An automatic torsion test system and method for steel wires

Abstract

The present invention discloses an automatic torsion test system and method for steel wires. The system includes: a base fixed on the ground and provided with multiple pipelines inside; a loading and unloading robot arranged on the base plate, including a robotic arm with multiple rotating joints, and a gripper and an industrial camera are arranged at the front end of the robotic arm; a loading table arranged on the base plate, with a rotating base at the bottom, a lower support plate is rotatably connected to the rotating base, the top surface of the lower support plate is connected to an upper support plate through a connecting rod, and steel wire specimens are pre-stored at the edges of the lower support plate and the upper support plate; an unloading table arranged on the base plate, provided with multiple grooves for storing waste steel wire specimens; a torsion testing machine arranged on the base plate, including a housing, a fixed-end fixture and a mobile-end fixture are arranged inside the housing, and the two are connected by a telescopic plate, and a counterweight block is also connected to one end of the mobile-end fixture, which can automatically complete the tests of multiple groups of steel wire specimens and ensure the test efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of torque experiments, and more specifically, relates to an automatic torsion test system and method for steel wires. Background Art

[0002] The cables of bridges are composed of a large number of steel wires. To ensure the performance of the cables, it is necessary to take samples of the steel wires for testing. One of the important test contents is the torsion test. In the traditional torsion testing machine, the steel wire to be tested is manually placed on the testing machine, clamped by a clamping device, and then one end of the clamping device is driven by a rotating mechanism, so that relative movement occurs between the two ends of the clamping device to realize the torsion of the steel wire. However, this test device can only meet the requirements of low-frequency tests. When conducting tests at high frequencies, this device cannot meet the efficiency requirements of the tests. Moreover, when it is necessary to test various types of steel wires, this device cannot achieve the switching between various specifications.

[0003] Chinese Patent with Publication No. CN106153328B discloses a test device for the thrust torque relationship of screw pairs used in a tensile testing machine, including a bracket, an upper adapter shaft for connecting to one end of the tensile testing machine, a lower adapter device for connecting to the other end of the tensile testing machine, a traction reversing device connected to the lower adapter device and the upper end of the bracket, and a counterweight device connected to the traction reversing device. By means of structures such as a rotating disk, a pulley, and a steel wire rope, the pulling force of the counterweight block is cleverly converted into the torque output of the screw pair. The structure is simple and the cost is low; this device conveniently tests the thrust torque relationship of the screw pair under the full lead by using the tensile testing machine, and in particular, can conveniently test the full lead thrust under a specified output torque, with simple operation and convenient measurement.

[0004] However, the Chinese patent with Publication No. CN106153328B still cannot guarantee the timeliness of the test when facing high-frequency test requirements, resulting in unqualified test effects of the device. Therefore, there is an urgent need for an automatic torsion test system and method for steel wires to meet the requirements of high-frequency tests and at the same time realize the switching between various specifications of steel wires. Summary of the Invention

[0005] In view of the above defects or improvement requirements of the prior art, the present invention provides an automatic torsion test system and method for steel wires, which controls a torsion testing machine, a loading and unloading robot, and a loading table through an automation module, so that the loading and unloading robot automatically clamps the steel wire sample on the loading table onto the torsion testing machine for torsion testing. After the test is completed, the discarded steel wire sample is clamped onto the unloading table again. The whole process does not require manual intervention and automatically completes the tests of multiple groups of steel wire samples, ensuring the test efficiency and the accuracy of the test when converting between various specifications of steel wires.

[0006] To achieve the above object, according to the first aspect of the embodiments of the present invention, an automatic torsion test system for steel wires is provided, including:

[0007] A bottom plate, which is fixed on the ground and has multiple pipelines inside;

[0008] A loading and unloading robot disposed on the bottom plate, the loading and unloading robot includes a robotic arm with multiple rotating joints, and a gripper and an industrial camera are provided at the front end of the robotic arm;

[0009] A loading platform disposed on the bottom plate, the bottom of the loading platform is a rotating base, a lower support plate is rotatably connected to the rotating base, and an upper support plate is connected to the top surface of the lower support plate through a connecting rod, and steel wire specimens are pre-stored at the edges of the lower support plate and the upper support plate;

[0010] An unloading platform disposed on the bottom plate, and multiple grooves for storing waste steel wire specimens are provided on the unloading platform;

[0011] And a torsion testing machine disposed on the bottom plate, the torsion testing machine includes a housing, a fixed-end fixture and a mobile-end fixture are provided inside the housing, and they are connected by a telescopic plate, and a counterweight block is also connected to one end of the mobile-end fixture, which can automatically complete the tests of multiple groups of steel wire specimens and ensure the test efficiency.

