An automated loading and unloading system and method for a hybrid loading compression test fixture

Abstract

This invention relates to the field of fixture loading and unloading technology, and particularly to an automatic loading and unloading system and method for a mixed-load compression test fixture. The system includes an unloading mechanism, a positioning mechanism, an installation mechanism, a gripper, and a robotic arm. The robotic arm drives the gripper to grasp and hold the mixed-load compression test fixture containing the specimen. The mixed-load compression test fixture includes a first base, a second base, a first top seat, and a second top seat. The first base and the first top seat, as well as the second base and the second top seat, are used to hold the specimen. The unloading mechanism removes the specimen from the mixed-load compression test fixture after the fasteners are loosened. The positioning mechanism positions the mixed-load compression test fixture by abutting against the first base, the second base, the first top seat, and the second top seat. The installation mechanism installs a new specimen between the first base and the first top seat, and between the second base and the second top seat. This solution can improve the loading and unloading efficiency of the mixed-load compression test fixture.

Description

Technical Field

[0001] This invention relates to the field of fixture loading and unloading technology, and in particular to an automatic loading and unloading system and method for a hybrid loading compression test fixture. Background Technology

[0002] Fiber-reinforced composite materials are widely used due to their high specific strength, high specific stiffness, and designability. To obtain the mixed-load compression properties of specimens made of fiber-reinforced composite materials, it is necessary to use a mixed-load compression test fixture in the standard to hold the specimen, so as to prevent the specimen from experiencing overall instability or local buckling during loading, thus failing to obtain the correct failure mode.

[0003] In related technologies, the installation and removal of specimens and fixtures are usually done manually (i.e., loading and unloading). However, this method is inefficient.

[0004] Therefore, there is an urgent need for an automatic loading and unloading system and method for hybrid loading compression test fixtures to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides an automatic loading and unloading system and method for a mixed-load compression test fixture, which can improve the loading and unloading efficiency of the mixed-load compression test fixture.

[0006] In a first aspect, embodiments of the present invention provide an automatic loading and unloading system for a hybrid loading compression test fixture, including an unloading mechanism, a positioning mechanism, an installation mechanism, a gripper, and a robotic arm, wherein the robotic arm is used to drive the gripper to pick up and hold the hybrid loading compression test fixture containing the test specimen;

[0007] The hybrid loading compression test fixture includes a first base and a second base located at the bottom, and a first top seat and a second top seat located at the top. A first horizontal axis is horizontally inserted between the first base and the second base, and a second horizontal axis is horizontally inserted between the first top seat and the second top seat. Fasteners are inserted above and below the first base and the first top seat, as well as between the second base and the second top seat. The first base and the first top seat, and the second base and the second top seat, are used to clamp the specimen made of fiber composite material.

[0008] The unloading mechanism is used to remove the specimen from the mixed loading compression test fixture after the fasteners are loosened;

[0009] The positioning mechanism is used to position the hybrid loading compression test fixture by abutting against the first base, the second base, the first top seat, and the second top seat;

[0010] The mounting mechanism is used to install new specimens between the first base and the first top seat, and between the second base and the second top seat.

[0011] Secondly, embodiments of the present invention provide an automatic loading and unloading method for a hybrid loading compression test fixture, applied to the automatic loading and unloading system described in the above embodiment, comprising:

[0012] When disassembling the specimen, the following steps are performed:

[0013] Step S11: Using the robotic arm to drive the gripper to transfer the mixed loading compression test fixture holding the specimen from the first preset position to the unloading platform, and using the clamping member to fix the mixed loading compression test fixture on the unloading platform;

[0014] Step S12: Use the robotic arm to drive the screw gun to loosen all the fasteners of the mixed loading compression test fixture;

[0015] Step S13: Use the robotic arm to drive the gripper to lift the first top seat and the second top seat a certain distance, and use the telescopic component to lift one end of the unloading platform so that the unloading platform tilts, thereby removing the specimen from the mixed loading compression test fixture;

[0016] Step S14: After the specimen is disassembled, the robotic arm drives the purging tool to purge the mixed loading compression test fixture.

