtained, the compressive cleaning mechanism cleans the stage of the compressive testing machine;

[0048] Step 3: The robotic arm grabs another broken cement mortar specimen and places it on the stage of the compression testing machine for compressive strength testing, obtains the compressive strength C3 and transmits it to the host computer;

[0049] After the compressive strength C3 is obtained, the compressive cleaning mechanism cleans the stage of the compressive testing machine;

[0050] Step 4: Repeat steps 1 to 3 to complete the automatic strength test of a preset number of cement mortar specimens.

[0051] Further, in the step 2, the robotic arm first grabs the two broken cement mortar specimens on the stage of the flexural testing machine and places them on the transfer table. After the transfer table flattens the two cement mortar specimens in the up-down direction and the left-right direction, the robotic arm grabs a cement mortar specimen on the transfer table to the stage of the compression testing machine for compressive strength test, obtains the compressive strength C2 and transmits it to the host computer;

[0052] In the step three, the robot arm grabs another cement mortar specimen on the transfer table to the loading platform of the compression testing machine for compressive strength testing, obtains the compressive strength C3 and transmits it to the host computer.

[0053] Beneficial effects:

[0054] 1. The automatic strength test system for cement mortar specimens includes a specimen storage device, a flexural testing machine, a compression testing machine, a flexural cleaning mechanism, a compression cleaning mechanism, a robotic arm and a host computer, wherein: the specimen storage device is used to store cement mortar specimens; the flexural testing machine is used to perform flexural strength test on cement mortar specimens; the compression testing machine is used to perform compressive strength test on cement mortar specimens; the flexural cleaning mechanism is used to clean the loading platform of the flexural testing machine; the compression cleaning mechanism is used to clean the loading platform of the flexural testing machine; the robotic arm can grab the cement mortar specimens on the specimen storage device according to a preset program and place them on the loading platform of the flexural testing machine for flexural strength test, and the robotic arm can also grab the cement mortar specimens that are folded into two parts after the flexural strength test is completed to the compression testing machine for compressive strength test; the host computer is connected to the flexural testing machine and the compression testing machine by signal, and can record the flexural strength and compressive strength data of the cement mortar specimens.

[0055] In this way, the automatic testing system for the strength of cement mortar specimens provided by the present invention integrates devices including a specimen storage device, a flexural testing machine, a compression testing machine, a flexural cleaning mechanism, a compression cleaning mechanism, a robotic arm and a host computer. It only needs to prepare the specimens in the specimen storage device to realize the fully automated operation of the flexural and compressive strength tests of the cement mortar specimens. The operation process of "placing specimens - pressurizing - removing specimens - recording data" can be performed by the robotic arm according to a preset program, and no longer needs to be operated by an operator. After the automatic testing system for the strength of cement mortar specimens is started, the test data can be automatically uploaded to the host computer, and the operator can do other work. The operator no longer needs to mechanically and repeatedly perform the operations of "placing specimens - pressurizing - removing specimens - recording data", which improves productivity and avoids the problem of traditional manual operations affecting the accuracy of test results.

[0056] 2. The specimen storage device includes a storage part and a feeding part; the storage part is used to place the cement mortar specimen; the feeding part is used to transport the cement mortar specimen to a preset position so that the robotic arm can grab the cement mortar specimen.

[0057] In this way, the specimen storage device is designed with a storage part and a feeding part, which optimizes the specimen management process. The storage part can store a large number of specimens, and the setting of the feeding part enables the specimens to be transported to a position accessible by the robotic arm in an orderly manner. This design improves the efficiency of specimen storage and retrieval, reduces the waiting time of the robotic arm, and further improves the degree of automation of the entire testing process.

[0058] 3. The feeding part vertically transports the cement mortar specimens. Thus, the vertical transport design saves space, enables the specimens to be stacked in the direction of gravity and transported vertically. Compared with horizontal transport, it reduces possible misalignment of the specimens during horizontal movement, making it easier for the robot to grab them.

[0059] 4. The material storage section includes at least one square material storage room; the square material storage room can accommodate stacked cement mortar specimens, the square material storage room limits the horizontal freedom of the cement mortar specimens, and a square discharge port is provided above the square material storage room for discharging the cement mortar specimens.

[0060] In this way, by designing a square storage room, multiple cement mortar specimens can be stacked vertically, thereby optimizing space utilization. Especially in a limited laboratory or factory environment, this design significantly improves storage efficiency. The square storage room not only provides a structured storage solution, but also ensures the stability of the specimens during storage and unloading by limiting the horizontal freedom of the specimens, reducing the potential risk of damage caused by specimen movement or misalignment. The shape of the square discharge port matches the shape of the specimens, which helps to maintain the neat arrangement of the specimens, provides an accurate grasping point for the robot arm, and simplifies the grasping logic and movement path of the robot arm because the position of the specimens is more fixed and predictable. This design reduces the search and positioning time of the robot arm when grabbing the specimens, improving the efficiency of the entire testing process.

[0061] 5. The feeding part includes a lifting piece, a moving piece and a driving piece; one end of the lifting piece is connected to the moving piece, and the other end extends into the square storage room. The lifting piece is used to lift the cement mortar specimen in the square storage room; the moving piece is power-connected to the driving piece, and the driving piece can drive the moving piece to move vertically; when the moving piece moves vertically upward, it can drive the lifting piece to move upward, so that the cement mortar specimen in the square storage room moves from bottom to top and is discharged from the square discharge port.

[0062] In this way, through the coordinated work of the lifting parts, moving parts and driving parts, the test pieces can be accurately transported from bottom to top. This design improves the stability of test piece transportation, reduces test interruptions or errors caused by test piece sliding or tipping, and thus improves the reliability of the entire test system.