[0012] Further, the inside of the housing is hollowed out, and a horizontal partition is provided in the middle to divide it into upper and lower cavities. One end of the upper cavity is provided with a vertical partition to divide it into a transmission cavity and an operation cavity, and a large hole is opened on the vertical partition to communicate the transmission cavity and the operation cavity;

[0013] A sliding door is provided on the front of the operation cavity and is slidably connected to it by a slide rail. A handle is provided on the sliding door, and the middle part of the sliding door is hollowed out. An explosion-proof glass is installed in the hollowed-out part, and a splash-proof net is also provided on the inner lining surface.

[0014] Further, the fixed-end fixture is disposed on a fixed-end base, the fixed-end base is fixed on the horizontal partition in the transmission cavity of the housing, its bottom is a horizontal plate, vertical plates are provided at both ends, reinforcing ribs are provided between the vertical plates and the horizontal plate, and round holes are opened on both vertical plates, and bearing seats are installed in the holes;

[0015] One end of the fixed-end fixture is a fixture body, and the fixture body of the fixed-end fixture passes through the vertical partition of the housing and is placed in the operation cavity;

[0016] On the back of the fixture body of the fixed-end fixture, a transmission shaft is fixedly connected. The transmission shaft is connected to the bearing seat of the fixed-end base through bearings. At the rear end of the transmission shaft, a large pulley is provided. The transmission shaft is a hollow shaft, and a hydraulic pipeline is arranged inside it, which is connected to the fixture body at the front end to provide clamping power for the chuck.

[0017] The fixed-end fixture is powered by a motor, and the motor is connected to the large pulley through a belt.

[0018] Further, the mobile-end fixture is arranged on the mobile-end base. The bottom of the mobile-end base is also a horizontal plate. One end of it is provided with a vertical plate. Reinforcing ribs are arranged between the vertical plate and the horizontal plate. Four corners of the bottom of the horizontal plate are fixed with sliders, and the sliders are slidably connected to the horizontal partition of the housing. A circular hole is opened on the vertical plate.

[0019] One end of the mobile-end fixture is a fixture body, and the chucks on the front of the fixture body are arranged in pairs and facing each other.

[0020] On the back of the fixture body of the mobile-end fixture, a fixed shaft is fixedly connected. The fixed shaft is fixedly connected to the circular hole on the vertical plate of the mobile-end base through a flange. The fixed shaft is a hollow shaft, and a hydraulic pipeline is arranged inside it, which is connected to the fixture body at the front end to provide clamping power for the chuck.

[0021] Further, one end of the operation chamber close to the mobile-end fixture is provided with a hollow-out. At the hollow-out, a sling is fixed on the horizontal partition. Both sides of the sling are L-shaped support plates, and pulleys are rotatably connected to the front ends of the support plates.

[0022] One end of the mobile-end fixture is also fixed with a tension plate. A hanging ring is arranged at the front end of the tension plate, and the front end is arranged between the L-shaped support plates on both sides of the sling. The counterweight is connected to the hanging ring at the front end of the tension plate through a steel cable, and the steel cable bypasses the pulley of the sling.

[0023] Further, a Z-shaped mounting plate is arranged at the front end of the robotic arm. The upper horizontal plate of the Z-shaped mounting plate is fixed to the front end of the robotic arm.

[0024] The gripper is arranged on the back of the upper horizontal plate. The rear end is a hydraulic box fixed to the Z-shaped mounting plate. Two hydraulic cylinders are arranged inside the hydraulic box. Claw jaws are fixed to the output ends of the hydraulic cylinders. A plurality of cylindrical grooves are arranged at the positions where the two claw jaws face each other for gripping the steel wire specimen.

[0025] The industrial camera is arranged on the vertical plate of the Z-shaped mounting plate.

[0026] Further, the upper support plate and the lower support plate are driven by the rotary base to rotate the lower support plate and the upper support plate synchronously.

[0027] The edge of the lower support plate bulges upward, and a plurality of semi-circular holes are equidistantly arranged along the inner edge of the bulged part to form a semi-circular hole array. The upper support plate is provided with a semi-circular hole array equidistantly along the outer edge at its corresponding position.

[0028] The edge of the upper support plate extends upward to form a box body with an open top for temporarily storing tools and supplies.

[0029] According to another aspect of the embodiments of the present invention, an automatic torsion test method for steel wires is provided, including:

[0030] S100. Confirm that all components of the system are normally connected. The hydraulic component, control component, and electrical system are pre-started and their operating states are detected. Test parameters such as torsion speed, angle, required tensile force, etc. are set through the control component to meet the test requirements of different specifications of steel wires.

[0031] S200. An industrial camera identifies and locates the steel wire specimen placed on the loading table. The loading and unloading robot uses a gripper to pick up a steel wire specimen of a specific specification, smoothly transfers the steel wire specimen to the operation chamber of the torsion testing machine, and the fixed-end fixture and the mobile-end fixture automatically adjust the distance and clamp the steel wire specimen.