[0017] When installing the specimen, the following steps are performed:

[0018] Step S21: Using the robotic arm to drive the gripper, the hybrid loading compression test fixture with the specimen removed is transferred from the unloading platform to the second preset position;

[0019] Step S22: Position the mixed loading compression test fixture using the first movable baffle, the second movable baffle, and the third movable baffle, and extend the telescopic plate between the first base and the first top seat;

[0020] Step S23: Use the robotic arm to drive the adsorption tool to place the new specimen on the placement position;

[0021] Step S24: Using the robotic arm to drive the gripper, push the specimen placed on the placement position into the space between the first base and the first top seat and between the second base and the second top seat, and retract the telescopic plate;

[0022] Step S25: Use the propulsion component to advance the first base, the test piece, and the first top seat;

[0023] Step S26: Use the robotic arm to drive the screw gun to tighten all the fasteners of the mixed loading compression test fixture;

[0024] Step S27: Use the robotic arm to drive the gripper to transfer the hybrid loading compression test fixture to the first preset position.

[0025] This invention provides an automated loading and unloading system and method for a hybrid loading compression test fixture. By incorporating an unloading mechanism, a positioning mechanism, an installation mechanism, a gripper, and a robotic arm, the robotic arm drives the gripper to pick up and hold the specimen in the hybrid loading compression test fixture. The unloading mechanism removes the specimen from the fixture after the fasteners are loosened. The positioning mechanism positions the fixture by contacting the first base, the second base, the first top seat, and the second top seat. The installation mechanism then installs a new specimen between the first base and the first top seat, and between the second base and the second top seat. Therefore, this technical solution improves the loading and unloading efficiency of the hybrid loading compression test fixture. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the automatic loading and unloading system for a hybrid loading compression test fixture provided in an embodiment of the present invention;

[0028] Figure 2 yes Figure 1 The diagram shows the structure of the unloading mechanism in the automatic loading and unloading system.

[0029] Figure 3 yes Figure 1 A partial enlarged view of the automated loading and unloading system shown.

[0030] Figure 4 This is a schematic diagram of the structure of a hybrid loading compression test fixture provided in an embodiment of the present invention;

[0031] Figure 5 yes Figure 1 The diagram shows the structure of the storage compartment in the automatic loading and unloading system.

[0032] Figure label:

[0033] 10 - Specimen;

[0034] 20 - Mixed loading compression test fixture;

[0035] 201 - First base;

[0036] 202 - Second base;

[0037] 203-First Top Seat;

[0038] 204 - Second Top Seat;

[0039] 205 - First horizontal axis;

[0040] 206 - Second horizontal axis;

[0041] 207-Fasteners;

[0042] 208 - First Groove;

[0043] 209 - Second groove;

[0044] 1-Unloading mechanism;

[0045] 11-Unloading platform;

[0046] 111-Clamping element;

[0047] 112 - First protrusion;

[0048] 12-Expansion joint;

[0049] 2-Positioning mechanism;

[0050] 21-First moving baffle;

[0051] 22-Second moving baffle;

[0052] 23-Third moving baffle;

[0053] 24-Extension board;

[0054] 3-Installation mechanism;

[0055] 31 - Placement position;

[0056] 32-Propeller component;

[0057] 4-Handle;

[0058] 5-Robotic arm;

[0059] 51-Screwdriver;

[0060] 6-Purge tools;

[0061] 7-Adsorption tools;

[0062] 8-Storage position;

[0063] 81-Opening. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0065] like Figures 1 to 4 As shown, an embodiment of the present invention provides an automatic loading and unloading system for a hybrid loading compression test fixture, including an unloading mechanism 1, a positioning mechanism 2, an installation mechanism 3, a gripper 4, and a robotic arm 5. The robotic arm 5 is used to drive the gripper 4 to pick up and hold the hybrid loading compression test fixture 20 containing the specimen 10.

[0066] The mixed loading compression test fixture 20 includes a first base 201 and a second base 202 located at the bottom, and a first top seat 203 and a second top seat 204 located at the top. A first horizontal axis 205 is horizontally inserted between the first base 201 and the second base 202, and a second horizontal axis 206 is horizontally inserted between the first top seat 203 and the second top seat 204. Fasteners 207 are inserted above and below the first base 201 and the first top seat 203, as well as the second base 202 and the second top seat 204. The first base 201 and the first top seat 203, and the second base 202 and the second top seat 204 are used to clamp the specimen 10 made of fiber composite material.

[0067] The unloading mechanism 1 is used to remove the specimen 10 from the mixed loading compression test fixture 20 after the fastener 207 is loosened;

[0068] The positioning mechanism 2 is used to position the mixed loading compression test fixture 20 by abutting against the first base 201, the second base 202, the first top seat 203 and the second top seat 204;

[0069] The mounting mechanism 3 is used to install the new specimen 10 between the first base 201 and the first top seat 203, and between the second base 202 and the second top seat 204.

