An attitude adjustment system for a cement sample

Abstract

The present invention relates to the field of cement detection, and particularly to an attitude adjustment system for cement specimens, comprising: a circumferential grasping mechanism for grasping the cement specimens; a motion mechanism connected to the circumferential grasping mechanism for providing driving forces for the flipping and movement of the circumferential grasping mechanism and cooperating with the circumferential grasping mechanism to implement the commutation operation of the cement specimens; a commutation operation table for calibrating and positioning the cement specimens to cooperate with the circumferential grasping mechanism and the motion mechanism for the commutation operation of the cement specimens; and a control module electrically connected to the circumferential grasping mechanism and the motion mechanism. Through the control of the circumferential grasping mechanism and the motion mechanism, combined with the cooperation of the commutation operation table for calibrating and positioning the cement specimens, the automation of the position calibration and attitude adjustment of the cement specimens is achieved, the progress and efficiency of the flexural and compressive strength tests of cement are improved, and the labor cost is significantly reduced.

Description

Technical Field

[0001] The present invention relates to the field of cement detection, and particularly to an attitude adjustment system for cement specimens. Background Art

[0002] The flexural and compressive strength tests of cement are important links in the physical inspection process of cement and important indicators for judging whether the production quality of cement is qualified. At present, flexural and compressive strength are two major mechanical property indicators of cement specimens, and they are essential testing processes in cement plants, construction engineering units, and quality inspection stations during construction. A combined flexural and compressive testing machine is commonly used to detect the flexural and compressive properties of cement respectively. However, when current cement production plants perform the flexural and compressive strength tests of cement, they are all manual tests, that is, manually judge the state of the incoming materials at the front end, adjust the attitude of the cement specimens and send them into the breaking fixture of the combined flexural and compressive testing machine to start the breaking test. After the breaking test is completed, it is necessary to manually remove the cement specimens, calibrate the position, and perform a secondary attitude adjustment, and then send them into the fracturing fixture of the combined flexural and compressive testing machine to start the fracturing test. Both tests must ensure that the cement specimens sent into the test fixture meet the specified attitude requirements.

[0003] At present, there is no related automated implementation mechanism in the existing technology, and all are manual loading of cement specimens for the test process. If automated transformation is carried out, the usual implementation method is only to set a commutation mechanism on the test fixture of the combined flexural and compressive testing machine. However, after the breaking test is completed, it is still necessary to manually remove the cement specimens for position calibration and secondary commutation and then send them into the fracturing fixture for testing. Although the actions are simple, to a certain extent, it still leads to a long test time, which is not conducive to the progress and efficiency of the flexural and compressive strength tests of cement, and requires a relatively high labor cost. Summary of the Invention

[0004] In view of the above technical problems, the present invention proposes an attitude adjustment system for cement specimens, aiming to use a mechanical structure to achieve the position calibration and attitude adjustment of cement specimens, improve the progress and efficiency of the flexural and compressive strength tests of cement, and reduce labor costs.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions: An attitude adjustment system for cement specimens, comprising:

[0006] A circumferential grasping mechanism for grasping the cement specimens;

[0007] A motion mechanism connected to the circumferential grasping mechanism, for providing driving force for the flipping and moving of the circumferential grasping mechanism, and cooperating with the circumferential grasping mechanism to achieve the commutation operation of the cement specimens;

[0008] A commutation operation table for calibrating and positioning the cement specimens to cooperate with the circumferential grasping mechanism and the motion mechanism for the commutation operation of the cement specimens;

[0009] A control module, electrically connected to the circumferential gripper mechanism and the motion mechanism;

[0010] A power supply module, supplying power to the circumferential gripper mechanism, the motion mechanism, and the control module.

[0011] The technical concept of the present invention is as follows: electrically connect the circumferential gripper mechanism and the motion mechanism to the control module. Through the movement of the circumferential gripper mechanism by the motion mechanism, combined with the clamping of the cement sample by the circumferential gripper mechanism, after the cement sample completes the breaking test, the cement sample can be taken out by the circumferential gripper mechanism and placed on the commutation operation table for calibration and positioning. Then, through the clamping of the calibrated and positioned cement sample by the circumferential gripper mechanism, combined with the flipping of the circumferential gripper mechanism by the motion mechanism, the commutation operation of the cement sample on the commutation operation table is realized. Finally, through the clamping of the cement sample with adjusted posture by the circumferential gripper mechanism, combined with the movement of the circumferential gripper mechanism by the motion mechanism, the cement sample with adjusted posture is sent into the fracturing fixture for testing.

[0012] Through the control of the circumferential gripper mechanism and the motion mechanism, combined with the cooperation of the commutation operation table for calibrating and positioning the cement sample, the automation of the position calibration and posture adjustment of the cement sample is realized, improving the progress and efficiency of the cement flexural and compressive strength tests and greatly reducing the labor cost.

[0013] Preferably, the circumferential gripper mechanism includes a first jaw, a second jaw, a main board, a first jaw driving member, and a second jaw driving member. The first jaw and the second jaw are both installed on one side of the lower surface of the main board. The first jaw driving member and the second jaw driving member are both fixedly installed on the lower surface of the main board. The first jaw driving member is connected to the first jaw, and the second jaw driving member is connected to the second jaw. The first jaw driving member and the second jaw driving member are both electrically connected to the control module. One side of the upper surface of the main board away from the first jaw and the second jaw is fixedly connected to one end of the motion mechanism.

[0014] Control the first jaw and the second jaw respectively through the first jaw driving member and the second jaw driving member, that is, the first jaw and the second jaw are independent of each other. It can not only realize the action grasping of a single jaw to grasp short cement samples, but also realize the simultaneous action grasping of the first jaw and the second jaw to grasp long cement samples.