[0032] S300. Start the motor to drive the fixed-end fixture to rotate and provide a torsion force to the steel wire specimen, and automatically collect information including torsion angle, force value, and surface changes of the steel wire specimen.

[0033] S400. The fixed-end fixture and the mobile-end fixture release the steel wire specimen, and the loading and unloading robot transfers the tested steel wire specimen to the unloading table for temporary storage, and starts to test the next steel wire specimen.

[0034] S500. The system automatically outputs the test data and the monitored results, generates a test report, and cleans the torsion testing machine and the unloading table.

[0035] Further, in step S300, model predictive control is also included during the test, which is used to simulate and predict and determine the current optimal control action through an optimization algorithm. In this system, it is used to more precisely control the torque and angle, and its control equation is:

[0036]

[0037] where u is the control input sequence, that is, the sequence of control actions to be applied next,

[0038] y k|k is the state or output predicted based on the current model at time k,

[0039] r k is the desired target sequence,

[0040] N p is the prediction range,

[0041] Q is the weighted matrix of the output error,

[0042] the weighted matrix for controlling the change of the control action.

[0043] Furthermore, when performing model predictive control, an adaptive control law is also used to estimate the system parameters and adjust the controller parameters to cope with the changes of the system parameters over time or environmental conditions and maintain the control performance. The adaptive control law is:

[0044]

[0045] where K p (t) is the proportional gain function of the controller,

[0046] K i (t)K i (t) is the integral gain function of the controller,

[0047] K d (t) is the derivative gain function of the controller,

[0048] e(t) is the error between the reference signal and the process variable;

[0049] The integral gain function K i (t) is:

[0050]

[0051] where γ i is the adjustment parameter for the rate at which the control error accumulates to the integral action,

[0052] δ i is the adjustment parameter for the update rate of the control integral gain;

[0053] The derivative gain function K d (t) is:

[0054]

[0055] where γ d is the adjustment parameter for adjusting the sensitivity of the derivative action according to the rate of change of the control error,

[0056] δ d is the adjustment parameter for restricting the variation range of the derivative gain.

[0057] Generally speaking, compared with the prior art through the above technical solutions conceived by the present invention, the following beneficial effects can be achieved:

[0058] 1. An automatic torsion testing system for steel wire of the present invention controls a torsion testing machine, a loading and unloading robot and a loading platform through an automation module, so that the loading and unloading robot automatically clamps the steel wire sample on the loading platform to the torsion testing machine for a torsion test. After the test is completed, the discarded steel wire sample is clamped to the unloading platform again. No human intervention is required in the whole process, and the test of multiple groups of steel wire samples is completed automatically, which ensures the test efficiency and the accuracy of the test when converting between steel wires of various specifications.

[0059] 2. In an automatic torsion test system for steel wires of the present invention, a counterweight is used to balance the weight of a telescopic plate and the inertial force generated during telescopic movement, thereby preventing the telescopic plate from moving poorly or being unable to maintain a predetermined position due to its own weight. By reasonably allocating the weight of the counterweight, the dynamic balance of the telescopic plate is optimized, vibration and swing are reduced, and the smoothness and stability of the movement of the telescopic plate are improved. During the experiment, the telescopic plate is effectively prevented from shaking unnecessarily due to external interference including vibration and airflow, thereby affecting the stress on the steel wire sample.

[0060] 3. In an automatic torsion test system for steel wires of the present invention, the semicircular holes on the edges of the upper and lower support plates of the loading platform are arranged with various diameters to meet the diameters of steel wire samples of various diameters, thereby preventing the steel wire samples placed thereon from falling and facilitating the loading and unloading robots to clamp the steel wire samples. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a schematic structural diagram of an automatic torsion test system for steel wire according to an embodiment of the present invention;

[0062] Figure 2 This is a schematic diagram of the internal structure of a torsion testing machine of an automatic torsion testing system for steel wire according to an embodiment of the present invention;

[0063] Figure 3 This is a schematic diagram of the connection between a moving end fixture and a counterweight block of an automatic torsion test system for a steel wire according to an embodiment of the present invention;

[0064] Figure 4 This is a schematic structural diagram of a loading and unloading robot for an automatic torsion test system for steel wire according to an embodiment of the present invention;

[0065] Figure 5 This is a schematic diagram of a gripper structure of an automatic torsion test system for a steel wire according to an embodiment of the present invention;

[0066] Figure 6 This is a schematic diagram of the structure of a loading table with a steel wire sample for an automatic torsion test system for steel wire according to an embodiment of the present invention;

[0067] Figure 7Schematic structural view of the loading table without steel wire specimens of an automatic torsion test system for steel wires according to an embodiment of the present invention;

[0068] Figure 8 Schematic structural view of the unloading table of an automatic torsion test system for steel wires according to an embodiment of the present invention;

[0069] Figure 9 Schematic flow chart of an automatic torsion test method for steel wires according to an embodiment of the present invention.

