Automatic tensile test method, device, equipment and medium

Abstract

The invention discloses an automatic tensile test method, device and equipment and a medium, relates to the technical field of inspection and detection, and is used for improving the production efficiency and the test automation level while solving the problems that a traditional test method depends on personnel experience, data is unstable, many influence factors exist, and potential safety hazards exist. The method is applied to an automatic tensile test system based on board card communication, and comprises the following steps: sending a feeding starting instruction to a robot in a hardware subsystem according to test related information input by a user; according to the feeding starting instruction, a measuring table in the hardware subsystem is adopted to measure the position of a fed target sample; and after the position measurement is completed, a testing machine in the hardware subsystem is adopted to carry out an automatic tensile test on the target sample to obtain a target tensile test result, so that the problems of dependence on personnel experience, unstable data, many influence factors, potential safety hazards and the like in the prior art are solved, and the production efficiency and the test automation level can be improved.

Description

Technical Field

[0001] The present application relates to the field of inspection and testing technology, and provides an automated tensile test method, device, equipment and medium. Background Art

[0002] At present, in the traditional testing method, the mechanical properties test of metal bars mainly relies on "manual operation" to complete metal stretching. In the specific operation, first, the staff uses the right hand to convert the horizontally placed bar into a vertical state, and put it into the front and rear center position of the testing machine fixture. Then, visually observe the size of the bar clamped by the fixture. Next, operate the button box with the left hand to clamp the fixture and start the peripheral equipment to complete the metal tensile test. However, the traditional testing method has the following defects: (1) The testing process requires a lot of manual participation, and sampling, layout, and tensile testing are completed manually; (2) It takes 15 minutes to measure a process flow, and the same process flow is repeated for each test bar, which makes the operation cumbersome and boring; (3) With the increase in the number of tensile mechanical properties tests, the existing manual operation can no longer meet the needs of large-scale and efficient testing; (4) The test is easily affected by external factors, including sample shape, size, surface roughness, sample clamping, test speed, representativeness and uniformity of test materials, sample preparation, and the influence of sample clamping; (5) There are safety hazards, that is, for brittle materials, since the deformation of the sample during the stretching process is not enough to make the tensile force line coincide with the axis of the sample, the sample is easy to break and fly out to injure people. Summary of the invention

[0003] The present application provides an automated tensile testing method, device, equipment and medium, which are used to improve production efficiency and test automation level while solving the problems that traditional testing methods rely on personnel experience, unstable data, many influencing factors, and have safety hazards.

[0004] On the one hand, an automated tensile test method is provided, which is applied to an automated tensile test system based on board-to-board communication, and the automated tensile test system is integrated by a hardware subsystem, a software subsystem, and a safety protection subsystem, and the method comprises:

[0005] Sending a loading start instruction to the robot in the hardware subsystem according to the test related information input by the user;

[0006] According to the loading start instruction, the measuring platform in the hardware subsystem is used to measure the position of the target sample for loading;

[0007] After the position measurement is completed, an automated tensile test is performed on the target sample using a testing machine in the hardware subsystem to obtain a target tensile test result.

[0008] Optionally, the step of measuring the position of the target sample to be loaded using the measuring platform in the hardware subsystem according to the loading start instruction includes:

[0009] Determining whether the robot receives the loading start instruction;

[0010] If it is determined that the robot receives the loading start instruction, then according to the loading start instruction, the robot is used to grab the target sample from the sample tray and load the target sample onto the measuring table;

[0011] The measuring platform is used to measure the position of the target sample, and the obtained position measurement result is uploaded to the test information system.

[0012] Optionally, after the position measurement is completed, the step of using a testing machine in the hardware subsystem to perform an automated tensile test on the target sample to obtain a target tensile test result includes:

[0013] After the position measurement is completed, determining whether there is a mark position on the measuring platform;

[0014] If it is determined that the measuring table has a flag position, determining the state of the testing machine according to the output of the testing machine;

[0015] If it is determined that the state of the testing machine is the initial state, the target sample is transferred to the position to be clamped, and it is determined whether there is a mark position reset on the measuring table;

[0016] If it is determined that the measuring platform has a reset flag, the target sample is clamped by the electric clamp of the hardware subsystem; wherein the electric clamp includes an upper clamp and a lower clamp;

[0017] The automated tensile test is started to obtain the target tensile test result.

[0018] Optionally, after starting the automated tensile test and obtaining the target tensile test result, the method further includes:

[0019] Determine whether there is a mark position on the measuring platform;

[0020] If it is determined that the measuring table has a flag position, then re-determine the state of the testing machine based on the output of the testing machine;

[0021] If it is determined that the measuring platform does not have a marked position, determining whether there is at least one sample in the sample tray;

[0022] If it is determined that at least one sample does not exist in the sample tray, re-determining the state of the testing machine according to the output of the testing machine;

[0023] If it is determined that there is at least one sample in the sample tray, any one of the at least one sample is grabbed from the sample tray again, and position measurement and automated tensile testing are performed on the any one sample.

[0024] Optionally, after determining the state of the testing machine according to the output of the testing machine, the method further includes:

[0025] If it is determined that the state of the testing machine is the test completion state, the crossbeam position signal of the testing machine is analyzed and the broken sample is recovered;

[0026] Determine whether there is a mark position on the measuring platform;

[0027] If it is determined that the measuring platform has a mark position, a return instruction is sent to the testing machine, and the state of the testing machine is waited to be changed to the initial state again.

[0028] Optionally, after determining the state of the testing machine according to the output of the testing machine, the method further includes:

[0029] If it is determined that the state of the testing machine is the sample delivery completion state, determining whether there is a mark position on the measuring table;

[0030] If it is determined that the measuring table has a flag position, then re-determine the state of the testing machine based on the output of the testing machine;

[0031] If it is determined that the measuring platform does not have a marked position, determining whether there is at least one sample in the sample tray;

[0032] If it is determined that at least one sample does not exist in the sample tray, re-determining the state of the testing machine according to the output of the testing machine;

[0033] If it is determined that there is at least one sample in the sample tray, any one of the at least one sample is grabbed from the sample tray again, and position measurement and automated tensile testing are performed on the any one sample.