[0015] Preferably, the first jaw includes a first front finger and a first rear finger, the second jaw includes a second front finger and a second rear finger. The first front finger and the second front finger are both fixedly installed on one side of the lower surface of the main board. The first rear finger and the second rear finger are both slidably installed on the lower surface of the main board. The first jaw driving member is connected to the first rear finger, the second jaw driving member is connected to the second rear finger, and the first jaw and the second jaw are arranged in parallel.

[0016] Both clamping jaws have their front fingers fixed in place, and only the rear fingers are driven by the clamping jaw driving member to perform telescopic movement. That is, the clamping action is completed by the opening and closing of the front and rear fingers, enabling the clamping jaws to have adjustable clamping force. Combined with the design of parallel clamping jaws, it is more suitable for clamping heavier objects such as cement sample blocks.

[0017] Preferably, the circumferential clamping mechanism includes a first guide rail and a second guide rail. Both the first guide rail and the second guide rail are fixedly installed on the lower surface of the main board. The first rear finger is slidably installed on the first guide rail, and the second rear finger is slidably installed on the second guide rail.

[0018] The movement direction of the rear finger is restricted by the guide rail to prevent the situation of incorrect clamping caused by the deviation of the movement orientation of the rear finger due to the driving of the rear finger by the clamping jaw driving member.

[0019] Preferably, a clamping detection device is provided between the first front finger and the first rear finger and between the second front finger and the second rear finger. The clamping detection device is electrically connected to the control module.

[0020] Preferably, the movement mechanism includes a rotation assembly, a base, a first pitching assembly, a second pitching assembly, a third pitching assembly, and a driving assembly. The rotation assembly is rotatably installed on the upper surface of the base. The first pitching assembly is rotatably installed on the rotation assembly. One end of the second pitching assembly is rotatably connected to the end of the first pitching assembly away from the rotation assembly. One end of the third pitching assembly is rotatably connected to the other end of the second pitching assembly. The other end of the third pitching assembly is fixedly connected to the main board of the circumferential clamping mechanism. The rotation assembly, the first pitching assembly, the second pitching assembly, and the third pitching assembly are all connected to the driving assembly, and the driving assembly is electrically connected to the control module.

[0021] Through the structural design of multiple pitching assemblies and the rotation assembly of the movement mechanism and the driving control of the movement mechanism by the control module, the movement mechanism provides driving force for the flipping and omnidirectional movement of the circumferential clamping mechanism, so as to realize the attitude adjustment and clamping movement of the cement sample through the cooperation of the movement mechanism and the circumferential clamping mechanism.

[0022] Preferably, the reversing operation table includes a base and a plurality of rollers. The base has two upper end faces, and the two upper end faces of the base are arranged at a 90° angle. A plurality of rollers are vertically installed on the two upper end faces of the base along the ridge line direction, and the plurality of rollers are rotatably connected to the base. The base is arranged in an inclined shape, and a baffle is provided at the lower end of the base.

[0023] Since the cement sample is a square block, the 90° angle between the two upper end faces of the base facilitates the vertical installation of the rollers to form a right-angled V-shaped groove after being installed on the two upper end faces, that is, to form a right-angled operating table supported by a number of rollers, which can just fit the two pressing surfaces of the cement sample, so as to better achieve the stable placement of the cement sample. Moreover, by setting the base of the reversing operating table in an inclined shape and the rotational connection between the rollers and the base, the sliding and support of the cement sample on the reversing operating table can be realized, and a baffle is provided at the front end of the base to limit and block the cement sample, thus cleverly realizing the calibration and positioning of the cement sample.

[0024] Preferably, the rollers include long rollers and short rollers. A number of long rollers are vertically installed in the middle of the two upper end faces of the base, and a number of short rollers are vertically installed on both sides of the number of long rollers.

[0025] By arranging the rollers along the ridge line direction with the long rollers in the middle and the short rollers installed on both sides, the influence of the long rollers on the gripper grasping the cement sample is reduced.

[0026] Preferably, the main board is provided with a roller avoidance groove on the side where the first gripper and the second gripper are installed. The first gripper and the second gripper are respectively installed on both sides of the roller avoidance groove. The length of the roller avoidance groove in the x-axis direction is greater than the installation height of the long rollers, and the length of the roller avoidance groove in the y-axis direction is greater than the total arrangement distance of the number of long rollers on the base.

[0027] Among them, the direction from the side close to the first gripper and the second gripper to the side far from the first gripper and the second gripper is the y-axis direction, the direction of the connecting line between the first front finger and the second front finger is the x-axis direction, the installation height of the long rollers is the height of the long rollers protruding from the upper end face of the base after the long rollers are vertically installed on the two upper end faces of the base, and the total arrangement distance of the number of long rollers on the base is the distance between the mapping points of the long rollers closest to the higher end of the base and the long rollers closest to the lower end of the base vertically mapped on the ridge line after the number of long rollers are vertically installed on the two upper end faces of the base.

[0028] By providing a roller avoidance groove on the main board of the circumferential gripper mechanism, the interference of the long rollers on the circumferential gripper mechanism for reversing the cement sample is further avoided.

[0029] Preferably, the commutation operation table includes a bottom plate, on which a rotating shaft fixing block and an angle adjusting frame are provided. One end of the rotating shaft fixing block is rotatably connected to the lower end of the base, and the other end of the rotating shaft fixing block is fixedly connected to the bottom plate. The angle adjusting frame is provided with a first adjusting groove and a second adjusting groove. The first adjusting groove is arranged parallel to the bottom plate, and the angle adjusting frame is connected to the bottom plate through the first adjusting groove. The second adjusting groove is arranged perpendicular to the bottom plate, and the angle adjusting frame is connected to the higher end of the base through the second adjusting groove.