[0070] In all the drawings, the same reference numerals denote the same technical features, specifically: 1 - bottom plate, 2 - torsion testing machine, 201 - housing, 202 - fixed - end base, 203 - fixed - end fixture, 204 - motor frame, 205 - motor, 206 - moving - end base, 207 - moving - end fixture, 208 - telescopic plate, 209 - sling, 210 - tension plate, 211 - counterweight, 3 - loading and unloading robot, 301 - robot base, 302 - robotic arm, 303 - gripper, 304 - cable, 305 - industrial camera, 4 - loading table, 401 - rotating base, 402 - lower support plate, 403 - upper support plate, 404 - connecting rod, 5 - unloading table, 501 - unloading - table support, 502 - unloading - table top plate. Detailed implementation manners

[0071] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0072] Embodiment 1

[0073] An embodiment of the present invention provides an automatic torsion test system for steel wires, including: a bottom plate 1, a torsion testing machine 2 provided on the bottom plate 1, a loading and unloading robot 3 provided on the bottom plate 1, a loading table 4 provided on the bottom plate 1, and an unloading table 5 provided on the bottom plate 1. The torsion testing machine 2, the loading and unloading robot 3 and the loading table 4 are controlled by an automation module, so that the loading and unloading robot 3 automatically clamps the steel wire specimens on the loading table 4 onto the torsion testing machine 2 for torsion testing. After the test is completed, the discarded steel wire specimens are clamped onto the unloading table 5 again. During the whole process, no manual intervention is required, and multiple groups of steel wire specimens can be tested automatically. While ensuring the test efficiency, the accuracy of the test during the conversion between various specifications of steel wires is guaranteed.

[0074] The torsion testing machine 2 includes a housing 201, a fixed-end base 202, a fixed-end fixture 203, a motor bracket 204, a motor 205, a movable-end base 206, a movable-end fixture 207, and a telescopic plate 208. The housing 201 is placed on the bottom plate 1, with a hollow interior. A horizontal partition is provided in the middle to divide it into upper and lower cavities. At one end of the upper cavity, a vertical partition is provided to divide it into a transmission cavity and an operation cavity. A large hole is opened in the vertical partition to communicate the transmission cavity and the operation cavity. A door panel is provided at the outer end of the transmission cavity, and a strip-shaped hole is opened in the horizontal partition at its bottom. The outer end of the operation cavity is open and communicates with the outside. A sliding door that is slidably connected to it by a slide rail is provided on the front of the operation cavity. A handle is provided on the sliding door, and the middle part of the sliding door is hollowed out. An explosion-proof glass is installed in the hollowed-out part, and a splash-proof net is also provided on the inner lining surface. The sliding of the sliding door is driven pneumatically, hydraulically, electrically, or manually. During loading and unloading, the sliding door is opened to facilitate the operation of the loading and unloading robot 3. During the torque test, the sliding door is closed. The test situation of the steel wire inside can be observed through the explosion-proof glass, and it can prevent the steel wire from breaking during the loading process and the generated debris from splashing and damaging the explosion-proof glass, ensuring the safety of the test process.

[0075] The fixed-end base 202 is fixed on the horizontal partition in the transmission cavity of the housing 201. Its bottom is a horizontal plate, and vertical plates are provided at both ends. Reinforcing ribs are provided between the vertical plates and the horizontal plate, and round holes are opened on both ends of the vertical plates. Bearing seats are installed in the holes. One end of the fixed-end fixture 203 is a fixture body. The chucks on the front of the fixture body are arranged in pairs facing each other. The chucks are adjusted in tightness by hydraulic drive, and grooves are provided on the opposite sides of the two chucks. The grooves are semi-hexagonal, and the steel wire specimen is clamped by the grooves of the two chucks. The fixture body of the fixed-end fixture 203 passes through the large hole on the vertical partition of the housing 201 and is placed in the operation cavity. A transmission shaft is fixedly connected to the back of the fixture body of the fixed-end fixture 203. The transmission shaft is connected to the bearing seat of the fixed-end base 202 by bearings, and a large pulley is provided at the rear end of the transmission shaft. The transmission shaft is a hollow shaft, and a hydraulic pipeline is provided inside it, which is connected to the fixture body at the front end to provide clamping power for the chucks. The motor bracket 204 is fixed in the lower cavity of the housing 201, and the motor 205 is fixed on the motor bracket 204. A small pulley is fixedly installed at the output end of the motor 205 using a coupling. The small pulley and the large pulley are connected by a belt. The belt passes through the strip-shaped hole on the horizontal partition of the housing 201, and a door panel is also provided on the back of the housing 201 at its corresponding position to facilitate the maintenance of the motor 205.