[0063] 6. The feeding part includes a guide rail and a screw rod; the moving part is a slide, the slide is threaded with the screw rod, and the slide is slidably matched with the guide rail; the driving part is a motor, the motor is power-connected with the screw rod, and the motor can drive the slide to move vertically; the lifting part is a horizontally arranged steel plate; the square discharge port is provided with a first induction switch, when the cement mortar specimens stacked on the uppermost layer come out of the square discharge port as a whole, the first induction switch triggers the motor to stop, when the cement mortar specimens stacked on the uppermost layer are grabbed by the robotic arm, the first induction switch triggers the motor to drive the slide to move vertically upward; the feeding part also includes a second induction switch and a third induction switch; when the slide moves to the upper limit position, the second induction switch triggers the motor to reverse and make the slide move downward; when the slide moves to the upper limit position, the cement mortar specimens on the lowermost layer in the square storage room have come out of the square discharge port as a whole; when the slide moves downward to the lower limit position, the third induction switch triggers the motor to stop.

[0064] In this way, the triggering condition of the second induction switch is that the bottom layer of test pieces has completely exposed the square discharge port when the slide moves to the upper limit position, that is to say, when the slide moves to the upper limit position, it can ensure that all test pieces in the square storage room have come out of the square discharge port, which ensures the continuity and stability of the test piece transportation and ensures that there are test pieces ready for the robot arm to grab at any time. Moreover, because the bottom layer of cement mortar test pieces in the square storage room have all come out of the square discharge port, the trigger motor reverses to make the slide move downward, and the downward movement of the slide will drive the lifting piece extending into the square storage room to move downward as well, so that after all the test pieces in the square storage room have come out of the square discharge port, the square storage room can prepare for the next storage. The design of the entire feeding unit does not require manual intervention, and the entire automation process is smoother and more automated.

[0065] 7. The robotic arm can first grab the specimen after the flexural strength test and place it on the turntable according to the preset program, and then grab the cement mortar specimen on the turntable and place it on the compression testing machine for compressive strength testing. In this way, the turntable provides an opportunity for the robotic arm's gripper to change the gripping method when gripping the specimen, so that the specimen can be transferred from the flexural testing machine to the compression testing machine for compression testing by gripping, avoiding the problem that when the end effector grabs the specimen by gripping, the end effector is prone to interfere with the left and right directions of the flexural testing machine and the up and down directions of the compression testing machine, resulting in the inability to directly place the specimen gripped on the flexural testing machine on the compression testing machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a three-dimensional structural schematic diagram of the cement mortar specimen strength automatic testing system provided by the present invention;

[0067] Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the end effector on the robot arm;

[0068] Figure 3 yes Figure 1 Schematic diagram of the three-dimensional structure of the transfer station;

[0069] Figure 4 yes Figure 1 Schematic diagram of the three-dimensional structure of the medium flexural and compression machine;

[0070] Figure 5 yes Figure 1 Schematic diagram of the three-dimensional structure of the test piece storage device;

[0071] Figure 6 It is a schematic diagram of the placement requirements of the specimen on the stage of the flexural testing machine;

[0072] Figure 7It is a schematic diagram of the placement requirements of the specimen on the stage of the compression testing machine;

[0073] Among them, 1-base, 2-mechanical arm, 3-waste bucket, 4-end effector, 5-turntable, 6-bending and compression machine, 7-specimen storage device, 8-air compressor, 41-clamping part, 42-mounting plate, 43-barcode scanner, 44-camera, 51-base, 52-first limiting part, 53-second limiting part, 61-discharging chute, 62-push rod, 63-nozzle, 71-switch door, 72-vertical steel bar, 73-horizontal steel plate, 74-specimen storage rack, 75-square discharging port, 76-first induction switch, 77-motor, 78-slide. DETAILED DESCRIPTION

[0074] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0075] Embodiment 1:

[0076] Reference Figure 1 to Figure 5 This embodiment provides a cement mortar specimen strength automatic testing system, including a specimen storage device 7, a flexural testing machine, a compression testing machine, a flexural cleaning mechanism, a compression cleaning mechanism, a robotic arm 2 and a host computer, wherein:

[0077] The specimen storage device 7 is used to store cement mortar specimens (or simply specimens); the flexural testing machine is used to test the flexural strength of cement mortar specimens; the compression testing machine is used to test the compressive strength of cement mortar specimens; the flexural cleaning mechanism is used to clean the loading platform of the flexural testing machine; the compression cleaning mechanism is used to clean the loading platform of the flexural testing machine; the mechanical arm 2 can grab the cement mortar specimens on the specimen storage device 7 according to the preset program and place them on the loading platform of the flexural testing machine for flexural strength testing, and the mechanical arm 2 can also grab the cement mortar specimens that are folded into two parts after the flexural strength test is completed to the compression testing machine for compressive strength testing; the upper computer is connected to the flexural testing machine and the compression testing machine by signal, and can record the flexural strength and compressive strength data of the cement mortar specimens. The above-mentioned flexural testing machine, compression testing machine, flexural cleaning mechanism, and compression cleaning mechanism can all be classified as part of the testing device 6. Moreover, it should be noted that in the prior art, the flexural testing machine and the compression testing machine are sometimes integrated into an integrated design, and in this case, they can be called the flexural and compression testing machine 6.