[0034] Optionally, before sending a loading start instruction to the robot in the hardware subsystem according to the test related information input by the user, the method further includes:

[0035] A hardware subsystem is constructed according to a testing machine, a measuring table, a hydraulic station, an industrial computer, a loading platform, a waste platform, a robot and a positioning fixture; wherein the industrial computer integrates a plurality of boards for communication, and the robot is provided with an electric gripper;

[0036] Construct the software subsystem according to the preset measuring platform underlying program, the preset PC terminal program and the preset robot program;

[0037] Constructing a safety protection subsystem according to the safety protection function and personnel injury avoidance function of the robot;

[0038] The automated tensile testing system is constructed based on the hardware subsystem, the software subsystem and the safety protection subsystem.

[0039] Optionally, after using the testing machine in the hardware subsystem to perform an automated tensile test on the target sample and obtaining a target tensile test result, the method further includes:

[0040] Determine the uncertainties corresponding to multiple test batches based on the obtained multiple tensile test results;

[0041] According to the uncertainty, simulation optimization is performed on the production sample.

[0042] On the one hand, an automated tensile test device is provided, which is applied to an automated tensile test system based on board-to-board communication, and the automated tensile test system is integrated by a hardware subsystem, a software subsystem and a safety protection subsystem, and the device includes:

[0043] An instruction sending unit, used for sending a loading start instruction to the robot in the hardware subsystem according to the test related information input by the user;

[0044] A position measurement unit, used to measure the position of the target sample to be loaded using the measurement platform in the hardware subsystem according to the loading start instruction;

[0045] The tensile test unit is used to perform an automated tensile test on the target sample using a testing machine in the hardware subsystem after the position measurement is completed to obtain a target tensile test result.

[0046] On the one hand, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein any one of the above methods is implemented when the processor executes the computer program.

[0047] In one aspect, a storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, any of the above methods is implemented.

[0048] Compared with the prior art, the beneficial effects of this application are:

[0049] In the present application, an automated tensile test system integrated by a hardware subsystem, a software subsystem, and a safety protection subsystem can be used to perform automated tensile tests. Specifically, first, a loading start instruction can be sent to the robot in the hardware subsystem according to the test-related information input by the user; then, the measuring table in the hardware subsystem can be used to measure the position of the target sample for loading according to the loading start instruction; finally, after the position measurement is completed, the testing machine in the hardware subsystem can be used to perform an automated tensile test on the target sample to obtain the target tensile test result. Therefore, in the present application, since an automated tensile test system is directly used to realize the automation of the test technology, compared with the traditional test method, the present application can not only overcome the existing problems of reliance on personnel experience, unstable data, multiple influencing factors, and potential safety hazards, but also improve production efficiency and test automation level. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0051] Figure 1 A schematic diagram of a layout of a hardware subsystem provided in an embodiment of the present application;

[0052] Figure 2 A schematic diagram of a robot provided in an embodiment of the present application;

[0053] Figure 3 A side view of a hardware subsystem provided in an embodiment of the present application;

[0054] Figure 4 A schematic diagram of a testing machine provided in an embodiment of the present application;

[0055] Figure 5 A schematic diagram of a positioning tool provided in an embodiment of the present application;

[0056] Figure 6 A schematic diagram of a measuring platform provided in an embodiment of the present application;

[0057] Figure 7 A schematic diagram of a testing machine provided in an embodiment of the present application;

[0058] Figure 8 A schematic diagram of automatic sample transmission provided in an embodiment of the present application;

[0059] Fig. 9A schematic diagram of a loading platform provided in an embodiment of the present application;

[0060] Fig.10 A schematic diagram of a material unloading platform provided in an embodiment of the present application;

[0061] Fig.11 A schematic diagram of an overall flow chart of a software subsystem provided in an embodiment of the present application;

[0062] Fig.12 A schematic diagram of an overall software framework of a software subsystem provided in an embodiment of the present application;

[0063] Fig.13 A schematic diagram of the initial interface of the software subsystem provided in the embodiment of the present application;

[0064] Fig.14 A schematic diagram of a teaching pendant calling program interface provided in an embodiment of the present application;

[0065] Fig.15 A schematic diagram of a teaching pendant calling parameter setting interface provided in an embodiment of the present application;

[0066] Fig.16 A schematic diagram of a test quantity setting interface provided in an embodiment of the present application;

[0067] Fig.17 A schematic diagram of a testing machine interface provided in an embodiment of the present application;

[0068] Fig.18 A schematic diagram of a test procedure flow interface provided in an embodiment of the present application;

[0069] Fig.19 A branch diagram of a parallel program for a testing machine provided in an embodiment of the present application;

[0070] Fig. 20 A schematic diagram of an interface configuration provided in an embodiment of the present application;

[0071] Fig.21 A schematic diagram of a communication mechanism provided in an embodiment of the present application;

[0072] Fig. 22 A schematic diagram of a test data upload interface provided in an embodiment of the present application;

[0073] Fig.23 A schematic diagram of the safety protection boundary provided in the embodiment of the present application;

[0074] Fig.24 A schematic diagram of a process flow of an automated tensile test provided in an embodiment of the present application;

[0075] Fig.25 A schematic diagram of an automated tensile testing device provided in an embodiment of the present application.

[0076] Markings in the figure: 250-automated tensile testing device, 2501-instruction sending unit, 2502-position measurement unit, 2503-tensile testing unit, 2504-system construction unit, 2505-simulation optimization unit. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only a part of the embodiment of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other arbitrarily. In addition, although the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in an order different from that here.

[0078] At present, in the traditional testing method, the mechanical properties test of metal bars mainly relies on "manual operation" to complete metal stretching. In the specific operation, first, the staff uses the right hand to convert the horizontally placed bar into a vertical state, and put it into the front and rear center position of the testing machine fixture. Then, visually observe the size of the bar clamped by the fixture. Next, operate the button box with the left hand to clamp the fixture and start the peripheral equipment to complete the metal tensile test. However, the traditional testing method has the following defects: (1) The testing process requires a lot of manual participation, and sampling, layout, and tensile testing are completed manually; (2) It takes 15 minutes to measure a process flow, and the same process flow is repeated for each test bar, which makes the operation cumbersome and boring; (3) With the increase in the number of tensile mechanical properties tests, the existing manual operation can no longer meet the needs of large-scale and efficient testing; (4) The test is easily affected by external factors, including sample shape, size, surface roughness, sample clamping, test speed, representativeness and uniformity of test materials, sample preparation, and the influence of sample clamping; (5) There are safety hazards, that is, for brittle materials, since the deformation of the sample during the stretching process is not enough to make the tensile force line coincide with the axis of the sample, the sample is easy to break and fly out to injure people.