[0030] The base is connected and fixed to the bottom plate through the rotating shaft fixing block and the angle adjusting frame, so that the commutation operation table is arranged in an inclined shape, and the angle of the base can be adjusted according to the sliding requirement of the cement sample, avoiding the damage of the cement sample caused by too large impact force when the cement sample slides on the operation table surface due to too high inclination angle of the base.

[0031] One of the beneficial technical effects of the present invention is that: by adopting an attitude adjustment system for cement samples, through the control of the circumferential grasping mechanism and the motion mechanism, combined with the cooperation of the commutation operation table for calibrating and positioning the cement samples, the automatic calibration of the position and attitude adjustment of the cement samples are realized, improving the progress and efficiency of the cement flexural and compressive strength tests and greatly reducing the labor cost.

[0032] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below with reference to the drawings:

[0034] Figure 1 It is the overall structure diagram of an attitude adjustment system for cement samples according to an embodiment of the present invention.

[0035] Figure 2 It is the structural schematic diagram of the circumferential grasping mechanism according to an embodiment of the present invention.

[0036] Figure 3 It is the bottom view structural schematic diagram of the circumferential grasping mechanism according to an embodiment of the present invention.

[0037] Figure 4 It is the structural schematic diagram of the commutation operation table according to an embodiment of the present invention.

[0038] Figure 5 It is the assembly schematic diagram of the commutation operation table according to an embodiment of the present invention.

[0039] Figure 6 It is the schematic diagram of the clamping operation of the circumferential grasping mechanism on the cement sample according to an embodiment of the present invention.

[0040] Figure 7Schematic diagram of the commutation operation of the circumferential gripper mechanism on the cement sample in the embodiment of the present invention

[0041] Wherein: 1. Circumferential gripper mechanism, 101. First front finger, 102. First rear finger, 103. First jaw drive member, 104. First guide rail, 111. Second front finger, 112. Second rear finger, 113. Second jaw drive member, 114. Second guide rail, 12. Main board, 121. Roller avoidance groove, 13. Gripping detection device, 14. Nozzle, 2. Motion mechanism, 21. Base, 22. Rotating assembly, 23. First pitching assembly, 24. Second pitching assembly, 25. Third pitching assembly, 3. Commutation operation table, 31. Base, 32. Baffle, 33. Long roller, 34. Short roller, 35. In-position detection device, 36. Bottom plate, 37. Shaft fixing block, 38. Angle adjustment bracket, 4. Control module. Detailed implementation manners

[0042] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings of the embodiments of the present invention. However, the following embodiments are only the preferred embodiments of the present invention and not all of them. Based on the embodiments in the implementation manners, other embodiments obtained by those skilled in the art without creative efforts all fall within the protection scope of the present invention.

[0043] In the following description, terms such as "inner", "outer", "upper", "lower", "left", "right", etc., indicating orientations or positional relationships are only for the convenience of describing the embodiments and simplifying the description, rather than indicating or implying that the devices or elements referred to must have specific orientations, be constructed and operated in specific orientations, and therefore should not be construed as limiting the present invention.

[0044] An embodiment of the present application provides a posture adjustment system for a cement sample. Please refer to the attached Figure 1 , including:

[0045] A circumferential gripper mechanism 1 for gripping the cement sample;

[0046] A motion mechanism 2 connected to the circumferential gripper mechanism 1 for providing driving forces for the flipping and moving of the circumferential gripper mechanism 1 and cooperating with the circumferential gripper mechanism 1 to implement the commutation operation of the cement sample;

[0047] A commutation operation table 3 for calibrating and positioning the cement sample to cooperate with the circumferential gripper mechanism 1 and the motion mechanism 2 for the commutation operation of the cement sample;

[0048] A control module 4 electrically connected to the circumferential gripper mechanism 1 and the motion mechanism 2;

[0049] A power supply module for supplying power to the circumferential gripper mechanism 1, the motion mechanism 2, and the control module 4.

[0050] The technical concept of the present invention is as follows: electrically connect the circumferential gripper mechanism 1 and the motion mechanism 2 to the control module 4. Through the movement of the motion mechanism 2 for the circumferential gripper mechanism 1, combined with the clamping of the cement sample by the circumferential gripper mechanism 1, after the cement sample completes the breaking test, the cement sample can be taken out by the circumferential gripper mechanism 1, and the cement sample is placed on the reversing operation table 3 for calibration and positioning. Then, through the clamping of the calibrated and positioned cement sample by the circumferential gripper mechanism 1, combined with the flipping of the circumferential gripper mechanism 1 by the motion mechanism 2, the reversing operation of the cement sample on the reversing operation table 3 is realized. Finally, through the clamping of the cement sample with adjusted posture by the circumferential gripper mechanism 1, combined with the movement of the circumferential gripper mechanism 1 by the motion mechanism 2, the cement sample with adjusted posture is sent into the fracturing fixture for testing.

[0051] By controlling the circumferential gripper mechanism 1 and the motion mechanism 2, combined with the cooperation of the reversing operation table 3 for calibrating and positioning the cement sample, the automatic calibration of the position and adjustment of the posture of the cement sample are realized, improving the progress and efficiency of the cement flexural and compressive strength tests and greatly reducing the labor cost.