[0078] In this way, the cement mortar specimen strength automatic testing system provided by the present invention integrates devices including a specimen storage device 7, a flexural testing machine, a compression testing machine, a flexural cleaning mechanism, a compression cleaning mechanism, a mechanical arm 2 and a host computer. It only needs to prepare the specimen in the specimen storage device 7 to realize the fully automated operation of the flexural and compressive strength tests of the cement mortar specimen. The operation process of "placing the specimen-pressurizing-removing the specimen-recording data" can be performed by the mechanical arm 2 according to the preset program, and no longer needs to be operated by the operator. After the cement mortar specimen strength automatic testing system is started, the test data can be automatically uploaded to the host computer, and the operator can do other work. The operator does not need to mechanically and repeatedly perform the operation of "placing the specimen-pressurizing-removing the specimen-recording data", which improves productivity and avoids the problem of affecting the accuracy of the test results caused by traditional manual operations. It should be noted that there are already flexural testing machines and compression testing machines that automatically upload test data to computers in the prior art. Moreover, it is understandable that the existing technology can fully realize the specimen storage device 7 corresponding to the above functions (such as storing and transporting specimens through a conveyor belt, storing and transporting specimens through a roller, or storing and transporting specimens through a hanging basket, etc.), the anti-flexural cleaning mechanism (such as cleaning through a nozzle jet, cleaning through a mechanical mechanism driving a brush, etc.), the anti-compression cleaning mechanism (such as cleaning through a nozzle jet or cleaning through a mechanical mechanism driving a brush, etc.), and the robotic arm 2, and realize the fully automated operation of the flexural and compressive strength tests of cement mortar specimens according to the above technical scheme.

[0079] Specifically, in this embodiment, the specimen storage device 7 includes a storage portion and a feeding portion; the storage portion is used to place cement mortar specimens; the feeding portion is used to transport the cement mortar specimens to a preset position so that the robotic arm 2 can grab the cement mortar specimens.

[0080] In this way, the specimen storage device 7 is designed with a storage part and a feeding part, which optimizes the specimen management process. The storage part can store a large number of specimens, and the setting of the feeding part allows the specimens to be transported to a position accessible by the robot arm 2 in an orderly manner. This design improves the efficiency of specimen storage and retrieval, reduces the waiting time of the robot arm 2, and further improves the degree of automation of the entire testing process.

[0081] Specifically, in this embodiment, the feeding part vertically transports the cement mortar specimens. In this way, the design of vertical transportation saves space, so that the specimens can be stacked in the direction of gravity and transported vertically. Compared with horizontal transportation, it reduces the possible misalignment of the specimens during horizontal movement, which is convenient for the robot 2 to grab. It can be understood that in addition to the vertical transportation provided in this embodiment, horizontal transportation or inclined transportation of the specimens to a position accessible by the robot 2 is feasible.

[0082] Specifically, in this embodiment, refer to Figure 1 and Figure 5 The material storage section includes at least one square material storage room, which can accommodate stacked cement mortar specimens. The square material storage room limits the horizontal freedom of the cement mortar specimens, and a square discharge port 75 is provided above the square material storage room for discharging the cement mortar specimens. In this way, by designing the square material storage room, multiple cement mortar specimens are allowed to be stacked vertically, thereby optimizing space utilization, especially in a limited laboratory or factory environment. This design significantly improves storage efficiency. The square material storage room not only provides a structured storage solution, but also ensures the stability of the specimens during storage and discharging by limiting the horizontal freedom of the specimens, reducing the potential risk of damage caused by movement or misalignment of the specimens. The shape of the square discharge port 75 matches the shape of the specimen (the square discharge port 75 is square, and in this embodiment, the cross-sectional area of ​​the square discharge port 75 is slightly larger than the cross-sectional area of ​​the specimen, and the specimen will not be misplaced after exiting the square discharge port 75), which helps to maintain the neat arrangement of the specimens, provides an accurate grasping point for the robot arm 2, and simplifies the grasping logic and movement path of the robot arm 2, because the position of the specimen is more fixed and predictable. This design reduces the search and positioning time of the robot arm 2 when grasping the specimen, and improves the efficiency of the entire test process.

[0083] Specifically, in the present embodiment, the feeding part can be an electric push rod mechanism arranged at the bottom of the square material storage room. In particular, in the present embodiment, the feeding part includes a lifting member, a moving member and a driving member. One end of the lifting member is connected to the moving member, and the other end extends into the square material storage room. The lifting member is used to lift the cement mortar specimen in the square material storage room; the moving member is connected to the driving member by power, and the driving member can drive the moving member to move vertically; when the moving member moves vertically upward, it can drive the lifting member to move upward, so that the cement mortar specimen in the square material storage room moves from bottom to top and is discharged from the square discharge port 75. In this way, through the coordinated work of the lifting member, the moving member and the driving member, the specimen is accurately transported from bottom to top. This design improves the stability of specimen transportation, reduces test interruptions or errors caused by specimen sliding or tipping, and thus improves the reliability of the entire test system.

[0084] Specifically, in this embodiment, the feeding part also includes a guide rail and a screw rod, the moving part is a slide 78, the slide 78 is threadedly matched with the screw rod, and the slide 78 is slidingly matched with the guide rail; the driving part is a motor 77, the motor 77 is connected to the screw rod power, and the motor 77 can drive the slide 78 to move vertically; the lifting part is a horizontal steel plate 73 arranged horizontally; the square discharge port 75 is provided with a first induction switch 76, when the cement mortar specimens stacked on the top layer come out of the square discharge port 75, the first induction switch 76 triggers the motor 77 to stop rotating. In this way, when the first induction switch 76 is set so that when the uppermost layer of cement mortar specimens completely comes out of the square discharge port 75, the motor 77 can automatically stop rotating to ensure that the specimens do not extend too far out of the square discharge port 75. This design improves the safety and control accuracy of the discharge process. After the robot arm 2 grabs the uppermost layer of specimens, the first induction switch 76 triggers the motor 77 again to drive the slide 78 to move upward, thereby realizing the automatic delivery of the next layer of specimens to the square discharge port 75, thereby improving the efficiency and continuity of specimen delivery.