[0079] Based on this, the embodiment of the present application provides an automated tensile test method, in which an automated tensile test system integrated by a hardware subsystem, a software subsystem and a safety protection subsystem can be used to perform an automated tensile test. Specifically, first, a loading start instruction can be sent to the robot in the hardware subsystem according to the test-related information input by the user; then, according to the loading start instruction, the measuring table in the hardware subsystem can be used to measure the position of the target sample for loading; finally, after the position measurement is completed, the testing machine in the hardware subsystem can be used to perform an automated tensile test on the target sample to obtain the target tensile test result. Therefore, in the embodiment of the present application, since the automated tensile test system is directly used to realize the automation of the test technology, compared with the traditional test method, the present application can not only overcome the existing problems of relying on personnel experience, unstable data, many influencing factors and potential safety hazards, but also improve production efficiency and test automation level.

[0080] After introducing the design ideas of the embodiments of the present application, the following briefly introduces the application scenarios to which the technical solutions of the embodiments of the present application can be applied. It should be noted that the application scenarios introduced below are only used to illustrate the embodiments of the present application and are not limited. In the specific implementation process, the technical solutions provided by the embodiments of the present application can be flexibly applied according to actual needs.

[0081] like Figure 1 As shown, it is a schematic layout diagram of the hardware subsystem provided in an embodiment of the present application, wherein the hardware subsystem includes a testing machine, a measuring table, a hydraulic station, an industrial computer, a loading platform, a waste platform, a robot and a positioning tool; wherein the industrial computer integrates multiple boards for communication, and the robot is provided with an electric gripper.

[0082] Specifically, Figure 2 As shown, it is a schematic diagram of a robot provided in an embodiment of the present application, and the robot is used to complete the sample transfer from the loading platform to the measuring platform (for cross-section measurement) and the testing machine, and complete the recovery of the sample from the testing machine to the waste platform after stretching. In addition, the robot is equipped with a corresponding base, thereby providing the robot with the height required for normal operation. Figure 3 As shown, it is a side view of the hardware subsystem provided in an embodiment of the present application, and the side view mainly represents the integrated side view of the metal automatic tensile testing system, wherein the circular area is the working area of ​​the robot, and the electric gripper can cooperate with the movement of the robot to complete the picking up and putting down of the sample to be tested, thereby realizing the transfer function of the robot.

[0083] like Figure 4The figure is a schematic diagram of a testing machine provided in an embodiment of the present application. The testing machine is the main body of the metal bar tensile test, and is equipped with a hydraulic clamp and a fully automatic extensometer. The oil source provides hydraulic power and a control system for the hydraulic clamp; the fully automatic extensometer is used to measure the longitudinal and transverse deformation of the sample.

[0084] like Figure 5 As shown, it is a schematic diagram of a positioning tool provided in an embodiment of the present application, and the positioning tool is used to position metal bars, which solves the problem of non-concentricity between the robot and the hydraulic clamp. Specifically, the robot can put the grasped bars into the positioning tool, and then, after the robot releases the bars, the hydraulic clamp will automatically clamp the bars, that is, through the action sequence and the logical sequence of the signal, the positioning tool can achieve reliable loading and ensure the service life of the equipment.

[0085] like Figure 6 As shown, it is a schematic diagram of a measuring platform provided in an embodiment of the present application. The measuring platform (specimen dimension measuring mechanism) can be used to measure the dimension of the gauge section of the specimen and transmit the dimension data to the measuring platform software to calculate the cross-sectional area.

[0086] like Figure 7 As shown, it is a schematic diagram of a testing machine provided in an embodiment of the present application. The testing machine (a tensile test measuring mechanism with a fully automatic extensometer) can be used to collect deformation during the test, monitor the test process, and implement the control of the tensile testing machine as a control method. According to the test requirements of GB / T228.1, ASTM B557 / B557M, ASTM E8, etc., before yielding, the stress and strain in the tensile test are controlled to 0.003-0.007mm / mm / min, and the extensometer completes the control method.

[0087] At the same time, when conducting automated tests, the problem of elongation measurement also needs to be solved. Based on this, the extensometer can track the fracture of the sample and automatically calculate the elongation index after fracture through a newly compiled algorithm.

[0088] like Figure 8 FIG. 1 is a schematic diagram of the automatic sample transmission provided in the embodiment of the present application, wherein the automatic sample transmission technology works synchronously with the measuring table and the testing machine. The repeatability error is reduced by studying the measurement technology of the sample size.

[0089] like Fig. 9As shown, it is a schematic diagram of a loading platform provided in an embodiment of the present application, which is a material storage unit of the metal automatic tensile test system integrated unit. During automatic production, first, the staff can place the parts in order on the loading platform, and then, based on the standing position of the staff, the parts can be placed continuously from left to right in the first row and the second row, wherein the end face of the part bar is close to the positioning surface, and there should be no gaps in the material placement. Fig. 9 As shown, the loading platform has a total of 56 workstations, and the loading batches should be less than or equal to 16.

[0090] like Fig.10 As shown, it is a schematic diagram of a material unloading platform provided in an embodiment of the present application, and the material unloading platform can be used to realize the function of storing broken samples in batches.

[0091] In addition, in the embodiment of the present application, as shown in Table 1, it is an industrial computer board configuration table provided in the embodiment of the present application, wherein the industrial computer can specifically integrate the following three types of boards to realize the functions of control and communication, which is the basis for the robot to realize automatic processes.

[0092] Table 1 Industrial computer board configuration table

[0093] Serial number name quantity use 1 NI Boards 1 Communicate with the robot 2 PCI card 1 1 Control unit for bar testing device 3 PCI board 2 1 Plate detection device control unit

[0094] like Fig.11 As shown, it is a schematic diagram of an overall flow of the software subsystem provided in the embodiment of the present application, wherein, when performing the overall planning, its functions are designed as follows:

[0095] 1) PC master control software completes the coordinated actions of each system in the overall test process;

[0096] 2) Realize IO communication and control between PC main control software and test suite TestSuite, and further control the extensometer;

[0097] 3) Communicate with the UR10 lower computer program and realize position and grasping control, perform sample size measurement, sample loading and unloading, etc.;

[0098] 4) Communicate with the hydraulic oil source to control the upper and lower fixtures of the test so that the fixtures and robot grippers can achieve process coordination.

