Auxiliary testing tool for fluidity of cement mortar

Abstract

The invention discloses a cement mortar fluidity auxiliary test tool, and relates to the technical field of test tools.The cement mortar fluidity auxiliary test tool comprises a mechanical arm tool body, a linear sliding rail is arranged at the lower end of the mechanical arm tool body, and an adjusting assembly is arranged at the lower end of the linear sliding rail; the mechanical arm tool body comprises a driving base and a connecting base, the connecting base is located at the upper end of the driving base, a first mechanical connecting rod is arranged at one end of the connecting base, a second mechanical connecting rod is arranged at one end of the first mechanical connecting rod, and a mechanical gripper is arranged at one end of the second mechanical connecting rod. According to the scheme, the technical problems that in the existing cement mortar fluidity test process, it cannot be guaranteed that an experimenter is located in the center of the installation position when installing a mold, the test stability is difficult to guarantee in the test process, and the final result is affected due to the fact that the vertical force is not uniform when the mold is dismantled, the mortar flowing direction is changed are solved.

Description

Technical Field

[0001] The present invention relates to the field of technical test tooling, and particularly to an auxiliary test tooling for the fluidity of cement mortar. Background Art

[0002] The existing process of the cement mortar fluidity test is as follows: Fill the mortar into the mold to two-thirds of its height, draw five times in each of two mutually perpendicular directions with a knife, insert it evenly 15 times with a tamping rod according to the standard requirements, then fill the second layer of mortar until it is about 20 mm higher than the truncated cone mold, draw five times in each of the mutually perpendicular directions according to the standard requirements, insert it evenly 10 times, and vibrate 25 times after removing the excess mortar for measurement. However, the problems faced in this test process are: 1. The experimenter cannot ensure that the mold is installed exactly at the center of the installation position; 2. During the test, one hand needs to hold the test mold firmly while the other hand operates, making it difficult to ensure the stability of the test; 3. When removing the mold, the uneven vertical force causes the flow direction of the mortar to change, affecting the final result. To solve the above problems, a device for auxiliary filling of the fluidity of cement mortar is designed.

[0003] One existing method is to use a robotic arm for auxiliary testing. For example, the technical solution disclosed in the Chinese authorized patent "Robotic Arm and Rotating Robotic Arm" with the publication number CN212218471U. However, this robotic arm is a general type and cannot be directly applied to the cement mortar fluidity test and requires comprehensive modification. Summary of the Invention

[0004] The purpose of the present invention is to provide an auxiliary test tooling for the fluidity of cement mortar to solve the existing problems mentioned in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: An auxiliary test tooling for the fluidity of cement mortar, comprising: a robotic arm tooling main body, a linear slide rail is arranged at the lower end of the robotic arm tooling main body, an adjusting component is arranged at the lower end of the linear slide rail, the robotic arm tooling main body includes a driving base and a connecting seat, and the connecting seat is located above the driving base. One end of the connecting seat is provided with a first mechanical connecting rod, one end of the first mechanical connecting rod is provided with a second mechanical connecting rod, one end of the second mechanical connecting rod is provided with a mechanical gripper, and the connection points of the connecting seat, the first mechanical connecting rod, the second mechanical connecting rod and the mechanical gripper are all connected through mechanical wheels.

[0006] Preferably, the mechanical gripper includes a connecting frame, a gripper seat is arranged at the lower end of the connecting frame, grippers are arranged at both ends of the gripper seat, and a gripper clamp is arranged at one end of the gripper.

[0007] Preferably, the mechanical gripper further includes a vision grasping mechanism, and the vision grasping mechanism is located at the front end of the gripper seat, and a gripper driving and controlling mechanism is arranged at the rear end of the gripper seat.

[0008] Preferably, the gripper fixture includes a first clamping plate and a second clamping plate, and a ram connecting groove is arranged on one side surface of each of the first clamping plate and the second clamping plate.