[0085] Moreover, in this embodiment, the feeding part further includes a second induction switch and a third induction switch (the second induction switch and the third induction switch are not shown in the figure). When the slide 78 moves to the upper limit position, the second induction switch triggers the motor 77 to reverse and causes the slide 78 to move downward; wherein, when the slide 78 moves to the upper limit position, the cement mortar specimens at the bottom layer in the square storage room have completely come out of the square discharge port 75; and when the slide 78 moves downward to the lower limit position, the third induction switch triggers the motor 77 to stop. Thus, the triggering condition of the second induction switch is that the slide 78 moves to the upper limit position and the specimens at the bottom layer have completely exposed the square discharge port 75, that is, when the slide 78 moves to the upper limit position, it can ensure that all specimens in the square storage room have come out of the square discharge port 75, which ensures the continuity and stability of the specimen conveying and ensures that there are specimens ready for the robot arm 2 to grab at any time. Moreover, because the cement mortar specimens at the bottom layer in the square storage room have all come out from the square discharge port 75, the trigger motor 77 is reversed to make the slide 78 move downward, and the downward movement of the slide 78 will drive the lifting member extending into the square storage room to move downward as well. In this way, after all the specimens in the square storage room have been discharged from the square discharge port 75, the square storage room can be prepared for the next storage. The design of the entire feeding part does not require manual intervention, and the entire automation process is smoother and more automated.

[0086] Specifically, in this embodiment, refer to Figure 2The robot arm 2 is provided with a code scanner 43 for scanning the information code on the cement mortar specimen to obtain information including the number of the cement mortar specimen. In this way, the robot arm 2 can automatically obtain the identification information of the specimen, so that the number of each specimen can correspond to its own flexural strength and compressive strength data, which provides convenience for the traceability and quality management of the specimen.

[0087] In addition, in this embodiment, a camera 44 is also provided on the robot 2, and the camera 44 can obtain the position of the cement mortar specimen on the specimen storage device 7, and is used to assist the robot 2 in adjusting the posture of the end effector 4 when necessary. This enables the robot 2 to grasp the specimen more reliably. It should be noted that the camera 44 is not necessary, because in the cement mortar specimen strength automatic test system, under normal circumstances, the position where the specimen appears is determined, so the robot 2 only needs to run according to the planned action to achieve the grasping of the specimen. Setting the camera 44 allows the robot 2 to grasp the specimen smoothly when the position of the specimen deviates due to unexpected circumstances.

[0088] Specifically, in the present embodiment, a transfer table 5 is also included, and the robot arm 2 can first grab the test piece that is folded into two parts after the flexural strength test is completed and place it on the transfer table 5 according to a preset program, and then grab the two half test pieces on the transfer table 5 and place them in the compression testing machine for compression strength test.

[0089] Reference Figure 6 and Figure 7 , because the placement requirements of the specimens on the loading platform of the flexural testing machine and the loading platform of the compression testing machine are different. Specifically, on the loading platform of the flexural testing machine, the scraping surface of the specimen ( Figure 6 and Figure 7In the figure, the side of the specimen with a diagonal line is the scraped surface) and is facing forward, while on the stage of the compression testing machine, the scraped surface of the specimen is facing right. At the same time, if the end effector 4 of the robot arm 2 grabs the specimen by means of a clamping claw, and the clamping claw clamps the specimen on the stage of the flexural testing machine in the left and right directions, due to the structure of the flexural testing machine, the clamping claw is easy to interfere with the left and right structure of the flexural testing machine, and it is more convenient to clamp the specimen on the flexural testing machine from the top and bottom directions. If the jaws clamp the specimen from the up and down direction of the loading platform of the flexural testing machine, the robot arm 2 will place the specimen clamped in the up and down direction on the loading platform of the compression testing machine with the scraped surface of the specimen facing right. The jaws are in the up and down direction, and the jaws distributed up and down are easy to interfere with the up and down structure of the compression testing machine. At this time, the robot arm 2 cannot rotate 90° to change the jaws from the up and down direction to the left and right direction, thereby avoiding the interference between the jaws and the up and down structure of the compression testing machine. This is because once the jaws rotate, the scraped surface of the specimen clamped by the jaws will also rotate 90°. In this way, after the specimen is placed on the loading platform of the compression testing machine, the placement of the specimen will not meet the requirement of the scraped surface facing right. By setting up the turntable 5, the gripper of the robot 2 can first place the specimen on the flexural test machine on the turntable 5 by clamping up and down, and then the end effector 4 on the robot 2 clamps the scraped surface and the surface opposite to the scraped surface of the specimen on the turntable 5, and then places it on the stage of the compression test machine to complete the compression test. In other words, for the flexural test machine, interference is easy to occur in the left and right directions, and it is necessary to clamp in the up and down directions. For the compression test machine, interference is easy to occur in the up and down directions, and the gripper needs to be located in the left and right directions to successfully place the specimen. By rotating the up and down clamping to the left and right clamping, the direction of the scraped surface of the specimen on the compression test machine does not meet the requirements. By setting up the turntable 5, the specimen on the flexural test machine can be clamped in the up and down directions and placed on the turntable 5, and then the gripper clamps the scraped surface and the surface opposite to the scraped surface of the specimen on the turntable 5. In this way, the robot 2 can be rotated so that the scraped surface faces right. At this time, the gripper is also distributed left and right, and then the specimen can be successfully placed on the stage of the compression test machine for compression testing. That is to say, the function of the transfer table 5 is similar to providing an opportunity for the gripping claws of the robot arm 2 to change the gripping method of the specimen, thereby enabling the specimen to be transferred from the flexural testing machine to the compression testing machine for compression testing by gripping.