[0070] In this embodiment, by setting up an unloading mechanism 1, a positioning mechanism 2, an installation mechanism 3, a gripper 4, and a robotic arm 5, the robotic arm 5 can drive the gripper 4 to grasp and hold the specimen 10 in the mixed loading compression test fixture 20. The unloading mechanism 1 removes the specimen 10 from the mixed loading compression test fixture 20 after loosening the fasteners 207. The positioning mechanism 2 positions the mixed loading compression test fixture 20 by abutting against the first base 201, the second base 202, the first top seat 203, and the second top seat 204. The installation mechanism 3 installs a new specimen 10 between the first base 201 and the first top seat 203, and between the second base 202 and the second top seat 204. Therefore, the above technical solution can improve the loading and unloading efficiency of the mixed loading compression test fixture 20.

[0071] In one embodiment of the present invention, the above-mentioned automatic loading and unloading system further includes a purging tool 6, and the robotic arm 5 is used to drive the purging tool 6 to purge the mixed loading compression test fixture 20 after the test piece 10 is removed.

[0072] In this embodiment, by purging the mixed loading compression test fixture 20 after removing the specimen 10, it can be ensured that the specimen 10 can be better installed and fixed when installing the new specimen 10.

[0073] In one embodiment of the present invention, the above-mentioned automatic loading and unloading system further includes an adsorption tool 7, and a robotic arm 5 is used to drive the adsorption tool 7 to adsorb the new specimen 10, so as to use the installation mechanism 3 to install the new specimen 10 between the first base 201 and the first top seat 203 and between the second base 202 and the second top seat 204.

[0074] In some implementations, the adsorption tool 7 may be a suction cup.

[0075] Please continue reading Figure 2 In one embodiment of the present invention, the unloading mechanism 1 includes an unloading platform 11 and a telescopic member 12 connected to one end of the unloading platform 11 and inclined thereon. The telescopic member 12 is used to lift one end of the unloading platform 11 so that the unloading platform 11 tilts, thereby removing the specimen 10 from the mixed loading compression test fixture 20.

[0076] In this embodiment, by providing a telescopic member 12 that is connected to one end of the unloading platform 11 and is inclined, one end of the unloading platform 11 can be lifted by the telescopic member 12, so that the unloading platform 11 tilts, thereby removing the specimen 10 from the mixed loading compression test fixture 20.

[0077] Please continue reading Figure 2 and Figure 4In one embodiment of the present invention, the first base 201 and the second base 202 are both provided with a first groove 208 on their sides, and the unloading platform 11 is provided with a movable clamping member 111. The clamping member 111 is provided with a first protrusion 112 on its side. By utilizing the cooperation of the first groove 208 and the first protrusion 112, the clamping member 111 fixes the mixed loading compression test fixture 20 on the unloading platform 11.

[0078] Please continue reading Figure 4 In one embodiment of the present invention, the sides of the first top seat 203 and the second top seat 204 are provided with a second groove 209, and the gripper 4 is provided with a second protrusion (not shown in the figure). By utilizing the cooperation of the second groove 209 and the second protrusion, the gripper 4 can grasp the mixed loading compression test fixture 20.

[0079] Please continue reading Figure 3 In one embodiment of the present invention, the positioning mechanism 2 includes a first movable baffle 21, a second movable baffle 22 and a third movable baffle 23 that are movable and arranged vertically in sequence. The installation mechanism 3 is arranged opposite to the second movable baffle 22. The first movable baffle 21 is provided with a telescopic plate 24 that faces the third movable baffle 23. The telescopic plate 24 is used to extend between the first base 201 and the first top seat 203 when installing a new specimen 10, so as to support the first top seat 203, thereby facilitating the installation mechanism 3 to install the new specimen 10.

[0080] Please continue reading Figure 3 In one embodiment of the present invention, the installation mechanism 3 includes a horizontally movable placement position 31 and a pusher 32. The placement position 31 is used to place a new specimen 10 adsorbed by the adsorption tool 7. The pusher 32 is used to push the first base 201, the specimen 10 and the first top seat 203 after the specimen 10 placed by the placement position 31 enters between the first base 201 and the first top seat 203 and between the second base 202 and the second top seat 204, so as to complete the installation of the new specimen 10.

[0081] Please see Figure 5 In one embodiment of the present invention, the above-mentioned automatic loading and unloading system further includes a storage position 8, which is used to store new test specimens 10. The storage position 8 has a semi-open structure and has an opening 81 facing the width direction of the test specimens 10.