[0009] Preferably, mounting seats are arranged on the other sides of the first clamping plate and the second clamping plate respectively, fixing screws are arranged on both sides of each mounting seat, and the two mounting seats are fixed to the first clamping plate and the second clamping plate respectively through the fixing screws.

[0010] Preferably, positioning seats are rotatably connected to both ends of each mounting seat through pre-installed rotating shafts, a fixed side plate is arranged on one side of each positioning seat, a fixing bolt is arranged at one end of the fixed side plate, and the fixed side plate is fixed to the positioning seat through the fixing bolt. A threaded connecting rod is arranged at the other end of the fixed side plate, and the threaded connecting rod passes through the fixed side plate and the gripper, and both ends of the threaded connecting rod are fixed through external nuts.

[0011] Preferably, the adjusting assembly includes a variable-frequency motor and a support base, motor fixing plates are arranged at both ends of the variable-frequency motor, and both ends of the variable-frequency motor are fixed to the support base and the linear slide rail respectively through bolts externally connected to the motor fixing plates.

[0012] Preferably, support components are arranged on both sides of the variable-frequency motor, and a directional movement ring groove is arranged on the upper surface of the support base.

[0013] Preferably, the support component includes a positioning sleeve and an adjusting frame, a column wheel seat is welded to the lower end of the positioning sleeve, a column wheel rotating groove is arranged on the lower surface of the column wheel seat, and a column wheel is rotatably connected inside the column wheel rotating groove.

[0014] Preferably, an adjusting groove is arranged inside the positioning sleeve, and the adjusting groove is in the form of an open top. The adjusting frame moves up and down along the adjusting groove. A positioning hole is arranged on the surface of the positioning sleeve near the top, a connecting hole is arranged on the surface of the adjusting frame, a single-head fastener is inserted into one end of the positioning hole, and one end of the single-head fastener passes through the positioning hole and the connecting hole and is fixed through an external nut.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) The present invention is provided with a gripper fixture at one end of the gripper. When grasping the mold, the mold is clamped by the first clamping plate and the second clamping plate. The first clamping plate and the second clamping plate are rotated through the mounting seat and the positioning seat, so as to adjust the angle. When clamping the mold, the angle will be adjusted according to the surface shape of the mold, so as to be applicable to molds of different shapes, improving flexibility and applicability. When grasping the rammer, the rammer is limited and clamped through the rammer connecting grooves on the surfaces of the first clamping plate and the second clamping plate, avoiding the position deviation of the rammer and improving the grasping stability. Cooperating with the robotic arm tooling body, uniform and constant force can be provided to the rammer in different directions.

[0016] (2) The robotic arm can ensure that the mold is evenly lifted in the vertical direction. By removing the fixing screws, it is convenient to replace the first clamping plate and the second clamping plate. The mounting seat can also be replaced by removing the threaded connecting rod, improving flexibility and convenience.

[0017] (3) The visual grasping mechanism automatically locates the mold and the ramming position. The existing visual sensing technology equipped with the robotic arm is adopted. The mold is grasped by the gripper to realize the automatic installation of the mold and the automatic ramming of the cement mortar.

[0018] (4) By setting an adjusting component at the lower end of the linear slide rail, the output end of the variable frequency motor drives the linear slide rail to rotate, so as to adjust the direction, improving the operation range of the robotic arm tooling body, enhancing flexibility and range, and better and more accurately installing the mold and ramming the cement mortar.

[0019] (5) The support component is composed of a positioning sleeve and an adjusting frame. When the linear slide rail rotates, it drives the column wheel to rotate along the directional moving ring groove, providing a supporting effect at both ends of the linear slide rail, avoiding the phenomenon that the robotic arm tooling body is bent and damaged due to the force at both ends when moving to both ends of the linear slide rail, improving safety and support. The adjusting frame moves up and down along the adjusting groove and is fixed by a single-head fastener, facilitating the height adjustment of the positioning sleeve, thereby adjusting the height of the column wheel, facilitating maintenance and replacement, and improving flexibility. Description of the Drawings