[0099] like Fig.12 As shown, it is a schematic diagram of an overall software framework of the software subsystem provided in an embodiment of the present application, wherein the software subsystem framework is specifically composed of a measuring instrument underlying program, a PC-side program and a UR program.

[0100] In this application, before the software subsystem is used, first of all, the relative position calibration of the system can be quickly and conveniently realized through the robot teaching method. Among them, the UR robot has an "incremental" function. You only need to teach the first grasping position and the increasing direction and distance, and the robot will automatically grasp the remaining samples. However, once the robot is moved for special reasons, it is necessary to re-calibrate the relative position and other parameters of the above system according to the teaching method. The operation is simple and the workload is not large.

[0101] If the system suddenly loses power during operation, the system needs to be reset directly. At this time, the data generated by the specimen undergoing the tensile test may be lost. The size of the tensile specimen should be the standard batch specimen. If the specimen size is unqualified, it is considered that there is a large deviation. Then, by setting a suitable tray, a "fool-proof design" can be used to avoid large deviations from the source.

[0102] Then, you can place the batch of samples on the tray, start the test machine, set the initial position of the beam and reset the position, then start other equipment and supporting programs, move the tray horizontally to send the sample to the specified position to wait for the robot to grab it. Open this software and enter the initial interface of the software subsystem, such as Fig.13 As shown, it is a schematic diagram of the initial interface of the software subsystem provided in the embodiment of the present application. Various test parameters can be set in the initial interface of the software subsystem, for example, the total number of samples, the number of each batch and other parameters can be set.

[0103] Furthermore, the software subsystem function implementation method (the main operation of the teaching pendant during the automatic test process) is as follows:

[0104] First, you can call the program interface through the teach pendant, such as Fig.14 The figure shows a schematic diagram of a teaching pendant calling program interface provided in an embodiment of the present application.

[0105] Then, you can call the parameter setting interface through the teaching pendant, for example, set the total number of materials to be loaded (write sample number), such as Fig.15 The figure shows a schematic diagram of a teaching pendant calling parameter setting interface provided in an embodiment of the present application.

[0106] Or, set the number of batches (write like xx,xx,xx,...), such as Fig.16 , which is a schematic diagram of the test quantity setting interface provided in an embodiment of the present application.

[0107] In this application, the program functions of the software subsystem are as follows:

[0108] (1) Fuzzy batch and fuzzy batch loading functions

[0109] In view of the uncertain number of loading batches and the uncertain number of samples in each batch, this application developed a script for the robot program.

[0110] Specifically, first, a pop-up window can be designed on the robot teaching pendant, and then the operator can manually input the number of each batch (write like xx,xx,xx,...), and a maximum of 16 batches can be input. Next, the operator and the robot can realize human-machine interaction, and the robot records the input information and performs actions based on the information.

[0111] That is, after the operator inputs the number information of each batch and the total number of materials loaded, the robot can directly obtain the number of each batch, and then, the robot can obtain the batch quantity through the calculation formula (the operator inputs the total number of materials loaded, and the robot calculates the total number of materials loaded through the calculation formula to determine whether it is consistent with the operator's input. If it is inconsistent, the operator needs to re-enter it).

[0112] The specific implementation method is as follows:

[0113]

[0114] i=i+1

[0115] end

[0116] #A0-A15 represents the number of samples in each batch, which is twice the number of samples in each batch

[0117] global A0=2*Array[0]

[0118] global A1=2*Array[1]

[0119] global A2=2*Array[2]

[0120] global A3=2*Array[3]

[0121] global A4=2*Array[4]

[0122] global A5=2*Array[5]

[0123] global A6=2*Array[6]

[0124] global A7=2*Array[7]

[0125] global A8=2*Array[8]

[0126] global A9=2*Array[9]

[0127] global A10=2*Array

[10]

[0128] global A11=2*Array

[11]

[0129] global A12=2*Array

[12]

[0130] global A13=2*Array

[13]

[0131] global A14=2*Array

[14]

[0132] global A15=2*Array

[15]

[0133] global cnt_Array=(A0+A1+A2+A3+A4+A5+A6+A7+A8+A9+A10+A11+A12+A13+A14+A15) / 2

[0134] (2) Batch feeding function

[0135] Since the operator has input the number of each batch and the total number of materials to be loaded in the fuzzy batch and fuzzy batch loading functions, the following unloading functions can be realized during the unloading process:

[0136] 1) The same batch of samples moves fixed coordinate points within the same number of cycles.

[0137] 2) A continuous translation displacement of 200 mm is performed between different batches, and the displacement is a continuous incremental displacement.

[0138] The specific implementation is as follows:

[0139] #Broken sample partition placement 20200615deng---(When applied, if there is a program after this script, you cannot add end at the end) (A colon is required after if else:)

[0140] #16 intervals, 16 judgments

[0141] #pose=p[0.25,0.45,0.5,2.464,-2.397,-2.456]→position in base frameof x=200mm,y=300mm,z=500mm,rx=0,ry=0,rz=180deg

[0142] if cnt_dy <A0:

[0143] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0144] cnt_of=cnt_of+1

[0145] elif cnt_of<(A0+A1):

[0146] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0147] cnt_of=cnt_of+1

[0148] elif cnt_dy<(A0+A1+A2):

[0149] move(p[0.25,0.45,0.2,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0150] cnt_of=cnt_of+1

[0151] elif cnt_dy<(A0+A1+A2+A3):

[0152] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0153] cnt_of=cnt_of+1

[0154] elif cnt_dy<(A0+A1+A2+A3+A4):

[0155] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0156] nt_of=cnt_of+1

[0157] elif cnt_dy<(A0+A1+A2+A3+A4+A5):

[0158] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0159] cnt_of=cnt_of+1

[0160] elif cnt_dy<(A0+A1+A2+A3+A4+A5+A6):

[0161] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0162] cnt_of=cnt_of+1

[0163] elif cnt_dy<(A0+A1+A2+A3+A4+A5+A6+A7):

[0164] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0165] cnt_of=cnt_of+1

[0166] elif cnt_dy<(A0+A1+A2+A3+A4+A5+A6+A7+A8):

[0167] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0168] cnt_of=cnt_of+1

[0169] elif cnt_dy<(A0+A1+A2+A3+A4+A4+A5+A6+A7+A8+A9):

[0170] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0171] cnt_of=cnt_of+1

[0172] elif cnt_dy<(A0+A1+A2+A3+A4+A5+A5+A6+A7+A8+A9+A10):