[0090] Specifically, in this embodiment, refer to Figure 3 The turntable 5 is used to receive the cement mortar specimen after the flexural strength test, and the clamping claws of the robot arm 2 can clamp the cement mortar specimen on the turntable 5 from the upper and lower directions.

[0091] In this way, by setting up the turntable 5, the gripper of the robot arm 2 can firstly place the test piece on the flexural test machine on the turntable 5 by clamping up and down, and then the robot arm 2 clamps the scraped surface and the surface opposite to the scraped surface of the test piece on the turntable 5, and then places it on the loading platform of the compression test machine to complete the compression test. In other words, for the flexural test machine, interference is easy to occur in the left and right directions, and it is necessary to clamp in the up and down directions. For the compression test machine, interference is easy to occur in the up and down directions, and the gripper needs to be located in the left and right directions to successfully place the test piece. By rotating the up and down clamping to become the left and right clamping, the orientation of the scraped surface of the test piece on the compression test machine does not meet the requirements, and by setting up the turntable 5, the test piece on the flexural test machine can be clamped in the up and down directions and placed on the turntable 5, and then the gripper clamps the scraped surface and the surface opposite to the scraped surface of the test piece on the turntable, so that the robot arm 2 can be rotated to make the scraped surface face the right, and at this time, the gripper is also distributed left and right, and then the test piece can be smoothly placed on the loading platform of the compression test machine for compression test. That is to say, the function of the transfer table 5 is similar to providing an opportunity for the gripping claws of the robot arm to change the gripping method of the specimen, thereby enabling the specimen to be transferred from the flexural testing machine to the compression testing machine for compression testing by gripping.

[0092] Furthermore, the transfer table 5 includes a first limiting portion 52; the first limiting portion 52 is provided with a horizontal support member, and the horizontal support member is used to place the cement mortar test piece; the horizontal support member is provided with an opening, so that the gripper of the robot arm 2 can grip the cement mortar test piece on the horizontal support member from the upper and lower directions. In this way, the robot arm 2 can grip the test piece placed on the horizontal support member in the upper and lower directions through the opening provided on the horizontal support member, and the structure is simple and compact.

[0093] As an optimization, the width of the horizontal support member is smaller than the width of the cement mortar specimen; second limiting portions 53 are provided on both lateral sides of the horizontal support member, the height of the top of the second limiting portion 53 is greater than the height of the top of the first limiting portion 52, and the second limiting portion 53 can move laterally along the horizontal support member; the second limiting portion 53 is used to limit the left and right positions of the cement mortar specimen placed on the horizontal support member.

[0094] In this way, because the height of the top of the second limiting portion 53 is greater than the height of the top of the first limiting portion 52, the second limiting portion 53 can limit the left and right directions of the specimen, and the second limiting portion 53 can move laterally, and can clamp the two lateral sides of the specimen, and can level the specimen in the left and right directions. The supporting surface of the horizontal support member is horizontal, and the specimen can be leveled in the up and down directions. In this way, the specimen on the transfer table 5 always has a fixed position, so that the robot arm 2 only needs to perform corresponding actions according to the program to realize the automated process of specimen clamping, and the reliability of the robot arm clamping the specimen will not be affected by the randomness of the specimen position.

[0095] Specifically, in the present embodiment, the transfer table 5 further includes a base 51; a first limit portion 52 is fixedly arranged on the base 51; a second limit portion 52 is mounted on the base 51, and the second limit portion 52 includes two clamps and a power for driving the two clamps to move. Moreover, the power is pneumatic, electric or hydraulic drive, so that the power source of the second limit portion 53 can be pneumatic, electric or hydraulic drive. In this way, a variety of power options are provided to adapt to different operating environments and requirements. As a further optimization, the maximum distance between the two clamps in the second limit portion 53 can be adjusted. In this way, the transfer table 5 is allowed to adapt to specimens of different sizes, improving the versatility and flexibility of the equipment. More specifically, in the present embodiment, the base 51 can be fixed to another object by bolt connection, welding or magnetic attraction. In this way, a variety of installation methods are provided, so that the transfer table 5 can be easily integrated into existing test equipment or workstations.

[0096] In particular, in this embodiment, the test piece clamped by the robot arm 2 on the stage of the flexural testing machine is placed on the turntable 5 with the scraped surface facing upward. Then, when the robot arm 2 clamps the test piece on the turntable 5, it clamps the scraped surface of the test piece and the plane opposite to the scraped surface. Finally, the test piece is placed on the stage of the compression testing machine with the scraped surface facing right.