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the mechanical gripper structure of the present invention; Figure 3 It is a schematic diagram of the gripper fixture structure of the present invention; Figure 4 It is a schematic diagram of the adjusting component structure of the present invention; Figure 5 It is a schematic diagram of the support component structure of the present invention; In the figure: 1. Manipulator tooling main body; 2. Linear slide rail; 3. Adjusting component; 4. Driving base; 5. Connecting seat; 6. First mechanical connecting rod; 7. Second mechanical connecting rod; 8. Mechanical runner; 9. Mechanical gripper; 10. Connecting frame; 11. Gripper seat; 12. Gripper; 13. Visual grasping mechanism; 14. Gripper driving control mechanism; 15. Gripper fixture; 16. First clamping plate; 17. Second clamping plate; 18. Ram connecting groove; 19. Mounting seat; 20. Positioning seat; 21. Fixed side plate; 22. Threaded connecting rod; 23. Fixed bolt; 24. Fixed screw; 25. Variable-frequency motor; 26. Support base; 27. Motor fixing plate; 28. Support component; 29. Directional movement ring groove; 30. Positioning sleeve; 31. Adjusting frame; 32. Connecting hole; 33. Positioning hole; 34. Adjusting groove; 35. Single-head fastener; 36. Column wheel seat; 37. Column wheel rotation groove; 38. Column wheel. Detailed implementation mode

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0022] Please refer to Figures 1-5 , an embodiment provided by the present invention: a cement mortar fluidity auxiliary test tooling, including: a manipulator tooling main body 1, a linear slide rail 2 is arranged at the lower end of the manipulator tooling main body 1, and an adjusting component 3 is arranged at the lower end of the linear slide rail 2.

[0023] The manipulator tooling main body 1 includes a driving base 4 and a connecting seat 5, and the connecting seat 5 is located at the upper end of the driving base 4. A first mechanical connecting rod 6 is arranged at one end of the connecting seat 5, a second mechanical connecting rod 7 is arranged at one end of the first mechanical connecting rod 6, and a mechanical gripper 9 is arranged at one end of the second mechanical connecting rod 7. The connection points of the connecting seat 5, the first mechanical connecting rod 6, the second mechanical connecting rod 7 and the mechanical gripper 9 are all connected by a mechanical runner 8.

[0024] As Figure 2 shown, the mechanical gripper 9 includes a connecting frame 10, a gripper seat 11 is arranged at the lower end of the connecting frame 10, grippers 12 are arranged at both ends of the gripper seat 11, and a gripper fixture 15 is arranged at one end of the gripper 12. It is worth mentioning that: the mechanical gripper 9 further includes a visual grasping mechanism 13, and the visual grasping mechanism 13 is located at the front end of the gripper seat 11. A gripper driving control mechanism 14 is arranged at the rear end of the gripper seat 11.

[0025] Combined with Figure 3As shown, the gripper fixture 15 includes a first clamping plate 16 and a second clamping plate 17. On one side surface of the first clamping plate 16 and the second clamping plate 17, there are ram connecting grooves 18. On the other side of the first clamping plate 16 and the second clamping plate 17, there are mounting seats 19. On both sides of the mounting seat 19, there are fixing screws 24, and the two mounting seats 19 are fixed to the first clamping plate 16 and the second clamping plate 17 respectively through the fixing screws 24. At both ends of the mounting seat 19, there are positioning seats 20 rotatably connected through pre-installed rotating shafts. On one side of the positioning seat 20, there is a fixed side plate 21. At one end of the fixed side plate 21, there is a fixing bolt 23, and the fixed side plate 21 is fixed to the positioning seat 20 through the fixing bolt 23. At the other end of the fixed side plate 21, there is a threaded connecting rod 22, and the threaded connecting rod 22 passes through the fixed side plate 21 and the gripper 12, and both ends of the threaded connecting rod 22 are fixed through external nuts. The fixed side plate 21 is fixed to the positioning seat 20 through the fixing bolt 23, the threaded connecting rod 22 passes through the fixed side plate 21 and the gripper 12, and both ends of the threaded connecting rod 22 are fixed through external nuts, realizing the connection between the gripper fixture 15 and the gripper 12.