[0082] In this embodiment, when the robotic arm 5 drives the adsorption tool 7 to adsorb the sample 10, considering that the vertical upward removal of the sample 10 requires better mechanical control precision, in order to reduce the difficulty of removing the sample 10 from the storage position 8, the removal direction can be changed to the width direction of the sample 10. Therefore, the inventors creatively set the storage position 8 as a semi-open structure with an opening 81 facing the width direction of the sample 10.

[0083] Furthermore, embodiments of the present invention also provide an automatic loading and unloading method for a hybrid loading compression test fixture, applicable to the automatic loading and unloading system mentioned in any of the above embodiments, comprising:

[0084] When disassembling specimen 10, the following steps should be performed:

[0085] Step S11: Use the robotic arm 5 to drive the gripper 4 to transfer the mixed loading compression test fixture 20 holding the specimen 10 from the first preset position to the unloading platform 11, and use the clamping member 111 to fix the mixed loading compression test fixture 20 on the unloading platform 11.

[0086] Step S12: Use the robotic arm 5 to drive the screw gun 51 to loosen all the fasteners 207 of the mixed loading compression test fixture 20;

[0087] Step S13: Use the robotic arm 5 to drive the gripper 4 to lift the first top seat 203 and the second top seat 204 a certain distance, and use the telescopic component 12 to lift one end of the unloading platform 11 so that the unloading platform 11 tilts, thereby removing the specimen 10 from the mixed loading compression test fixture 20.

[0088] Step S14: After the specimen 10 is disassembled, the robotic arm 5 drives the purging tool 6 to purge the mixed loading compression test fixture 20.

[0089] When installing specimen 10, perform the following steps:

[0090] Step S21: Using the robotic arm 5 to drive the gripper 4, the mixed loading compression test fixture 20 with the specimen 10 removed is transferred from the unloading platform 11 to the second preset position;

[0091] Step S22: Position the mixed loading compression test fixture 20 using the first movable baffle 21, the second movable baffle 22 and the third movable baffle 23, and extend the telescopic plate 24 between the first base 201 and the first top seat 203.

[0092] Step S23: Use the robotic arm 5 to drive the adsorption tool 7 to place the new specimen 10 on the placement position 31;

[0093] Step S24: Using the robotic arm 5 to drive the gripper 4, push the specimen 10 placed on the placement position 31 into the space between the first base 201 and the first top seat 203 and between the second base 202 and the second top seat 204, and retract the telescopic plate 24.

[0094] Step S25: Use the pusher 32 to push the first base 201, the specimen 10 and the first top seat 203;

[0095] Step S26: Use the robotic arm 5 to drive the screw gun 51 to tighten all the fasteners 207 of the mixed loading compression test fixture 20;

[0096] Step S27: Use the robotic arm 5 to drive the gripper 4 to transfer the mixed loading compression test fixture 20 to the first preset position.

[0097] It is understood that the method embodiments provided in this invention and the system embodiments described above belong to the same inventive concept, and therefore have the same beneficial effects, which will not be elaborated here.

[0098] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automated loading and unloading system for a hybrid loading compression test fixture, comprising: Including unloading mechanism (1), positioning mechanism (2), mounting mechanism (3), gripper (4) and mechanical arm (5), the mechanical arm (5) is used to drive gripper (4) and take mixed loading compression test fixture (20) that clamps test piece (10); The mixed loading compression test fixture (20) includes the first base (201) and the second base (202) located in the lower part and the first top (203) and the second top (204) located in the upper part, the first base (201) and the second base (202) are horizontally provided with the first horizontal shaft (205), the first top (203) and the second top (204) are horizontally provided with the second horizontal shaft (206), the first base (201) and the first top (203) and the second base (202) and the second top (204) are provided with fasteners (207) upwards and downwards, the first base (201) and the first top (203) and the second base (202) and the second top (204) are used for clamping the test piece (10) made of fiber composite material between them; The unloading mechanism (1) is used to remove the test piece (10) from the mixed loading compression test fixture (20) after the fastener (207) is loosened; The positioning mechanism (2) is used to position the mixed loading compression test fixture (20) by abutting against the first base (201), the second base (202), the first top (203) and the second top (204); The mounting mechanism (3) is used to install a new test piece (10) between the first base (201) and the first top (203) and between the second base (202) and the second top (204); The unloading mechanism (1) includes an unloading platform (11) and a telescopic member (12) connected to one end of the unloading platform (11) and arranged obliquely, the telescopic member (12) is used to lift one end of the unloading platform (11) to make the unloading platform (11) inclined, so that the test piece (10) is removed from the mixed loading compression test fixture (20); The side surface of the first base (201) and the second base (202) is provided with a first recess (208), the unloading platform (11) is provided with a movable clamping member (111), the side surface of the clamping member (111) is provided with a first protrusion (112), the first recess (208) and the first protrusion (112) are matched, so that the clamping member (111) fixes the mixed loading compression test fixture (20) on the unloading platform (11); The side surface of the first top (203) and the second top (204) is provided with a second recess (209), the gripper (4) is provided with a second protrusion, the second recess (209) and the second protrusion are matched, so that the gripper (4) takes the mixed loading compression test fixture (20); The side surface of the first top (203) and the second top (204) is provided with a second recess (209), the gripper (4) is provided with a second protrusion, the second recess (209) and the second protrusion are matched, so that the gripper (4) takes the mixed loading compression test fixture (20); The positioning mechanism (2) comprises a first movable baffle (21), a second movable baffle (22) and a third movable baffle (23) arranged vertically in sequence, the mounting mechanism (3) is arranged opposite to the second movable baffle (22), the first movable baffle (21) is provided with a telescopic plate (24) facing the third movable baffle (23), and the telescopic plate (24) is used to extend between the first base (201) and the first top seat (203) to support the first top seat (203) when a new test piece (10) is installed, so that the mounting mechanism (3) facilitates installation of the new test piece (10); The mounting mechanism (3) comprises a horizontal movable placement site (31) and a pushing member (32), the placement site (31) is used to place a new test piece (10) adsorbed by the adsorption tool (7), and the pushing member (32) is used to push the first base (201), the test piece (10) and the first top seat (203) after the test piece (10) placed by the placement site (31) enters between the first base (201) and the first top seat (203) and between the second base (202) and the second top seat (204), so as to complete installation of the new test piece (10).