[0052] On the other hand, in this embodiment, please refer to the attached Figure 2 and the attached Figure 3 , the circumferential gripper mechanism 1 includes a first jaw, a second jaw, a main board 12, a first jaw driving member 103 and a second jaw driving member 113. The first jaw and the second jaw are both installed on one side of the lower surface of the main board 12. The first jaw driving member 103 and the second jaw driving member 113 are both fixedly installed on the lower surface of the main board 12. The first jaw driving member 103 is connected to the first jaw, and the second jaw driving member 113 is connected to the second jaw. The first jaw driving member 103 and the second jaw driving member 113 are both electrically connected to the control module 4. One side of the upper surface of the main board 12 away from the first jaw and the second jaw is fixedly connected to one end of the motion mechanism 2.

[0053] Optionally, the first jaw driving member 103 and the second jaw driving member 113 can be cylinders, servo motors or hydraulic systems, etc. This embodiment does not limit this. The jaw driving member is mainly used to realize the telescopic movement of the jaw. One side of the upper surface of the main board 12 away from the first jaw and the second jaw can be fixedly connected to one end of the motion mechanism 2 through a flange.

[0054] Among them, the control module 4 controls the clamping operation of the first jaw and the second jaw by controlling the driving forces of the first jaw driving member 103 and the second jaw driving member 113.

[0055] The first jaw and the second jaw are controlled by the first jaw driving member 103 and the second jaw driving member 113 respectively, that is, the first jaw and the second jaw are independent of each other, and can not only realize the grasping action of a single jaw to grasp short cement specimens, but also realize the simultaneous grasping action of the first jaw and the second jaw to grasp long cement specimens. By fixedly connecting the circumferential grasping mechanism 1 and the motion mechanism 2, the stability and rigidity of the circumferential grasping mechanism 1 can be ensured.

[0056] On the other hand, in this embodiment, the first jaw includes a first front finger 101 and a first rear finger 102, the second jaw includes a second front finger 111 and a second rear finger 112. The first front finger 101 and the second front finger 111 are both fixedly installed on one side of the lower surface of the main board 12, the first rear finger 102 and the second rear finger 112 are both slidably installed on the lower surface of the main board 12, the first jaw driving member 103 is connected to the first rear finger 102, the second jaw driving member 113 is connected to the second rear finger 112, and the first jaw and the second jaw are arranged in parallel.

[0057] Specifically, in this embodiment, the front fingers of the first jaw and the second jaw are both fixed, and only the telescopic movements of the first rear finger 102 and the second rear finger 112 are controlled by the first jaw driving member 103 and the second jaw driving member 113 respectively, so that the first jaw and the second jaw have adjustable clamping forces, and then the first jaw and the second jaw are arranged in parallel, making the circumferential grasping mechanism 1 of this embodiment more suitable for grasping heavy objects such as cement specimens.

[0058] On the other hand, in this embodiment, the circumferential grasping mechanism 1 includes a first guide rail 104 and a second guide rail 114. The first guide rail 104 and the second guide rail 114 are both fixedly installed on the lower surface of the main board 12. The first rear finger 102 is slidably installed on the first guide rail 104, and the second rear finger 112 is slidably installed on the second guide rail 114.

[0059] The moving directions of the rear fingers are restricted by the first guide rail 104 and the second guide rail 114, preventing the situation of incorrect grasping caused by the deviation of the moving orientation of the rear fingers due to the driving of the rear fingers by the jaw driving members.

[0060] Exemplarily, taking the cylinder as the jaw driving member in this embodiment, the specific situation of preventing the deviation of the moving orientation of the rear fingers due to the driving of the rear fingers by the jaw driving members through the setting of the guide rails is as follows:

[0061] The first front finger 101 and the second front finger 111 are both fixedly installed on one side of the lower surface of the main board 12. The first cylinder and the second cylinder are both fixed on the side of the lower surface of the main board 12 away from the first front finger 101 and the second front finger 111. The first guide rail 104 and the second guide rail 114 are arranged in parallel. The two ends of the first guide rail 104 are respectively fixedly installed on the lower surface of the main board 12 facing the first front finger 101 and the first cylinder. The two ends of the second guide rail 114 are respectively fixedly installed on the lower surface of the main board 12 facing the second front finger 111 and the second cylinder. The first rear finger 102 and the second rear finger 112 are respectively slidably installed on the first guide rail 104 and the second guide rail 114. The front ends of the piston rods of the two cylinders are respectively connected to the first rear finger 102 and the second rear finger 112. When the control module 4 controls the two cylinders to provide driving force, the piston rods of the cylinders rotate forward and push the rear fingers to move inwards along the guide rails towards the front fingers. If the first guide rail 104 and the second guide rail 114 are not provided, there may be a situation where the clamping mechanism 1 fails to grasp correctly due to the deviation of the movement direction of the rear fingers or even the rotation of the rear fingers caused by the rotation of the piston rods of the cylinders.

[0062] On the other hand, in this embodiment, a clamping detection device 13 is arranged between the first front finger 101 and the first rear finger 102 and between the second front finger 111 and the second rear finger 112. The clamping detection device 13 is electrically connected to the control module 4.

[0063] Among them, the clamping detection device 13 can be a photoelectric sensor, a position sensor, etc., and this embodiment does not limit this. The clamping detection device 13 is used to determine the presence or absence of the cement sample during the clamping of the gripper, and can also be used to determine whether the clamping of the cement sample is in place.