[0173] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0174] cnt_of=cnt_of+1

[0175] elif cnt_dy<(A0+A1+A2+A3+A4+A5+A6+A7+A7+A8+A9+A10+A11):

[0176] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0177] cnt_of=cnt_of+1

[0178] elif cnt_dy<(A0+A1+A2+A3+A4+A5+A6+A7+A7+A8+A9+A10+A11+A12):

[0179] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0180] cnt_of=cnt_of+1

[0181] elif cnt_of<

[0182] (A0+A1+A2+A3+A4+A5+A6+A7+A8+A9+A10+A11+A12+A13):

[0183] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0184] cnt_of=cnt_of+1

[0185] elif cnt_of<

[0186] (A0+A1+A2+A3+A4+A5+A6+A7+A8+A9+A10+A11+A12+A13+A14):

[0187] move(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0188] cnt_of=cnt_of+1

[0189] elif cnt_of<

[0190] (A0+A1+A2+A3+A4+A5+A6+A7+A8+A9+A10+A11+A12+A13+A14+A15):

[0191] movel(p[0.25,0.45,0.5,2.464,-2.397,-2.456],a=1.2,v=0.25,t=0,r=0)

[0192] cnt_dy=cnt_dy+1end

[0193] (3) Interface configuration function of the test machine

[0194] like Fig.17 As shown, it is a schematic diagram of the test machine interface provided in the embodiment of the present application; Fig.18 As shown, it is a schematic diagram of a test program flow interface provided in an embodiment of the present application. In the test program flow interface, the program of the tensile testing machine can be written, wherein the tensile testing machine program can include parallel programs, such as Fig.19 As shown, it is a branch diagram of the parallel program of the test machine provided in the embodiment of the present application; Fig. 20 As shown, it is a schematic diagram of the interface configuration provided in the embodiment of the present application, that is, according to Fig. 20 The interface shown can be used to configure interface parameters.

[0195] (4) Communication status configuration function

[0196] In this application, the robot is factory-configured with 16 digital I / O ports and 16 analog I / O ports for extended functions. Fig.21 The figure is a schematic diagram of the communication mechanism provided by the embodiment of the present application, which specifically demonstrates the communication logic and form. Through interactive communication, a dialogue mechanism can be established, thereby realizing the sequence control of the test actions. The specific communication configuration is as follows:

[0197] 1) The robot and the stretching machine signals can be configured, as shown in Table 2, which is a communication signal configuration table provided in an embodiment of the present application. Furthermore, based on the communication signal configuration table, the wiring can be connected by removing the operating box cable on the hydraulic station and using a new cable according to the above signal.

[0198] Table 2 Communication signal configuration table

[0199] UR5 IO Hydraulic station UR5 IO Stretching machine DO0 start up DO6 P0.4 DO1 Self-locking DO7 P0.5 DO2 Upper clamping DI0 P2.0 DO3 Stretch up DI1 P2.1 DO4 Lower clamping INCOM DO5 Push down OUTCOM 0V 0V VCC

[0200] 2) The robot and the measuring station signals can be configured, as shown in Table 3, which is a measurement signal configuration table provided in an embodiment of the present application. Furthermore, based on the measurement signal configuration table, the corresponding functional input and output points can be found according to the electrical drawings of the measuring station to connect them to the robot I / O.

[0201] Table 3 Measurement signal configuration table

[0202] Measuring device IO Function UR5 IO I0.0 Start measuring CO0 I0.1 Clamping and releasing DI6 I0.2 Grating retracted DI7

[0203] 3) The robot and protection system signals can be configured, as shown in Table 4, which is a protection signal configuration table provided in an embodiment of the present application. Furthermore, based on the protection signal configuration table, the output signal of the protection system can be connected to the robot I / O.

[0204] Table 4 Protection signal configuration table

[0205] Protection system Function UR5 IO FDO1 Robot Pause DI2 FDO2 Robot Pause DI3

[0206] (5) Test data upload function

[0207] Specifically, when uploading test data, the data can be structured in the test software, and the structured test data can be uploaded to the laboratory information system, such as Fig. 22 FIG. 1 is a schematic diagram of a test data upload interface provided in an embodiment of the present application. Further, based on the test data upload interface, the test data can be uploaded.

[0208] In this application, the safety protection subsystem can provide functions such as robot safety assurance, emergency stop protection, and electronic protective fence.

[0209] Specifically, for the robot safety assurance function, the safety protection subsystem can use a collaborative robot as a matching tool. The collaborative robot has the characteristics of self-safety protection and the ability to avoid personal injury. Its characteristics ensure the safety of the equipment itself and the person to a certain extent.

[0210] Regarding the emergency stop protection function, although the equipment provides safety protection, in order to avoid any unexpected situation, this application also connects the emergency stop protection measures with the function to be reset. Fig.23 The figure shows a schematic diagram of the safety protection boundary provided in an embodiment of the present application.

[0211] Regarding the electronic protective fence function, in order to prevent irrelevant personnel from entering the working area and reduce safety hazards, in this application, an electronic protective fence can also be set outside the equipment. Then, when a person enters the area, the equipment can stop working until the reset button is pressed before continuing subsequent actions.

[0212] like Fig.24As shown, a flow chart of the automated tensile testing method provided in an embodiment of the present application is provided. The method can be executed by an automated tensile testing system based on board-to-board communication. The automated tensile testing system is integrated with a hardware subsystem, a software subsystem, and a safety protection subsystem. Specifically, the flow of the method is described as follows.

[0213] Step 2401: Based on the test-related information input by the user, a loading start instruction is sent to the robot in the hardware subsystem.

[0214] In the embodiment of the present application, before sending a loading start instruction to the robot in the hardware subsystem according to the test related information input by the user, an automated tensile test system can also be constructed.

[0215] Specifically, first, a hardware subsystem can be constructed based on the testing machine, measuring table, hydraulic station, industrial computer, loading platform, waste platform, robot and positioning tooling; wherein, the industrial computer integrates multiple boards for communication, and the robot is provided with an electric gripper; then, a software subsystem can be constructed based on the preset measuring table underlying program, the preset PC program and the preset robot program; next, a safety protection subsystem can be constructed based on the safety protection function and personnel avoidance function carried by the robot; finally, an automated tensile test system can be constructed based on the hardware subsystem, the software subsystem and the safety protection subsystem.