[0076] The bottom of the mobile base 206 is also a horizontal plate. One end of it is provided with a vertical plate. There are reinforcing ribs between the vertical plate and the horizontal plate. And sliders are fixed at the four corners of the bottom of the horizontal plate. The sliders are slidably connected with the horizontal partition of the housing 201. A round hole is opened on the vertical plate. One end of the mobile fixture 207 is a fixture body. The chucks on the front of the fixture body are arranged in pairs facing each other. The chucks are driven by hydraulic pressure to adjust the tightness. And grooves are provided on the opposite sides of the two chucks. The grooves are semi-hexagonal. The steel wire specimen is clamped by the grooves of the two chucks. A fixed shaft is fixedly connected to the back of the fixture body of the mobile fixture 207. The fixed shaft is fixedly connected with the round hole on the vertical plate of the mobile base 206 through a flange to prevent the mobile fixture 207 from rotating. The fixed shaft is a hollow shaft and a hydraulic pipeline is arranged inside it and is connected to the fixture body at the front end to provide clamping power for the chucks.

[0077] The vertical partition of the housing 201 and the mobile base 206 are connected by a telescopic plate 208. The telescopic plate 208 is divided into multiple segments. The end face of the first segment is attached to the vertical partition of the housing 201. And the first segment is fixed on the horizontal partition of the housing 201. The remaining multiple segments are slidably arranged along the connection line direction of the fixed-end fixture 203 and the mobile fixture 207. And the multiple segments of the telescopic plate 208 are continuously arranged. A connecting plate is arranged at the end face of its last segment. The connecting plate is fixedly connected with the end face of the mobile base 206. The mobile base 206 changes its distance from the fixed-end base 202 with the expansion and contraction of the telescopic plate 208 so that the fixed-end fixture 203 and the mobile fixture 207 can adapt to the changes of steel wire specimens with different lengths.

[0078] Preferably, the expansion and contraction between the segments of the telescopic plate 208 is driven by hydraulic pressure and is automatically adjusted according to the length of the steel wire specimen.

[0079] One end of the operation chamber close to the mobile fixture 207 is provided with a hollow. A sling 209 is fixed on the horizontal partition at the hollow. Both sides of the sling 209 are L-shaped support plates, and pulleys are rotatably connected to the front ends of the support plates. A gear-shaped positioning plate is concentrically fixed on one side surface of the pulley, and a probe is further arranged on the side surface of the positioning plate for monitoring the rotation condition of the pulley. Another end of the mobile base 206 is further fixed with a tension plate 210. A hanging ring is arranged at the front end of the tension plate 210, and the front end is arranged between the L-shaped support plates on both sides of the sling 209. A counterweight 211 is connected to the hanging ring at the front end of the tension plate 210 through a steel cable, and the steel cable bypasses the pulley of the sling 209, so that the counterweight 211 generates a pulling force on the mobile base 206. There are multiple counterweights 211, which are detachably connected to the end of the steel cable, and the required pulling force is adjusted by adjusting the number of the counterweights 211. The counterweight 211 has a regular shape including a circle, a rectangle, and an isosceles triangle, and is preferably a circle.

[0080] The system further includes a hydraulic component, a control component, and an electrical component. During use, the hydraulic component provides a telescopic force for the telescopic plate 208. At the same time, the counterweight 211 balances the self-weight of the telescopic plate 208 and the inertial force generated during telescoping, preventing the telescopic plate 208 from having unsmooth movement or being unable to maintain a predetermined position due to its own weight; by reasonably configuring the weight of the counterweight 211, the dynamic balance of the telescopic plate 208 is optimized, vibrations and swings are reduced, and the smoothness and stability of the movement of the telescopic plate 208 are improved; during the experiment, it effectively prevents the telescopic plate 208 from generating unnecessary shaking due to external interferences including vibrations and airflows, thereby affecting the force on the steel wire specimen.

[0081] The loading and unloading robot 3 includes a robot base 301, a robotic arm 302, a gripper 303, a cable 304, and an industrial camera 305. The robot base 301 is fixed to the base plate 1 and is located in front of the torsion testing machine 2. It is a columnar structure with a mounting table provided at the top. The robotic arm 302 is mounted on the mounting table of the robot base 301 and is rotatably connected to the robot base 301. The robotic arm 302 is provided with a plurality of rotating joints and is rotatably connected at each rotating joint. The front end of the robotic arm 302 is provided with a Z-shaped mounting plate. The upper horizontal plate of the Z-shaped mounting plate is fixed to the front end of the robotic arm 302, and the gripper 303 is provided on the back of the upper horizontal plate. The industrial camera 305 is fixedly installed on the vertical plate of the Z-shaped mounting plate. The rear end of the gripper 303 is a hydraulic box fixed to the Z-shaped mounting plate. Two hydraulic cylinders are provided inside the hydraulic box, and the output ends of the hydraulic cylinders are both fixed with clamping jaws. A plurality of cylindrical grooves are provided at the positions where the two clamping jaws face each other for clamping the steel wire specimen. The cable 304 is also installed on the side of the gripper 303 for receiving electrical signals to control the opening and closing distance and the clamping force of the gripper 303.