[0064] Furthermore, in this embodiment, finger pads can be arranged on both the front fingers and the rear fingers. The material of the finger pads can be a soft material such as polyurethane. The arrangement of the finger pads can ensure that the gripper does not damage the cement sample during the grasping process, and at the same time can also improve the friction of the gripper, so that the circumferential clamping mechanism 1 can stably grasp the cement sample with a smaller clamping force, thereby reducing the damage to the cement sample caused by high-pressure grasping, and to a certain extent, the use cost of the gripper driving parts can also be reduced.

[0065] Furthermore, in this embodiment, a nozzle 14 can be arranged on the upper surface of the main board 12. The nozzle 14 is used to clean the workstations of the breaking fixture and the fracturing fixture when the circumferential clamping mechanism 1 approaches the flexural and compressive strength testing machine. The nozzle 14 is electrically connected to the control module 4.

[0066] Optionally, the nozzle 14 can be a high-pressure pneumatic nozzle 14. By controlling the opening and closing of the high-pressure pneumatic nozzle 14, compressed air can be sprayed as needed to complete the cleaning action of the workstations of the breaking fixture and the fracturing fixture.

[0067] On the other hand, in this embodiment, please refer to the attachedFigure 1 , the motion mechanism 2 includes a rotating assembly 22, a base 21, a first pitching assembly 23, a second pitching assembly 24, a third pitching assembly 25 and a driving assembly. The rotating assembly 22 is rotatably installed on the upper surface of the base 21. The first pitching assembly 23 is rotatably installed on the rotating assembly 22. One end of the second pitching assembly 24 is rotatably connected to the end of the first pitching assembly 23 away from the rotating assembly 22. One end of the third pitching assembly 25 is rotatably connected to the other end of the second pitching assembly 24. The other end of the third pitching assembly 25 is fixedly connected to the main board 12 of the circumferential grasping mechanism 1. The rotating assembly 22, the first pitching assembly 23, the second pitching assembly 24 and the third pitching assembly 25 are all connected to the driving assembly, and the driving assembly is electrically connected to the control module 4.

[0068] Among them, the base 21 of the motion mechanism 2 can be installed at a certain fixed installation point around the flexural and compressive strength testing machine, or can be installed on a mobile robot. The rotating assembly 22 on the base 21 is used to realize the 360° rotation of the whole motion mechanism 2 in the horizontal direction. The first pitching assembly 23 on the rotating assembly 22 is used to realize the 90° rotation of the whole motion mechanism 2 in the vertical direction. The second pitching assembly 24 on the first pitching assembly 23 is used to realize the 180° rotation of the second pitching assembly 24 in the vertical direction. The third pitching assembly 25 on the second pitching assembly 24 is used to realize the 180° rotation of the third pitching assembly 25 in the vertical direction, so as to realize the omnidirectional movement of the whole motion mechanism 2. The overall movement flexibility is high. Combined with the fixed connection between the circumferential grasping mechanism 1 and one end of the third pitching assembly 25, the flipping and omnidirectional movement of the circumferential grasping mechanism 1 can be realized.

[0069] In this embodiment, another implementation manner of the driving assembly is that: the rotating assembly 22, the first pitching assembly 23, the second pitching assembly 24 and the third pitching assembly 25 are all provided with a driver, and all the drivers constitute the driving assembly. All the drivers in the driving assembly are electrically connected to the control module 4.

[0070] Through the structural design of multiple pitching assemblies and the rotating assembly 22 of the motion mechanism 2 and the driving control of the motion mechanism 2 by the control module 4, the driving force can be provided for the flipping and omnidirectional movement of the circumferential grasping mechanism 1, so as to realize the attitude adjustment and clamping movement of the cement sample through the cooperation of the motion mechanism 2 and the circumferential grasping mechanism 1.

[0071] On the other hand, in this embodiment, please refer to the attached Figure 4 , the commutation operation table 3 includes a base 31 and several rollers. The base 31 has two upper end faces, and the two upper end faces of the base 31 are arranged at a 90° angle. Several rollers are vertically installed on the two upper end faces of the base 31 along the edge line direction. Several rollers are rotatably connected to the base 31. The base 31 is arranged in an inclined shape, and a baffle 32 is arranged at the lower end of the base 31.

[0072] Among them, a roller is a common mechanical device, usually composed of one or more cylindrical rollers. Rollers can be used in various applications, including conveying, supporting, driving, pressing, etc. The main feature of the roller is its cylindrical shape. The diameter and length of the roller can be designed and manufactured according to specific application requirements. Rollers are usually installed on brackets or bases 21 to provide stable support and movement. Rollers are usually made of metal, plastic or rubber.

[0073] Preferably, in this embodiment, the roller is processed with a soft material such as nylon to ensure smooth rotation of the roller.

[0074] Among them, a ridge line is a geometric term, referring to a line segment formed by the intersection of two planes or surfaces in three-dimensional space. The ridge line can be a straight line segment or a curved line segment, depending on the shape of the intersecting planes or surfaces. In geometry, ridge lines are commonly used to describe the edges or contours of solid figures. In this embodiment, the ridge line refers to the intersecting line formed between two upper end faces.

[0075] Since the cement sample is a square block, the 90° angle between the two upper end faces of the base 31 facilitates the vertical installation of the rollers on the two upper end faces to form a right-angled V-shaped groove, that is, to form a right-angled operation table surface supported by several rollers, which can just fit the two pressing surfaces of the cement sample, so as to better achieve the stable placement of the cement sample. Moreover, by setting the base 31 of the reversing operation table 3 in an inclined shape and the rotational connection between the roller and the base 31, when the circumferential gripping mechanism 1 clamps the cement sample and places it on the reversing operation table 3, the sliding of the cement sample on the reversing operation table surface formed by the rollers and the support of the rollers on the cement sample can be realized, and a baffle 32 is provided at the front end of the base 31 to limit and block the sliding of the cement sample. Therefore, even if the position accuracy of the circumferential gripping mechanism 1 when clamping and placing the cement sample on the reversing operation table 3 is insufficient, the calibration and positioning of the cement sample can still be cleverly realized through the sliding of the cement sample and the limiting and blocking of the cement sample.