[0097] More specifically, in this embodiment, the first limiting portion 52 includes a bracket, the bottom of the bracket is fixed to the base 51, and two square steel plates with a set distance between them are horizontally fixed on the top of the bracket as horizontal supports. The two square steel plates are arranged at a set distance to form an opening, and the maximum width between the outer sides of the two square steel plates is slightly smaller than the width of the specimen. The second limiting portion 53 is arranged on the base 51, and the transfer table 5 is provided with a total of two second limiting portions 53, each of the second limiting portions 53 includes two square steel plates (the square steel plates in the second limiting portion 53 serve as clamping plates of the second limiting portion) and a power for driving the two steel plates to move, and the power may be pneumatic, electric or hydraulic drive, and the two movable steel plates are vertically and symmetrically distributed on both sides of the horizontal support member in the first limiting portion 52, and can move toward or away from each other. When the specimen folded into two sections is placed horizontally on the horizontal support member, because the maximum width between the two square steel plates serving as supports is slightly smaller than the width of the specimen, the two movable steel plates can clamp the specimen when moving toward each other (when the robot arm 2 wants to clamp the specimen, if the two movable steel plates clamp the specimen too tightly, they can be loosened so as not to affect the clamping of the specimen by the robot arm 2), so that the specimen can be leveled, which is convenient for the robot arm 2 to clamp the specimen on the transfer table 5.

[0098] It should be noted that, in a possible embodiment, the turntable 5 may not be provided, because for a flexural and compression testing machine with a certain structure, it may not interfere with the robot arm 2 clamping the specimen, or because the robot arm 2 can not only grasp the specimen by clamping, but also grasp the object by vacuum adsorption. In this way, the robot arm 2 can directly adsorb the forward scraped surface of the specimen when grasping the specimen on the loading platform of the flexural testing machine, and then place the adsorbed specimen on the loading platform of the compression testing machine with the scraped surface facing right. In this case, the turntable 5 can be omitted. In addition, the robot arm 2 can also grasp the specimen by fingertips, because the fingertip structure is small. In this way, the robot arm 2 can directly grasp the forward scraped surface and the plane opposite to the fingertips by fingertips when grasping the specimen on the loading platform of the flexural testing machine, and then place the grasped specimen on the loading platform of the compression testing machine with the scraped surface facing right. In this case, the turntable 5 can also be omitted. Moreover, the robot arm 2 can even first hook up the test piece on the loading platform of the flexural testing machine, and then use the robot arm 2 to clamp the scraped surface of the object and the plane opposite to the scraped surface, and finally place the grabbed test piece on the loading platform of the compression testing machine with the scraped surface facing to the right. At this time, the transfer table 5 can also be omitted.

[0099] More specifically, in this embodiment, referring to Figure 1 The bottom of the robot arm 2 is arranged on the base 1, and the base 1 is provided with a storage space to improve the space utilization rate. Both the anti-bending cleaning mechanism and the anti-pressure cleaning mechanism include a nozzle 63 connected to an air compressor 8, the air compressor 8 provides gas to the nozzle 63, and the nozzle 63 provides jet for cleaning. Moreover, the anti-pressure cleaning mechanism also includes a push rod 62, which can push the crushed specimen on the stage of the compression test machine to the inclined discharge trough 61, and then the crushed specimen flows to the waste bin 3 through the discharge trough 61.

[0100] In addition, in this embodiment, refer to Figure 5The storage part as a whole is in the form of a specimen storage rack 74. The storage part includes an outer shell, and a square compartment formed by a plurality of vertical steel bars 72 at a certain distance in the shell. There are three square compartments in total. Each square compartment is equivalent to a square storage room. The cross-sectional area of ​​each square storage room is slightly larger than the cross-sectional area of ​​the cement mortar specimen. That is, each square storage room can only hold one cement mortar specimen on each layer. Three side-by-side square storage rooms can store three piles of cement mortar specimens in total. Because when the flexural and compressive strength of the cement mortar specimen is tested, the flexural strength is calculated based on the flexural strength data of the three specimens, and the arithmetic mean is calculated. The compressive strength is calculated based on the compressive strength data of the three specimens after being folded into six sections. That is to say, according to the standards and specifications, the flexural and compressive strength tests of cement mortar specimens are conducted on three complete cement mortar specimens as a group, so three square storage rooms are set up. In this way, when the specimens are stored in the square storage rooms, there are a total of three specimens on the same layer. The three specimens just correspond to one group of tests. Each time the robot arm 2 clamps the three specimens on the top layer of the three square storages, it obtains a set of data required for the test. If only two square storage rooms are set up, there may be two situations in which one or two specimens are left on the top layer. In this case, the robot arm 2 must determine which situation it is in order to continue clamping in order to complete a complete set of tests. If only other numbers of square storage rooms are set up, the robot arm 2 also needs to determine when to continue clamping the specimens in order to complete a complete set of tests.

[0101] In addition, a switch door 71 is provided on at least one surface of the housing of the material storage unit, and the switch door 71 can be opened to place the test piece in the square material storage room. Figure 5 In this embodiment, the lifting member is composed of a horizontal steel plate 73, and the horizontal steel plate 73 extends from the interval between the vertical steel bars 72 into the square storage room. Moreover, in this embodiment, in order to better show the structure of the square storage room, part of the shell of the storage part is not shown. Figure 5 The first induction switch 76 is arranged near the square material outlet 75. The first induction switch 76 can be a proximity switch. When the specimens on the top layer of the three square material storage rooms are all grabbed by the robot arm 2, the motor 77 will drive the slide 78 to continue to rise. In addition, the second induction switch and the third induction switch can also be proximity switches.

[0102] More specifically, in this embodiment, referring to Figure 2The robot arm 2 grabs the specimen through the end effector 4, and the grabbing method is clamping. The end effector 4 includes a mounting plate 42. One side of the mounting plate 42 is used to connect with the robot arm 2. The other side of the mounting plate 42 is equipped with two clamping parts 41 and a barcode scanner 43 and a camera 44 located between the two clamping parts 41. Each clamping part 41 is provided with two clamping plates and a power to drive the two clamping plates to move. The power can be pneumatic, electric or hydraulic. Two clamping parts 41 are arranged on the mounting plate 42, so that the specimen folded into two parts on the flexural test machine can be clamped to the transfer table 5 at one time to improve efficiency.