[0026] In the present invention, the visual grasping mechanism 13 automatically positions the mold and the ramming position. The visual sensing technology equipped with the existing robotic arm is adopted. The mold is grasped by the gripper 12 to realize automatic mold installation and automatic ramming of cement mortar, solving the existing technical problems.

[0027] When grasping the mold, the mold is clamped by the first clamping plate 16 and the second clamping plate 17, and the first clamping plate 16 and the second clamping plate 17 rotate with the mounting seat 19 and the positioning seat 20, so as to perform angle adjustment. When clamping the mold, the angle will be adjusted according to the surface shape of the mold, so as to be applicable to molds of different shapes, improving flexibility and applicability. When grasping the ram, the ram is limited and clamped through the ram connecting grooves 18 on the surfaces of the first clamping plate 16 and the second clamping plate 17, avoiding the deviation of the ram position, improving the grasping stability, and providing uniform and constant force on the ram in different directions. The robotic arm can ensure that the mold is evenly lifted in the vertical direction. By removing the fixing screws 24, it is convenient to replace the first clamping plate 16 and the second clamping plate 17. It is also possible to replace the mounting seat 19 by removing the threaded connecting rod 22, improving flexibility.

[0028] Please refer to Figure 1 、 4, the adjusting assembly 3 includes a variable-frequency motor 25 and a support base 26. Both ends of the variable-frequency motor 25 are provided with motor fixing plates 27, and both ends of the variable-frequency motor 25 are externally connected to the support base 26 and the linear slide rail 2 respectively through bolts via the motor fixing plates 27. The output end of the variable-frequency motor 25 drives the linear slide rail 2 to rotate, thereby adjusting the direction, improving the operating range of the manipulator tooling main body 1, adjusting the flexibility and range, and installing the mold better and more precisely, and performing ramming operations on the cement mortar.

[0029] Combined Figure 5 As shown, support components 28 are arranged on both sides of the variable-frequency motor 25. A directional movement ring groove 29 is arranged on the upper surface of the support base 26. The support component 28 includes a positioning sleeve 30 and an adjusting frame 31. A column wheel seat 36 is welded to the lower end of the positioning sleeve 30. A column wheel rotating groove 37 is arranged on the lower surface of the column wheel seat 36. A column wheel 38 is rotatably connected inside the column wheel rotating groove 37.

[0030] An adjusting groove 34 is arranged inside the positioning sleeve 30, and the adjusting groove 34 is in the form of an open top. The adjusting frame 31 moves up and down along the adjusting groove 34. A positioning hole 33 is arranged on the surface of the positioning sleeve 30 near the top. A connecting hole 32 is arranged on the surface of the adjusting frame 31. One end of a single-head fastener 35 is inserted into the positioning hole 33, and one end of the single-head fastener 35 passes through the positioning hole 33 and the connecting hole 32 and is externally fixed by a nut. When the linear slide rail 2 rotates, the column wheel 38 is driven to rotate along the directional movement ring groove 29 by the frictional force, providing a supporting effect on both ends of the linear slide rail 2, avoiding the phenomenon that the two ends of the manipulator tooling main body 1 are bent and damaged due to stress when moving to both ends of the linear slide rail 2, improving safety and support, and the adjusting frame 31 moves up and down along the adjusting groove 34 and is fixed by the single-head fastener 35, facilitating the height adjustment of the positioning sleeve 30, thereby adjusting the height of the column wheel 38, facilitating maintenance and replacement, and improving flexibility.