[0076] Exemplarily, please refer to the appendix Figure 5, in this embodiment, the roller is rotatably connected to the base 31 through a shoulder screw. The specific assembly process is as follows: The head of the shoulder screw is usually a flat disc shape. Below the head is a columnar body with threads. At the upper part of the columnar body, there is a shoulder with a larger diameter, which is used to provide a supporting surface for the roller or rotating component. The shoulder screw is inserted into the shaft hole of the roller, and then its threaded part is matched with the threaded hole on the base 31. By rotating the shoulder screw, the roller is fixed to the base 31 and the roller can rotate freely around the shoulder screw. The shoulder of the shoulder screw provides a supporting surface for the roller, enabling the roller to rotate stably on the base 31 or the bracket. At the same time, the columnar body of the shoulder screw can play an axial positioning role in the shaft hole of the roller, ensuring the alignment of the axes between the roller and the base 31. The shoulder screw is usually made of high-strength metal materials, has a high load-bearing capacity, and can bear the weight and moving force of the roller and the cement sample.

[0077] On the other hand, in this embodiment, the roller includes a long roller 33 and a short roller 34. A plurality of long rollers 33 are vertically installed in the middle of the two upper end faces of the base 31, and a plurality of short rollers 34 are vertically installed on both sides of the plurality of long rollers 33.

[0078] By arranging the rollers along the ridge line direction with the long roller 33 in the middle and the short rollers 34 installed on both sides, the influence of the long roller 33 on the gripper grasping the cement sample is reduced. Specifically, the arrangement with the long roller 33 in the middle and the short rollers 34 installed on both sides ensures that after the gripper of the circumferential grasping mechanism 1 normally grasps the cement sample and places it on the commutation operation table 3, the gripper of the circumferential grasping mechanism 1 can correspond to the arrangement position of the short roller 34, thereby reducing the adverse influence of the long roller 33 on the grasping direction of the circumferential grasping mechanism 1 for replacing and adjusting the attitude of the cement sample to be treated.

[0079] On the other hand, in this embodiment, an anti-roller groove 121 is provided on one side of the main board 12 where the first gripper and the second gripper are installed. The first gripper and the second gripper are respectively installed on both sides of the anti-roller groove 121. The length of the anti-roller groove 121 in the x-axis direction is greater than the installation height of the long roller 33, and the length of the anti-roller groove 121 in the y-axis direction is greater than the total arrangement distance of the plurality of long rollers 33 on the base 31.

[0080] Among them, the direction from the side close to the first jaw and the second jaw to the side away from the first jaw and the second jaw of the roller avoidance groove 121 is the y-axis direction, the direction where the connecting line between the first front finger 101 and the second front finger 111 is located is the x-axis direction, the installation height of the long roller 33 is the height by which the long roller 33 protrudes from the upper end surface of the base 31 after the long roller 33 is vertically installed on the two upper end surfaces of the base 31, and the total arrangement distance of several long rollers 33 on the base 31 is the distance between the mapping points where the long roller 33 closest to the higher end of the base 31 is vertically mapped on the ridge line and the long roller 33 closest to the lower end of the base 31 is vertically mapped on the ridge line after several long rollers 33 are vertically installed on the two upper end surfaces of the base 31. Simply put, the opening area of the roller avoidance groove 121 is larger than the arrangement area of several rollers on the base 31.

[0081] By opening the roller avoidance groove 121 on the main board 12 of the circumferential grasping mechanism 1, the interference of the long roller 33 during the circumferential grasping mechanism 1 reversing the cement sample is further avoided. Specifically, the design of the roller avoidance groove 121 on the main board 12 enables the circumferential grasping mechanism 1 not to be obstructed or even knocked by the long roller 33 when the circumferential grasping mechanism 1 clamps the cement sample to be posture-adjusted and then the circumferential grasping mechanism 1 is driven by the motion mechanism 2 to flip along the reversing direction of the cement sample for reversing the cement sample.

[0082] Furthermore, in this embodiment, the long rollers 33 and the short rollers 34 can be arranged in a crosswise manner, and the rollers on the same upper end surface can be equally spaced, so as to ensure that there is no installation interference or rotation interference between the rollers.

[0083] Furthermore, in this embodiment, a ring groove can be provided at the root of the long roller 33 to prevent the long roller 33 from damaging the sharp corners and end faces of the cement sample when the cement sample freely slides on the long roller 33. Specifically, the ring groove design is to provide an annular groove at one end of the long roller 33 away from the base 31, so that the length of the shoulder of the long roller 33 is shorter than the width or height of the cuboid cement sample block, thereby avoiding the edges of the cement sample block from being worn.

[0084] Furthermore, in this embodiment, a position detection device 35 can also be provided at one end of the base 31 close to the baffle 32. The position detection device 35 is used for detecting the position of the cement sample, and the position detection device 35 is electrically connected to the control module 4.

[0085] Among them, the position detection device 35 can be a photoelectric sensor, a position sensor, etc., and this embodiment does not make any limitation thereto.