[0082] The loading table 4 includes a rotating base 401, a lower support plate 402, an upper support plate 403, and a connecting rod 404. The rotating base 401 is fixed to the base plate 1 and is located on one side of the loading and unloading robot 3. The bottom of the lower support plate 402 is rotatably connected to the rotating base 401 through a rotating cylinder. The lower support plate 402 is preferably a hexagonal plate. The upper support plate 403 has the same shape as the lower support plate 402, and its central part is connected through the connecting rod 404. The rotating base 401 drives the lower support plate 402 and the upper support plate 403 to rotate synchronously. The edge of the lower support plate 402 protrudes upward, and a plurality of semi-circular holes are equidistantly arranged along the inner edge of the protruding part to form a semi-circular hole array. The upper support plate 403 is provided with a semi-circular hole array equidistantly along the outer edge at its corresponding position. The edge of the upper support plate 403 extends upward to form a box body with an open top for temporarily storing tools and supplies. The connecting rod 404 is a telescopic rod for supporting the lower support plate 402 and the upper support plate 403 and changing the distance between the two according to the length of the steel wire specimen.

[0083] Preferably, the steel wire specimens are manually placed in the semi-circular holes of the lower support plate 402 and the upper support plate 403. The semi-circular holes on the lower support plate 402 and the upper support plate 403 are set to have multiple diameters for storing steel wire specimens of multiple specifications.

[0084] The blanking table 5 includes a blanking table support 501 and a blanking table top plate 502. The blanking table support 501 is welded by square steel, is arranged on the bottom plate 1 and on the other side of the loading and unloading robot 3. The blanking table top plate 502 is fixed on the top of the blanking table support 501. A plurality of grooves are arranged on the blanking table top plate 502 for storing the steel wire specimens after the test. The bottom of the blanking table top plate 502 is a detachable bottom plate. When cleaning the blanking table top plate 502, the detachable bottom plate is removed for cleaning.

[0085] The bottom plate 1 is fixed on the ground and is used to support the torsion testing machine 2, the loading and unloading robot 3, the loading table 4 and the blanking table 5. A plurality of pipelines are arranged inside it for laying signal connection lines, power lines, air source lines and hydraulic pipelines. The signal connection lines, power lines, air source lines and hydraulic pipelines are used to connect the control components with the torsion testing machine 2, the loading and unloading robot 3 and the loading table 4.

[0086] Embodiment 2

[0087] An automatic torsion test method for steel wires provided by an embodiment of the present invention includes:

[0088] S100. Confirm that the connections of all components of the system are normal. The hydraulic components, control components and electrical system are pre-started and the operating states are detected. Test parameters such as torsion speed, angle, required tensile force, etc. are set through the control components to meet the test requirements of different specifications of steel wires.

[0089] S200. The industrial camera 305 identifies and locates the steel wire specimens placed on the loading table 4. The loading and unloading robot 3 uses the gripper to pick up the steel wire specimens of a specific specification, and transfers the steel wire specimens to the operation cavity of the torsion testing machine 2 smoothly. The fixed-end fixture 203 and the mobile-end fixture 207 automatically adjust the distance and clamp the steel wire specimens.

[0090] S300. Start the motor 205 to drive the fixed-end fixture 203 to rotate to provide a torsion force to the steel wire specimens, and automatically collect information including torsion angle, force value and surface changes of the steel wire specimens.

[0091] S400. The fixed-end fixture 203 and the mobile-end fixture 207 loosen the steel wire specimens. The loading and unloading robot 3 transfers the steel wire specimens after the test to the blanking table 5 for temporary storage, and starts to test the next steel wire specimen.

[0092] S500. The system automatically outputs the test data and the monitored results, generates a test report, and cleans the torsion testing machine 2 and the blanking table 5.

[0093] In step S300, model predictive control is also included during the test, which is used to simulate and predict and determine the current optimal control action through an optimization algorithm. In this system, it is used to more precisely control torque and angle, and its control equation is:

[0094]

[0095] where u is the control input sequence, that is, the sequence of control actions to be applied next,

[0096] y k|k is the state or output predicted based on the current model at time k,

[0097] r k is the desired target sequence (e.g., the desired torque or angle trajectory),

[0098] N p is the prediction horizon,

[0099] Q is the weighted matrix of the output error,

[0100] R is the weighted matrix of the control action change.