[0103] Embodiment 2:

[0104] Based on the first embodiment, a method for automatically testing the strength of a cement mortar specimen is provided, comprising:

[0105] Step 1: The robot arm 2 grabs a cement mortar specimen from the specimen storage device 7 and places it on the stage of the flexural testing machine to perform a flexural strength test, obtains the flexural strength C1 and transmits it to the host computer;

[0106] After the cement mortar specimen is broken into two pieces during the flexural strength test and is taken away by the robot arm 2, the flexural cleaning mechanism cleans the stage of the flexural testing machine;

[0107] Step 2: The robot arm 2 grabs a broken section of cement mortar specimen and places it on the stage of the compression testing machine for compressive strength test, obtains the compressive strength C2 and transmits it to the host computer;

[0108] After the compressive strength C2 is obtained, the compressive cleaning mechanism cleans the loading platform of the compressive testing machine;

[0109] Step 3: The robot arm 2 grabs another broken cement mortar specimen and places it on the stage of the compression testing machine for compressive strength test, obtains the compressive strength C3 and transmits it to the host computer;

[0110] After the compressive strength C3 is obtained, the compressive cleaning mechanism cleans the loading platform of the compressive testing machine;

[0111] Step 4: Repeat steps 1 to 3 to complete the automatic strength test of a preset number of cement mortar specimens.

[0112] Specifically, if the robot 2 grabs the specimen by clamping, then in step two, the robot 2 first grabs the two broken cement mortar specimens on the stage of the flexural testing machine and places them on the transfer table 5. After the transfer table 5 flattens the two cement mortar specimens in the up and down directions and the left and right directions, the robot 2 grabs a cement mortar specimen on the transfer table 5 to the stage of the compression testing machine for a compressive strength test, obtains the compressive strength C2 and transmits it to the host computer; in step three, the robot 2 grabs another cement mortar specimen on the transfer table 5 to the stage of the compression testing machine for a compressive strength test, obtains the compressive strength C3 and transmits it to the host computer.

[0113] More specifically, if the specimen storage device 7 is provided with a square material storage room, and the robot arm 2 grabs the specimen by clamping, and a transfer table 5 is provided, the following steps may be referred to:

[0114] Step 1: Place the cement mortar specimens in the square storage room in order, and click to start the test on the host computer;

[0115] Step 2: The horizontal steel plate in the square material storage room rises along with the slide 78 until the cement mortar specimen on the uppermost layer of the square material storage room comes out completely from the square material outlet 75;

[0116] Step 3: The robot arm 2 clamps a cement mortar specimen on the uppermost layer to the loading platform of the flexural testing machine for flexural testing. The flexural testing machine is started to perform flexural strength testing, and the flexural strength C1 is obtained and transmitted to the host computer;

[0117] Step 4: The robot arm 2 clamps the two broken test pieces to the first limiting part of the transfer table 5, and the second limiting part flattens the two test pieces. The nozzle 63 in the anti-bending cleaning mechanism sprays gas to clean the stage of the anti-bending test machine.

[0118] Step 5: The robot arm 2 clamps a section of the test piece on the transfer table 5 to the stage of the compression testing machine for compressive strength test. The compression testing machine is started to perform the compressive strength test, and the compressive strength C2 is obtained and transmitted to the host computer; the push rod 62 in the compression cleaning mechanism pushes the crushed test piece to the discharge chute 61, so that the crushed test piece flows along the discharge chute 61 to the waste barrel 3, and the nozzle 63 in the compression testing machine sprays gas to clean the stage of the compression testing machine;

[0119] Step 6: After repeating step 5 to obtain the compressive strength C3 of another test piece, the robot arm 2 moves to the initial position, ready to clamp the test piece at the square outlet 75 next time;

[0120] Step 7: Repeat steps 3 to 6, so that a total of three test pieces on the uppermost layer coming out of the three square material storage rooms from the square material outlet 75 are all grabbed by the robot arm 2 and the flexural strength test and the compressive strength test are completed;

[0121] Step 8: If there are still test pieces in the square storage room, repeat steps 2 to 7. If all test pieces in the square storage room have been tested, the slide 78 moves downward to the lower limit position to prepare for the next loading of the square storage room, and the test is completed.

[0122] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention. For example, replacing the bolt connection in this embodiment with a stud connection should be included in the scope of protection of the present invention.

Claims

1. An automatic testing system for cement mortar specimen strength, It is characterized in that It includes a specimen storage device, a flexural testing machine, a compression testing machine, a flexural cleaning mechanism, a compression cleaning mechanism, a robotic arm and a host computer; The specimen storage device is used to store cement mortar specimens; The flexural testing machine is used to test the flexural strength of cement mortar specimens; The compression testing machine is used to test the compressive strength of cement mortar specimens; The anti-bending cleaning mechanism is used to clean the stage of the anti-bending testing machine; The pressure-resistant cleaning mechanism is used to clean the loading platform of the flexural testing machine; The robotic arm can grab the cement mortar specimen on the specimen storage device according to a preset program and place it on the loading platform of the flexural testing machine for flexural strength testing. The robotic arm can also grab the cement mortar specimen that is folded into two parts after the flexural strength test is completed and place it on the compression testing machine for compression strength testing; The host computer is connected with the flexural testing machine and the compression testing machine by signals, and can record the flexural strength and compression strength data of the cement mortar specimen.