[0216] Then, based on the constructed automated tensile test system, automated tensile tests can be started. Fig.11 As shown in the master control software flow, after the testing machine is initialized (if the testing machine initialization is not completed, the user is prompted to initialize the testing machine), the test can be started according to the test-related information input by the user, and a loading start instruction can be sent to the robot in the hardware subsystem.

[0217] Step 2402: According to the loading start instruction, the measuring platform in the hardware subsystem is used to measure the position of the target sample being loaded.

[0218] Specifically, Fig.11 As shown in the UR robot program flow in , after sending the loading start instruction to the robot in the hardware subsystem, first, it can be determined whether the robot has received the loading start instruction; then, if it is determined that the robot has received the loading start instruction, the robot can grab the target sample from the sample tray according to the loading start instruction, and load the target sample onto the measuring table. At this time, the sample count can also be +1 to update the offset; finally, the measuring table can be used to measure the position of the target sample, and after the measurement is completed, the obtained position measurement result can be uploaded to the test information system.

[0219] Step 2403: After the position measurement is completed, an automated tensile test is performed on the target sample using a testing machine in the hardware subsystem to obtain a target tensile test result.

[0220] Specifically, Fig.11 As shown in the UR robot program flow in , after the position measurement is completed, first, it can be determined whether there is a mark position on the measuring table; then, if it is determined that there is a mark position on the measuring table, the state of the testing machine (testing machine output) can be determined according to the output of the testing machine; next, if it is determined that the state of the testing machine is the initial state, the target sample can be transferred to the position to be clamped, and it can be determined whether there is a mark position reset on the measuring table; then, if it is determined that there is a mark position reset on the measuring table, the electric gripper of the hardware subsystem can be used to clamp the target sample (first clamp the target sample with the upper gripper, then withdraw the robot, and then execute the lower gripper clamping process); wherein, the electric gripper includes an upper gripper and a lower gripper; finally, the automated tensile test can be started to obtain the target tensile test result.

[0221] Further, such as Fig.11 As shown in the UR robot program flow in , after starting the automated tensile test and obtaining the target tensile test results, it is also possible to determine whether there is a mark position on the measuring table; if it is determined that there is a mark position on the measuring table, the state of the testing machine can be re-determined based on the output of the testing machine; if it is determined that there is no mark position on the measuring table, it is possible to determine whether there is at least one specimen in the specimen tray; if it is determined that there is no at least one specimen in the specimen tray, the state of the testing machine can be re-determined based on the output of the testing machine; if it is determined that there is at least one specimen in the specimen tray, any one of the at least one specimens can be grabbed from the specimen tray again, and position measurement and automated tensile testing can be performed on any one of the specimens.

[0222] In addition, if Fig.11 As shown in the UR robot program flow, after determining the state of the testing machine according to the output of the testing machine, if it is determined that the state of the testing machine is the test completion state, the crossbeam position signal of the testing machine can be analyzed and the broken sample can be recovered; then, it can be determined whether there is a mark position on the measuring table; if it is determined that there is a mark position on the measuring table, a return instruction can be sent to the testing machine, and wait for the state of the testing machine to change to the initial state again.

[0223] In addition, if Fig.11As shown in the UR robot program flow in , after determining the state of the testing machine according to the output of the testing machine, if it is determined that the state of the testing machine is the sample delivery completion state, it can be determined whether there is a mark position on the measuring table; if it is determined that there is a mark position on the measuring table, the state of the testing machine can be re-determined according to the output of the testing machine; if it is determined that there is no mark position on the measuring table, it can be determined whether there is at least one specimen in the specimen tray; if it is determined that there is no at least one specimen in the specimen tray, the state of the testing machine can be re-determined according to the output of the testing machine; if it is determined that there is at least one specimen in the specimen tray, any one of the at least one specimen can be grabbed from the specimen tray again, and position measurement and automated tensile testing can be performed on any one of the specimens.

[0224] In a possible implementation, after using a testing machine in a hardware subsystem to perform an automated tensile test on a target sample and obtaining a target tensile test result, the uncertainties corresponding to multiple test batches can be determined based on the multiple tensile test results obtained; further, simulation optimization can be performed on the samples to be produced based on the uncertainties corresponding to the multiple test batches.

[0225] In summary, this application has the following technical innovations:

[0226] (1) This application proposes an automated tensile test method implemented through board-to-board communication. Through board-to-board communication, an overall coordination system can be established to allow the test program and various components to run automatically, automatically collect test data, and automatically save a series of fully automatic processes to achieve the program control function of the standard tensile test;

[0227] (2) This application uses self-designed software to connect various hardware information and obtain test data from each channel. The test software logic meets the complete process from test sample preparation to test completion and data recording;

[0228] (3) The operator can place the specially designed standard sample placement device horizontally on the V-shaped positioning fixture of the loading platform, with all sample end faces close to the limit block to ensure the consistency of the initial position; the robot gripper device is designed to be suitable for clamping the standard sample, and the clamping force and position are adjusted to ensure smooth operation during the sample clamping process;

[0229] (4) This application can automatically measure the sample size. During the test, the original size of the sample is required to participate in the data calculation. The automatic measurement test bench is used to automatically measure and transmit the sample size data, and the test results are obtained after calculation;

[0230] (5) The present application can automatically measure the elongation after fracture without manual measurement by personnel, thus reducing the influence of personnel operation differences. The automatic extensometer tracks the specimen until it breaks, collects the strain at the moment of fracture, and removes the elastic strain through an algorithm to obtain the plastic strain, which is multiplied by the gauge length to obtain the elongation after fracture;

[0231] (6) This application can fix the sample clamping position to reduce the influence of coaxiality difference. The hydraulic clamp on the tensile machine automatically moves to a fixed position of the sample, and the upper hydraulic clamp clamps it. The hydraulic clamp on the tensile machine starts to move upward for the test, and the fully automatic extensometer automatically adjusts the gauge length and clamps it to the sample to start the test;

[0232] (7) This application can implement sequential testing of different batches and different numbers of samples according to the definition. After the sample breaks, the extensometer is released, the crossbeam of the stretching machine returns to the fixed position, and the extensometer automatically returns to its original position, notifying the robot that the test has been completed and the broken sample can be taken away; after the robot receives the signal that the test is completed, it sends the broken sample to the corresponding unloading box and stores it in batches according to the batches set in advance;

[0233] (8) This application sets up an electronic fence, and the signal is connected to the robot. Once an outsider enters the robot's working area, it may cause a safety hazard. The electronic fence information is triggered and a notification is sent to the robot to stop the action to avoid danger;

[0234] (9) The test software of the present application can automatically collect signals such as the measuring table, the test machine force value, the extensometer strain, etc., complete the calculation, and give the test results.