[0101] During model predictive control, an adaptive control law is also used to estimate system parameters and adjust controller parameters to cope with changes in system parameters over time or environmental conditions and maintain control performance. The adaptive control law is:

[0102]

[0103] where K p (t) is the proportional gain function of the controller,

[0104] K i (t)K i (t) is the integral gain function of the controller,

[0105] K d (t) is the derivative gain function of the controller,

[0106] e(t) is the error between the reference signal and the process variable;

[0107] The integral gain function K i (t) is:

[0108]

[0109] where γ i is the adjustment parameter of the rate at which the control error accumulates to the integral action,

[0110] δ i is the adjustment parameter of the update rate of the control integral gain;

[0111] The differential gain function K d (t) is as follows:

[0112]

[0113] where γ d is an adjustment parameter for adjusting the sensitivity of the differential action by the control error change rate,

[0114] δ d is an adjustment parameter for limiting the variation range of the differential gain.

[0115] It is easy for those skilled in the art to understand that the above is only a preferred embodiment of the present invention and is not used to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic torsion test system for steel wires, characterized in that, Including: A bottom plate (1) which is fixed on the ground and has a plurality of pipelines inside; A loading and unloading robot (3) arranged on the bottom plate (1), the loading and unloading robot (3) includes a robotic arm (302) provided with a plurality of rotating joints, and a gripper (303) and an industrial camera (305) are arranged at the front end of the robotic arm (302); A loading platform (4) arranged on the bottom plate (1), the bottom of the loading platform (4) is a rotating base (401), a lower support plate (402) is rotatably connected to the rotating base (401), the top surface of the lower support plate (402) is connected to an upper support plate (403) through a connecting rod (404), and steel wire specimens are pre-stored at the edges of the lower support plate (402) and the upper support plate (403); An unloading platform (5) arranged on the bottom plate (1), and a plurality of grooves for storing waste steel wire specimens are arranged on the unloading platform (5); And a torsion testing machine (2) arranged on the bottom plate (1), the torsion testing machine (2) includes a housing (201), a fixed-end fixture (203) and a mobile-end fixture (207) are arranged inside the housing (201), and the two are connected by a telescopic plate (208), and a counterweight block (211) is also connected to one end of the mobile-end fixture (207), which automatically completes the tests of multiple groups of steel wire specimens to ensure the test efficiency; The automatic torsion test method of this system includes: S100. Confirm that all components of the system are normally connected, pre-start the hydraulic component, control component and electrical system and detect the operating status, and set test parameters through the control component: torsion speed, angle and required tensile force to adapt to the test requirements of different specifications of steel wires; S200. The industrial camera (305) identifies and locates the steel wire specimen placed on the loading platform (4); the loading and unloading robot (3) uses the gripper to pick up a steel wire specimen of a specific specification, and smoothly transfers the steel wire specimen to the operation cavity of the torsion testing machine (2), and the fixed-end fixture (203) and the mobile-end fixture (207) automatically adjust the distance and clamp the steel wire specimen; S300. Start the motor (205) to drive the fixed-end fixture (203) to rotate to provide a torsion force to the steel wire specimen, and automatically collect information including torsion angle, force value and surface change of the steel wire specimen; S400. The fixed-end fixture (203) and the mobile-end fixture (207) release the steel wire specimen, and the loading and unloading robot (3) transfers the tested steel wire specimen to the unloading platform (5) for temporary storage, and starts to test the next steel wire specimen; S500. The system automatically outputs the test data and the monitored results, generates a test report, and cleans the torsion testing machine (2) and the unloading platform (5); In step S300, model predictive control is also included during the test, which is used to simulate and predict and determine the current optimal control action through an optimization algorithm. In this system, it is used to more accurately control the torque and angle, and its control equation is: ； Among them, is the control input sequence, that is, the sequence of control actions to be applied next, is the state output predicted based on the current model at time k, is the desired target sequence, is the prediction range, is the weighted matrix of the output error, is a weighted matrix for controlling the change of actions; When model predictive control is used, an adaptive control law is also used to estimate the system parameters and adjust the controller parameters to cope with the changes of system parameters over time or environmental conditions and maintain the control performance. The adaptive control law is: ； Among them, is the proportional gain function of the controller, is the integral gain function of the controller, is the differential gain function of the controller, is the error between the reference signal and the process variable; The integral gain function is as follows: ； Among them, is an adjustment parameter for controlling the rate at which the error accumulates to the integral action, is an adjustment parameter for controlling the update rate of the integral gain; The differential gain function is as follows: ； Among them, is an adjustment parameter for adjusting the sensitivity of the differential action according to the control error change rate. An adjustment parameter for restricting the variation range of differential gain.