[0031] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. A cement mortar fluidity auxiliary test tool, comprising a mechanical arm tool body (1), characterized in that: A linear slide rail (2) is arranged at the lower end of the mechanical arm tooling body (1), and an adjustment component (3) is arranged at the lower end of the linear slide rail (2). The mechanical arm tooling body (1) comprises a driving base (4) and a connecting base (5), and the connecting base (5) is located at the upper end of the driving base (4). A first mechanical connecting rod (6) is arranged at one end of the connecting base (5), a second mechanical connecting rod (7) is arranged at one end of the first mechanical connecting rod (6), and a mechanical gripper (9) is arranged at one end of the second mechanical connecting rod (7). The interconnected parts of the connecting base (5), the first mechanical connecting rod (6), the second mechanical connecting rod (7) and the mechanical gripper (9) are all connected via a mechanical rotating wheel (8).

2. The cement mortar fluidity auxiliary testing tool according to claim 1, characterized in that: The mechanical gripper (9) comprises a connecting frame (10), a gripper seat (11) is provided at the lower end of the connecting frame (10), grippers (12) are provided at both ends of the gripper seat (11), and a gripper clamp (15) is provided at one end of the gripper (12).

3. The cement mortar fluidity auxiliary testing tool according to claim 2, characterized in that: The mechanical gripper (9) further comprises a visual gripping mechanism (13), and the visual gripping mechanism (13) is located at the front end of the gripper seat (11), and a gripper drive control mechanism (14) is provided at the rear end of the gripper seat (11).

4. The cement mortar fluidity auxiliary testing tool according to claim 3, characterized in that: The gripper clamp (15) comprises a first clamping plate (16) and a second clamping plate (17), and a tamping rod connection groove (18) is provided on one side surface of the first clamping plate (16) and the second clamping plate (17).

5. The cement mortar fluidity auxiliary testing tool according to claim 4, characterized in that: A mounting seat (19) is provided on the other side of the first clamping plate (16) and the second clamping plate (17), fixing screws (24) are provided on both sides of the mounting seat (19), and the two mounting seats (19) are respectively fixed to the first clamping plate (16) and the second clamping plate (17) by the fixing screws (24).

6. The cement mortar fluidity auxiliary testing tool according to claim 5, characterized in that: Both ends of the mounting seat (19) are rotatably connected to a positioning seat (20) via a pre-installed rotating shaft; a fixed side plate (21) is provided on one side of the positioning seat (20); a fixing bolt (23) is provided at one end of the fixed side plate (21); the fixed side plate (21) is fixed to the positioning seat (20) via the fixing bolt (23); a threaded connecting rod (22) is provided at the other end of the fixed side plate (21); the threaded connecting rod (22) passes through the fixed side plate (21) and the gripper (12); and both ends of the threaded connecting rod (22) are fixed via external nuts.

7. The cement mortar fluidity auxiliary testing tool according to claim 1, characterized in that: The adjustment assembly (3) comprises a variable frequency motor (25) and a support base (26), both ends of the variable frequency motor (25) are provided with a motor fixing plate (27), and the two ends of the variable frequency motor (25) are respectively fixed to the support base (26) and the linear guide rail (2) by external bolts of the motor fixing plate (27).

8. The cement mortar fluidity auxiliary testing tool according to claim 7, characterized in that: Support components (28) are provided on both sides of the variable frequency motor (25), and a directional movable ring groove (29) is provided on the upper surface of the support base (26).

9. The cement mortar fluidity auxiliary testing tool according to claim 8, characterized in that: The support component (28) comprises a positioning sleeve (30) and an adjustment frame (31); a column wheel seat (36) is welded to the lower end of the positioning sleeve (30); a column wheel rotation groove (37) is provided on the lower surface of the column wheel seat (36); and a column wheel (38) is rotatably connected inside the column wheel rotation groove (37).

10. The cement mortar fluidity auxiliary testing tool according to claim 9, characterized in that: The positioning sleeve (30) is provided with an adjustment groove (34) in the form of an open top end, the adjustment frame (31) moves up and down along the adjustment groove (34), a positioning hole (33) is provided on the surface of the positioning sleeve (30) close to the top end, a connecting hole (32) is provided on the surface of the adjustment frame (31), a single-head fastener (35) is inserted into one end of the positioning hole (33), and one end of the single-head fastener (35) passes through the positioning hole (33) and the connecting hole (32) and is fixed with an external nut.

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