[0235] (10) The test software of the present application can automatically upload the generated test data to the test information system (LIMS system), reduce manual transcription, and automatically generate test reports in the test system.

[0236] Based on the above technical innovations, this application has achieved the following technical effects:

[0237] (1) Since the automated tensile test method of the present application is adopted and the test cycle is set to 4 min / piece (the time is measured when UR10 is working, 196 seconds-226 seconds), the test cycle is 1 / 4 of the traditional manual test, so it can better solve the problem of manual operation efficiency during mass production. Moreover, after the test is started, the system can realize unattended tensile test throughout the process, so it can not only eliminate the cumbersome and complicated manual operations, reduce the labor intensity, but also reduce safety hazards;

[0238] (2) Since collaborative robots are used for loading, unloading and transporting (the robot's sample delivery position accuracy is controlled within 0.3mm), the repeated positioning accuracy is high, the operation is flexible, and it is safe and reliable.

[0239] (3) Since the integrated automated tensile test system has a fixed program and can automate the steps of dimension measurement, gauge marking, elongation determination, and extensometer extraction, some human uncertainties can be eliminated (for example, the influence of human factors such as specimen cross-section measurement is eliminated. For the worst case scenario taking all factors into account, the uncertainty is about 10%).

[0240] (4) Since the measurement technology of sample size has been studied, the repeatability error can be reduced.

[0241] (5) Due to the use of the automated tensile test method of the present application, the coaxiality is controlled within the range of 0.02 mm (according to ASTM E8, for standard specimens, the force value will increase by 1.5% for every 0.10 mm deviation, and the impact will be more obvious for small specimens).

[0242] Based on the same inventive concept, the embodiment of the present application provides an automated tensile testing device 250, which is applied to an automated tensile testing system based on board-to-board communication, and the automated tensile testing system is integrated by a hardware subsystem, a software subsystem, and a safety protection subsystem, such as Fig.25 As shown, the automated tensile testing device 250 comprises:

[0243] The instruction sending unit 2501 is used to send a loading start instruction to the robot in the hardware subsystem according to the test related information input by the user;

[0244] The position measurement unit 2502 is used to measure the position of the target sample to be loaded using the measurement platform in the hardware subsystem according to the loading start instruction;

[0245] The tensile test unit 2503 is used to perform an automated tensile test on a target sample using a testing machine in the hardware subsystem after the position measurement is completed, so as to obtain a target tensile test result.

[0246] Optionally, the position measurement unit 2502 is used to:

[0247] Determine whether the robot has received the loading start instruction;

[0248] If it is determined that the robot receives the loading start instruction, then according to the loading start instruction, the robot grabs the target sample from the sample tray and loads the target sample onto the measuring table;

[0249] The measuring table is used to measure the position of the target sample, and the obtained position measurement results are uploaded to the test information system.

[0250] Optional, tensile test unit 2503, used to:

[0251] After the position measurement is completed, determining whether there is a mark position on the measuring platform;

[0252] If it is determined that the measuring table has a flag position, the state of the testing machine is determined based on the output of the testing machine;

[0253] If it is determined that the state of the testing machine is the initial state, the target specimen is transferred to the position to be clamped, and it is determined whether there is a mark position reset on the measuring table;

[0254] If it is determined that the measuring platform has a reset flag, the electric gripper of the hardware subsystem is used to clamp the target sample; wherein the electric gripper includes an upper gripper and a lower gripper;

[0255] Start the automated tensile test and obtain the target tensile test results.

[0256] Optional, tensile test unit 2503, used to:

[0257] Determine whether there is a mark position on the measuring platform;

[0258] If it is determined that the measuring table has a flag position, the state of the testing machine is re-determined based on the output of the testing machine;

[0259] If it is determined that the measuring platform does not have a marked position, determining whether there is at least one sample in the sample tray;

[0260] If it is determined that at least one sample does not exist in the sample tray, the state of the testing machine is re-determined based on the output of the testing machine;

[0261] If it is determined that at least one sample exists in the sample tray, any one of the at least one sample is grabbed from the sample tray again, and position measurement and automated tensile testing are performed on any one of the samples.

[0262] Optional, tensile test unit 2503, used to:

[0263] If it is determined that the state of the testing machine is the test completion state, the crossbeam position signal of the testing machine is analyzed and the broken sample is recovered;

[0264] Determine whether there is a mark position on the measuring platform;

[0265] If it is determined that the measuring table has a mark position, a return command is sent to the testing machine, and the state of the testing machine is waited to be changed to the initial state again.

[0266] Optional, tensile test unit 2503, used to:

[0267] If it is determined that the state of the testing machine is the state of sample delivery completion, then determine whether there is a mark position on the measuring table;

[0268] If it is determined that the measuring table has a flag position, the state of the testing machine is re-determined based on the output of the testing machine;

[0269] If it is determined that the measuring platform does not have a marked position, determining whether there is at least one sample in the sample tray;

[0270] If it is determined that at least one sample does not exist in the sample tray, the state of the testing machine is re-determined based on the output of the testing machine;

[0271] If it is determined that at least one sample exists in the sample tray, any one of the at least one sample is grabbed from the sample tray again, and position measurement and automated tensile testing are performed on any one of the samples.

[0272] Optionally, the automated tensile testing device 250 further includes a system building unit 2504, which is used to:

[0273] Before sending a loading start instruction to the robot in the hardware subsystem according to the test related information input by the user, the method further includes:

[0274] The hardware subsystem is constructed based on the testing machine, measuring table, hydraulic station, industrial computer, loading platform, waste platform, robot and positioning fixture; among them, the industrial computer integrates multiple boards for communication; the robot is equipped with electric grippers;

[0275] Construct the software subsystem according to the preset measuring platform underlying program, the preset PC terminal program and the preset robot program;

[0276] Construct a safety protection subsystem based on the robot's safety protection functions and personnel injury avoidance functions;

[0277] An automated tensile testing system is constructed based on the hardware subsystem, software subsystem and safety protection subsystem.

[0278] Optionally, the automated tensile testing device 250 further includes a simulation optimization unit 2505, which is used to:

[0279] Determine the uncertainties corresponding to multiple test batches based on the obtained multiple tensile test results;

[0280] According to the uncertainty, simulation optimization is performed on the production samples.