2. According to claim 1, a cement mortar specimen strength automatic testing system, It is characterized in that The specimen storage device comprises a material storage portion and a material feeding portion; The material storage part is used to place cement mortar test pieces; The feeding part is used to transport the cement mortar specimen to a preset position so that the robot arm can grab the cement mortar specimen.

3. The automatic testing system for cement mortar specimen strength according to claim 2, It is characterized in that The feeding part vertically transports the cement mortar test piece.

4. The automatic testing system for cement mortar specimen strength according to claim 3, It is characterized in that The material storage section includes at least one square material storage room; The square material storage room can accommodate stacked cement mortar specimens, the square material storage room limits the horizontal freedom of the cement mortar specimens, and a square discharge port is arranged above the square material storage room for discharging the cement mortar specimens.

5. The automatic testing system for cement mortar specimen strength according to claim 4, It is characterized in that The feeding part includes a lifting part, a moving part and a driving part; One end of the lifting member is connected to the moving member, and the other end extends into the square material storage room, and the lifting member is used to lift the cement mortar test piece in the square material storage room; The moving member is connected to the driving member by power, and the driving member can drive the moving member to move vertically; When the moving member moves vertically upward, it can drive the lifting member to move upward, so that the cement mortar test piece in the square material storage room moves from bottom to top and is discharged from the square discharge port.

6. The automatic testing system for cement mortar specimen strength according to claim 5, It is characterized in that The feeding part also includes a guide rail and a screw rod; The movable member is a slide, the slide is threadedly matched with the lead screw, and the slide is slidably matched with the guide rail; The driving member is a motor, which is dynamically connected to the screw rod and can drive the slide to move vertically; The lifting member is a horizontally arranged steel plate; The square discharge port is provided with a first induction switch. When the cement mortar specimens stacked on the uppermost layer are completely discharged from the square discharge port, the first induction switch triggers the motor to stop rotating. When the cement mortar specimens stacked on the uppermost layer are grabbed by the robotic arm, the first induction switch triggers the motor to drive the slide table to move vertically upward. The feeding part also includes a second induction switch and a third induction switch; When the slide moves to the upper limit position, the second induction switch triggers the motor to reverse and causes the slide to move downward; when the slide moves to the upper limit position, the cement mortar specimen at the bottom layer in the square material storage room has completely come out of the square material outlet; When the slide moves downward to the lower limit position, the third induction switch triggers the motor to stop rotating.

7. An automatic testing system for cement mortar specimen strength according to any one of claims 1 to 6, It is characterized in that The mechanical arm is provided with a code scanner for scanning the information code on the cement mortar specimen to obtain information including the number of the cement mortar specimen; The robotic arm is also provided with a camera, which can obtain the position of the cement mortar specimen on the specimen storage device, and is used for the robotic arm to adjust the position of the fixture.

8. An automatic testing system for cement mortar specimen strength according to any one of claims 1 to 6, It is characterized in that It also includes a relay station; The robotic arm can first grab the specimen after the flexural strength test and place it on the transfer table according to a preset program, and then grab the cement mortar specimen on the transfer table and place it on the compression testing machine for compressive strength testing; The mechanical arm can clamp the cement mortar test piece on the transfer table from the upper and lower directions; The transfer platform comprises a first limiting portion, wherein the first limiting portion is provided with a horizontal support member; The horizontal support member is provided with an opening; The width of the horizontal support member is smaller than the width of the cement mortar specimen; Second limiting parts are arranged on both sides of the horizontal support member in a lateral direction, the height of the top of the second limiting part is greater than the height of the top of the first limiting part, and the second limiting part can move in a lateral direction of the horizontal support member; The horizontal support is used to place the cement mortar test piece; The second limiting portion is used to limit the left and right positions of the cement mortar test piece placed on the horizontal support member.

9. An automatic test method for the strength of cement mortar specimens. It is characterized in that An automatic testing system for cement mortar specimen strength according to any one of claims 1 to 8, comprising: Step 1: The robotic arm grabs a cement mortar specimen from the specimen storage device and places it on the stage of the flexural testing machine to perform a flexural strength test, obtains the flexural strength C1 and transmits it to the host computer; After the cement mortar specimen is broken into two pieces during the flexural strength test and is taken away by the mechanical arm, the flexural cleaning mechanism cleans the stage of the flexural testing machine; Step 2: The mechanical arm grabs a broken cement mortar specimen and places it on the stage of the compression testing machine to perform a compressive strength test, obtains the compressive strength C2 and transmits it to the host computer; After the compressive strength C2 is obtained, the compressive cleaning mechanism cleans the stage of the compressive testing machine; Step 3: The robotic arm grabs another broken cement mortar specimen and places it on the stage of the compression testing machine for compressive strength testing, obtains the compressive strength C3 and transmits it to the host computer; After the compressive strength C3 is obtained, the compressive cleaning mechanism cleans the stage of the compressive testing machine; Step 4: Repeat steps 1 to 3 to complete the automatic strength test of a preset number of cement mortar specimens.

10. The automatic testing method for cement mortar specimen strength according to claim 9, Features: In the step 2, the robotic arm first grabs the two broken cement mortar specimens on the stage of the flexural testing machine and places them on the transfer table. After the transfer table flattens the two cement mortar specimens in the up-down direction and the left-right direction, the robotic arm grabs a cement mortar specimen on the transfer table to the stage of the compression testing machine for compressive strength test, obtains the compressive strength C2 and transmits it to the host computer; In the step three, the robot arm grabs another cement mortar specimen on the transfer table to the loading platform of the compression testing machine for compressive strength testing, obtains the compressive strength C3 and transmits it to the host computer.

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