2. The automated handling system of claim 1, wherein, The mechanical arm (5) is used to drive the blowing tool (6) to blow the mixed loading compression test fixture (20) after the test piece (10) is disassembled.

3. The automated handling system of claim 2, wherein, The mechanical arm (5) is used to drive the adsorption tool (7) to adsorb a new test piece (10), so that the new test piece (10) is installed between the first base (201) and the first top seat (203) and between the second base (202) and the second top seat (204) by the mounting mechanism (3).

4. The automated handling system of claim 3, wherein, The storage site (8) is used to store a new test piece (10), and the storage site (8) is a semi-open structure and has an opening (81) in the width direction of the test piece (10).

5. An automated loading and unloading method for a hybrid loading compression test fixture, the method comprising: Applied to the automatic loading and unloading system as claimed in claim 3, comprising: When the test piece (10) is disassembled, the following steps are performed: Step S11, the mechanical arm (5) drives the gripper (4) to transfer the mixed loading compression test fixture (20) clamping the test piece (10) from a first preset position to the unloading platform (11), and the clamping member (111) is used to fix the mixed loading compression test fixture (20) on the unloading platform (11); Step S12, the mechanical arm (5) drives the screw gun (51) to loosen all the fasteners (207) of the mixed loading compression test fixture (20); Step S13, the mechanical arm (5) drives the gripper (4) to pick up the first top seat (203) and the second top seat (204) by a certain distance, and the telescopic part (12) lifts one end of the unloading platform (11) to make the unloading platform (11) tilt, so as to disassemble the test piece (10) from the mixed loading compression test fixture (20); Step S14, after the test piece (10) is disassembled, the mechanical arm (5) drives the blowing tool (6) to blow the mixed loading compression test fixture (20); When the test piece (10) is installed, the following steps are performed: Step S21, the mechanical arm (5) drives the gripper (4) to transfer the mixed loading compression test fixture (20) from which the test piece (10) is disassembled from the unloading platform (11) to a second preset position; Step S22, the first moving baffle (21), the second moving baffle (22) and the third moving baffle (23) are used to position the mixed loading compression test fixture (20), and the telescopic plate (24) is extended between the first bottom seat (201) and the first top seat (203); Step S23, the mechanical arm (5) drives the adsorption tool (7) to place a new test piece (10) on the placement site (31); Step S24, the mechanical arm (5) drives the gripper (4) to push the test piece (10) placed on the placement site (31) between the first bottom seat (201) and the first top seat (203) and between the second bottom seat (202) and the second top seat (204), and the telescopic plate (24) is retracted; Step S25, the first bottom seat (201), the test piece (10) and the first top seat (203) are pushed by the pushing part (32); Step S26, the mechanical arm (5) drives the screw gun (51) to tighten all fasteners (207) of the mixed loading compression test fixture (20); Step S27, the mechanical arm (5) drives the gripper (4) to transfer the mixed loading compression test fixture (20) to the first preset position.

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