[0281] The automated tensile test apparatus can be used to perform Fig.24 The method executed in the embodiment shown in FIG. 1 is a method for performing a test in accordance with an embodiment of the present invention. Therefore, for the functions that can be realized by each functional module of the automated tensile testing device, reference may be made to FIG. Fig.24 The description of the illustrated embodiment is not repeated in detail.

[0282] In some possible implementations, various aspects of the method provided in the present application may also be implemented in the form of a program part, which includes a program code. When the program part is run on a computer device, the program code is used to enable the computer device to execute the steps of the method according to various exemplary embodiments of the present application described above in this specification. For example, the computer device may execute the following steps: Fig.24 The method performed in the illustrated embodiment.

[0283] It can be understood by those skilled in the art that all or part of the steps of the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above method embodiment are executed; and the aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk. Alternatively, if the above integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent part, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present invention can be essentially or in other words, the part that contributes to the prior art can be embodied in the form of a software part, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. And the aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disk or optical disk.

[0284] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0285] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An automated tensile test method, characterized in that: Applied to an automated tensile test system based on board-to-board communication, wherein the automated tensile test system is integrated by a hardware subsystem, a software subsystem, and a safety protection subsystem, the method comprising: Sending a loading start instruction to the robot in the hardware subsystem according to the test related information input by the user; According to the loading start instruction, the measuring platform in the hardware subsystem is used to measure the position of the target sample for loading; After the position measurement is completed, an automated tensile test is performed on the target sample using a testing machine in the hardware subsystem to obtain a target tensile test result.

2. The method according to claim 1, characterized in that The step of measuring the position of the target sample for loading using the measuring platform in the hardware subsystem according to the loading start instruction includes: Determining whether the robot receives the loading start instruction; If it is determined that the robot receives the loading start instruction, then according to the loading start instruction, the robot is used to grab the target sample from the sample tray and load the target sample onto the measuring table; The measuring platform is used to measure the position of the target sample, and the obtained position measurement result is uploaded to the test information system.

3. The method according to claim 1, characterized in that After the position measurement is completed, the step of using the testing machine in the hardware subsystem to perform an automated tensile test on the target sample to obtain a target tensile test result includes: After the position measurement is completed, determining whether there is a mark position on the measuring platform; If it is determined that the measuring table has a flag position, determining the state of the testing machine according to the output of the testing machine; If it is determined that the state of the testing machine is the initial state, the target sample is transferred to the position to be clamped, and it is determined whether there is a mark position reset on the measuring table; If it is determined that the measuring platform has a reset flag, the target sample is clamped by the electric clamp of the hardware subsystem; wherein the electric clamp includes an upper clamp and a lower clamp; The automated tensile test is started to obtain the target tensile test result.

4. The method according to claim 3, characterized in that After starting the automated tensile test and obtaining the target tensile test result, the method further includes: Determine whether there is a mark position on the measuring platform; If it is determined that the measuring table has a flag position, then re-determine the state of the testing machine based on the output of the testing machine; If it is determined that the measuring platform does not have a marked position, determining whether there is at least one sample in the sample tray; If it is determined that at least one sample does not exist in the sample tray, re-determining the state of the testing machine according to the output of the testing machine; If it is determined that there is at least one sample in the sample tray, any one of the at least one sample is grabbed from the sample tray again, and position measurement and automated tensile testing are performed on the any one sample.

5. The method according to claim 3, characterized in that After determining the state of the testing machine according to the output of the testing machine, the method further includes: If it is determined that the state of the testing machine is the test completion state, the crossbeam position signal of the testing machine is analyzed and the broken sample is recovered; Determine whether there is a mark position on the measuring platform; If it is determined that the measuring platform has a mark position, a return instruction is sent to the testing machine, and the state of the testing machine is waited to be changed to the initial state again.

6. The method according to claim 3, characterized in that After determining the state of the testing machine according to the output of the testing machine, the method further includes: If it is determined that the state of the testing machine is the sample delivery completion state, determining whether there is a mark position on the measuring table; If it is determined that the measuring table has a flag position, then re-determine the state of the testing machine based on the output of the testing machine; If it is determined that the measuring platform does not have a marked position, determining whether there is at least one sample in the sample tray; If it is determined that at least one sample does not exist in the sample tray, re-determining the state of the testing machine according to the output of the testing machine; If it is determined that there is at least one sample in the sample tray, any one of the at least one sample is grabbed from the sample tray again, and position measurement and automated tensile testing are performed on the any one sample.

7. The method according to claim 1, characterized in that Before sending a loading start instruction to the robot in the hardware subsystem according to the test related information input by the user, the method further includes: A hardware subsystem is constructed according to a testing machine, a measuring table, a hydraulic station, an industrial computer, a loading platform, a waste platform, a robot and a positioning fixture; wherein the industrial computer integrates a plurality of boards for communication, and the robot is provided with an electric gripper; Construct the software subsystem according to the preset measuring platform underlying program, the preset PC terminal program and the preset robot program; Constructing a safety protection subsystem according to the safety protection function and personnel injury avoidance function of the robot; The automated tensile testing system is constructed based on the hardware subsystem, the software subsystem and the safety protection subsystem.

8. The method according to claim 1, characterized in that After the target tensile test result is obtained by performing an automated tensile test on the target sample using the testing machine in the hardware subsystem, the method further includes: Determine the uncertainties corresponding to multiple test batches based on the obtained multiple tensile test results; According to the uncertainty, simulation optimization is performed on the production sample.

9. An automated tensile testing device, characterized in that: Applied to an automated tensile test system based on board-to-board communication, wherein the automated tensile test system is integrated by a hardware subsystem, a software subsystem, and a safety protection subsystem, and the device comprises: An instruction sending unit, used for sending a loading start instruction to the robot in the hardware subsystem according to the test related information input by the user; A position measurement unit, used to measure the position of the target sample to be loaded using the measurement platform in the hardware subsystem according to the loading start instruction; The tensile test unit is used to perform an automated tensile test on the target sample using a testing machine in the hardware subsystem after the position measurement is completed to obtain a target tensile test result.

10. An electronic device, characterized in that: The device comprises: A memory for storing program instructions; A processor is used to call the program instructions stored in the memory, and execute any method according to claims 1-8 according to the obtained program instructions.

11. A storage medium, characterized in that: The storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute any one of the methods of claims 1-8.

Images