[0086] When the cement sample is placed on the reversing operation table and there is no external force, the cement sample will freely slide to the baffle 32. The in-position detection device 35 set near the baffle 32 can detect whether there is a cement sample or whether the position of the cement sample detected by the in-position detection device 35 set near the baffle 32 is calibrated, avoiding misoperation of the system, that is, avoiding the clamping operation of the cement sample by the circumferential grasping mechanism when the cement sample is not placed on the operation table or when it has not slid to the baffle 32 and the position is not calibrated.

[0087] On the other hand, in this embodiment, the reversing operation table 3 includes a bottom plate 36. A rotating shaft fixing block 37 and an angle adjusting frame 38 are arranged on the bottom plate 36. One end of the rotating shaft fixing block 37 is rotatably connected to the lower end of the base 31, and the other end of the rotating shaft fixing block 37 is fixedly connected to the bottom plate 36. A first adjusting groove and a second adjusting groove are formed in the angle adjusting frame 38. The first adjusting groove is arranged parallel to the bottom plate 36, and the angle adjusting frame 38 is connected to the bottom plate 36 through the first adjusting groove. The second adjusting groove is perpendicular to the bottom plate 36, and the angle adjusting frame 38 is connected to the higher end of the base 31 through the second adjusting groove.

[0088] Among them, there may be one rotating shaft fixing block 37 and one angle adjusting frame 38 respectively on the bottom plate 36, or there may be two of each. For the stability of the inclined setting of the base 31, in this embodiment, preferably, two rotating shaft fixing blocks 37 are arranged at the lower end of the bottom plate 36 close to the base 31, and two angle adjusting frames 38 are arranged at the higher end of the bottom plate 36 close to the base 31.

[0089] In this embodiment, the implementation method of adjusting the angle of the base 31 through the bottom plate 36, the rotating shaft fixing block 37 and the angle adjusting frame 38 is as follows: Determine the inclination angle of the base 31 according to the sliding requirement of the cement sample. Then place the rotating shaft fixing block 37 at the lower end of the base 31 close to it and screw the screws into the bottom plate 36 and the base 31 respectively. Then place the angle adjusting frame 38 at the higher end of the base 31 close to it and screw the screws into the first adjusting groove in the angle adjusting frame 38 to fix the angle adjusting frame 38 to the bottom plate 36. Finally, screw the screws into the second adjusting groove in the angle adjusting frame 38 to fix the angle adjusting frame 38 to the higher end of the base 31. If the inclination state of the base 31 needs to be adjusted, unscrew the tightened screws in the reverse direction, and after re-adjusting the inclination angle of the base 31, screw the screws in again.

[0090] The base 31 is connected and fixed to the bottom plate 36 through the rotating shaft fixing block 37 and the angle adjusting frame 38, realizing that the reversing operation table 3 is inclined, and realizing the angle adjustment of the base 31 according to the sliding requirement of the cement sample, avoiding the damage of the cement sample caused by excessive impact force when the cement sample slides on the operation table due to the excessive inclination angle of the base 31, thus avoiding the situation of the cement sample hitting the baffle 32.

[0091] The implementation method of the attitude adjustment system for the cement sample proposed in this embodiment is described as follows. This embodiment can be used both in the process of clamping and removing the cement sample from the sample placement location, reversing it, and then placing it into the flexural fixture, and also in the process of clamping and removing the cement sample from the working position of the flexural fixture, reversing it a second time, and then placing it into the compressive fixture:

[0092] Implementation steps of double-claw clamping:

[0093] Step 1: Confirm that there is no cement sample on the reversing operation table through the signal of the in-position detection device 35;

[0094] Step 2: Drive the circumferential clamping mechanism to the material-taking station through the motion mechanism to prepare for clamping the cement sample. Among them, the material-taking station is the placement location of the cement sample block or the working position of the flexural fixture;

[0095] Step 3: Control the finger pads of the first front finger and the second front finger to be close to the side of the cement sample, and then control the first jaw driving part and the second jaw driving part to move simultaneously, drive the first rear finger and the second rear finger to move towards the front finger, and then determine that the grasping action of the cement sample is completed through the grasping detection device;

[0096] Step 4: Drive the circumferential clamping mechanism to clamp the cement sample and move it to the reversing operation table through the motion mechanism, and place the cement sample in the V-shaped groove formed by the long roller 33 and the short roller 34 according to the preset placement direction;

[0097] Step 5: The cement sample slides freely along with the rotation of the long roller 33 and the short roller 34, and stops sliding when it reaches the baffle 32, completing the position calibration of the cement sample;

[0098] Step 6: Please refer to Appendix Figure 6 and Appendix Figure 7 , drive the circumferential clamping mechanism to flip in the preset direction through the motion mechanism, rotate the cement sample by 90°, and then complete the clamping action according to Step 3, and send the cement sample to the use station. Among them, the use station is the working position of the flexural fixture or the working position of the compressive fixture;

[0099] Step 7: After the test at the use station is completed, control the nozzle to open for station cleaning, and close the nozzle after cleaning.