2. The automatic torsion test system for steel wires according to claim 1, characterized in that, The interior of the housing (201) is hollowed out, and a horizontal partition is provided in the middle to divide it into two upper and lower cavities. At one end of the upper cavity, a vertical partition is provided to divide it into a transmission cavity and an operation cavity. A large hole is opened on the vertical partition to communicate the transmission cavity and the operation cavity; A sliding door is provided on the front of the operation cavity and is slidably connected thereto by a slide rail. A handle is provided on the sliding door, and the middle part of the sliding door is hollowed out. An explosion-proof glass is installed in the hollowed-out part, and a splash-proof net is also provided on the inner lining surface.

3. An automatic torsion test system for steel wires according to claim 2, characterized in that, The fixed-end fixture (203) is provided on the fixed-end base (202). The fixed-end base (202) is fixed on the horizontal partition in the transmission cavity of the housing (201). Its bottom is a horizontal plate, and vertical plates are provided at both ends. Reinforcing ribs are provided between the vertical plates and the horizontal plate, and round holes are opened on both ends of the vertical plates. Bearing seats are installed in the holes; One end of the fixed-end fixture (203) is a fixture body. The fixture body of the fixed-end fixture (203) passes through the vertical partition of the housing (201) and is placed in the operation cavity; The back of the fixture body of the fixed-end fixture (203) is fixedly connected to a transmission shaft. The transmission shaft is connected to the bearing seat of the fixed-end base (202) by a bearing. A large pulley is provided at the rear end of the transmission shaft. The transmission shaft is a hollow shaft, and a hydraulic pipeline is provided inside it and is connected to the fixture body at the front end to provide clamping power for the chuck; The fixed-end fixture (203) is powered by a motor (205). The motor (205) is connected to the large pulley by a belt.

4. The automatic torsion test system for steel wires according to claim 2, characterized in that, The mobile-end fixture (207) is provided on the mobile-end base (206). The bottom of the mobile-end base (206) is also a horizontal plate. A vertical plate is provided at one end. Reinforcing ribs are provided between the vertical plate and the horizontal plate. Sliders are fixed at the four corners of the bottom of the horizontal plate. The sliders are slidably connected to the horizontal partition of the housing (201). Round holes are opened on the vertical plate; One end of the mobile-end fixture (207) is a fixture body, and the chucks on the front of the fixture body are arranged in pairs facing each other; The back of the fixture body of the mobile-end fixture (207) is fixedly connected to a fixed shaft. The fixed shaft is fixedly connected to the round hole on the vertical plate of the mobile-end base (206) by a flange. The fixed shaft is a hollow shaft, and a hydraulic pipeline is provided inside it and is connected to the fixture body at the front end to provide clamping power for the chuck; 5. The automatic torsion test system for steel wires according to claim 4, characterized in that, One end of the operation cavity close to the mobile-end fixture (207) is hollowed out. A hoist (209) is fixed on the horizontal partition at the hollowed-out part. The two sides of the hoist (209) are L-shaped support plates, and pulleys are rotatably connected to the front ends of the support plates; A tension plate (210) is also fixed at one end of the mobile-end fixture (207). A hanging ring is provided at the front end of the tension plate (210), and the front end is arranged between the L-shaped support plates on both sides of the hoist (209). The counterweight (211) is connected to the hanging ring at the front end of the tension plate (210) by a steel cable, and the steel cable bypasses the pulley of the hoist (209).

6. An automatic torsion test system for steel wires according to any one of claims 1-5, characterized in that, A Z-shaped mounting plate is provided at the front end of the robotic arm (302). The upper horizontal plate of the Z-shaped mounting plate is fixed to the front end of the robotic arm (302); The gripper (303) is provided on the back of the upper cross plate, and its rear end is a hydraulic box fixed on the Z-shaped mounting plate. Two hydraulic cylinders are provided inside the hydraulic box, and clamping jaws are fixed to the output ends of the hydraulic cylinders. A plurality of cylindrical grooves are arranged at the positions where the two clamping jaws face each other for gripping wire specimens. The industrial camera (305) is provided on the vertical plate of the Z-shaped mounting plate.

7. An automatic torsion test system for steel wires according to any one of claims 1-5, characterized in that For the upper support plate (403) and the lower support plate (402), the rotation base (401) drives the lower support plate (402) and the upper support plate (403) to rotate synchronously. The edge of the lower support plate (402) protrudes upward, and a plurality of semi-circular holes are equidistantly arranged along the inner edge of the protruding part to form a semi-circular hole array. The upper support plate (403) is provided with a semi-circular hole array equidistantly along the outer edge at its corresponding position. The edge of the upper support plate (403) extends upward to form a box body with an open top for temporarily storing tools and supplies.

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