[0100] Implementation steps of single-claw clamping:

[0101] Step 1: Confirm that there is no cement sample on the reversing operation table through the signal of the in-position detection device 35;

[0102] Step 2: Drive the circumferential clamping mechanism to the material-taking station through the motion mechanism to prepare for clamping the cement sample. Among them, the material-taking station is the placement location of the cement sample block or the working position of the flexural fixture;

[0103] Step 3: Control the finger pad of the first front finger or the second front finger to be close to the side of the cement sample, then separately control the movement of the first jaw driver or the second jaw driver, and keep the other jaw driver stationary, drive the first rear finger or the second rear finger to move towards the front finger, and then determine whether the grasping action of the cement sample is completed through the grasping detection device;

[0104] Step 4: Drive the circumferential grasping mechanism to grasp the cement sample and move it to the commutation operation table through the motion mechanism, and place the cement sample in the V-shaped groove formed by the long roller 33 and the short roller 34 according to the preset placement direction;

[0105] Step 5: The cement sample freely slides down as the long roller 33 and the short roller 34 rotate, and is forced to stop sliding when it reaches the baffle 32, completing the position calibration of the cement sample;

[0106] Step 6: Please refer to Appendix Figure 6 and Appendix Figure 7 , drive the circumferential grasping mechanism to flip in the preset direction through the motion mechanism, rotate the cement sample by 90°, and then complete the grasping action according to Step 3, and send the cement sample to the use station, where the use station is the station of the flexural strength fixture or the compressive strength fixture;

[0107] Step 7: After the test at the use station is completed, control the nozzle to open for station cleaning, and close the nozzle after the cleaning is completed.

[0108] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. An attitude adjustment system for a cement sample, characterized in that, it includes: A circumferential grasping mechanism for grasping the cement sample; A motion mechanism connected to the circumferential grasping mechanism, used to provide driving force for the flipping and moving of the circumferential grasping mechanism, and cooperate with the circumferential grasping mechanism to achieve the commutation operation of the cement sample; A commutation operation table for calibrating and positioning the cement sample to cooperate with the circumferential grasping mechanism and the motion mechanism for the commutation operation of the cement sample; A control module electrically connected to the circumferential grasping mechanism and the motion mechanism; A power supply module for supplying power to the circumferential grasping mechanism, the motion mechanism and the control module; Wherein, the commutation operation table includes a base and several rollers. The base has two upper end faces, and the two upper end faces of the base are arranged at a 90° angle. Several rollers are vertically installed on the two upper end faces of the base along the ridge line direction. Several rollers are rotatably connected to the base. The base is arranged in an inclined shape, and a baffle is provided at the lower end of the base.

2. An attitude adjustment system for a cement sample according to claim 1, characterized in that, The circumferential grasping mechanism includes a first jaw, a second jaw, a main board, a first jaw driving member and a second jaw driving member. The first jaw and the second jaw are both installed on one side of the lower surface of the main board. The first jaw driving member and the second jaw driving member are both fixedly installed on the lower surface of the main board. The first jaw driving member is connected to the first jaw, the second jaw driving member is connected to the second jaw. The first jaw driving member and the second jaw driving member are both electrically connected to the control module. One side of the upper surface of the main board away from the first jaw and the second jaw is fixedly connected to one end of the motion mechanism.

3. An attitude adjustment system for a cement sample according to claim 2, characterized in that, The first jaw includes a first front finger and a first rear finger, the second jaw includes a second front finger and a second rear finger. The first front finger and the second front finger are both fixedly installed on one side of the lower surface of the main board. The first rear finger and the second rear finger are both slidably installed on the lower surface of the main board. The first jaw driving member is connected to the first rear finger, the second jaw driving member is connected to the second rear finger. The first jaw and the second jaw are arranged in parallel.

4. An attitude adjustment system for a cement sample according to claim 3, characterized in that, The circumferential grasping mechanism includes a first guide rail and a second guide rail. The first guide rail and the second guide rail are both fixedly installed on the lower surface of the main board. The first rear finger is slidably installed on the first guide rail, and the second rear finger is slidably installed on the second guide rail.

5. An attitude adjustment system for a cement sample according to claim 3, characterized in that, A grasping detection device is arranged between the first front finger and the first rear finger and between the second front finger and the second rear finger. The grasping detection device is electrically connected to the control module.

6. An attitude adjustment system for a cement sample according to claim 1, characterized in that, The motion mechanism includes a rotating component, a base, a first pitching component, a second pitching component, a third pitching component, and a driving component. The rotating component is rotatably installed on the upper surface of the base. The first pitching component is rotatably installed on the rotating component. One end of the second pitching component is rotatably connected to the end of the first pitching component away from the rotating component. One end of the third pitching component is rotatably connected to the other end of the second pitching component. The other end of the third pitching component is fixedly connected to the main board of the circumferential grasping mechanism. The rotating component, the first pitching component, the second pitching component, and the third pitching component are all connected to the driving component, and the driving component is electrically connected to the control module.

7. The attitude adjustment system for a cement sample as described in claim 2, wherein, the rollers include long rollers and short rollers. A plurality of long rollers are vertically installed in the middle of the two upper end faces of the base, and a plurality of short rollers are vertically installed on both sides of the plurality of long rollers.

8. The attitude adjustment system for a cement sample as described in claim 7, wherein, a roller avoidance groove is formed on one side of the main board where the first jaw and the second jaw are installed. The first jaw and the second jaw are respectively installed on both sides of the roller avoidance groove. The length of the roller avoidance groove in the x-axis direction is greater than the installation height of the long roller, and the length of the roller avoidance groove in the y-axis direction is greater than the total arrangement distance of the plurality of long rollers on the base.

9. The attitude adjustment system for a cement sample as described in claim 1, wherein, the reversing operation table includes a bottom plate, and a rotating shaft fixing block and an angle adjustment frame are arranged on the bottom plate. One end of the rotating shaft fixing block is rotatably connected to the lower end of the base, and the other end of the rotating shaft fixing block is fixedly connected to the bottom plate. The angle adjustment frame is provided with a first adjustment groove and a second adjustment groove. The first adjustment groove is arranged parallel to the bottom plate, and the angle adjustment frame is connected to the bottom plate through the first adjustment groove. The second adjustment groove is arranged perpendicular to the bottom plate, and the angle adjustment frame is connected to the higher end of the base through the second adjustment groove.

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