Dynamic and static automatic testing device for lining plate

Abstract

The invention provides a dynamic and static automatic testing device for a lining plate. The device integrates multiple functions of transfer tray conveying, heating treatment, dynamic testing, cooling treatment, static testing, lining plate sorting and the like. Through cooperative operation of the machine head assembly and the manipulator assembly, the automatic circulation and testing process of the to-be-tested lining plate is realized. Specifically, the lining plate is subjected to a dynamic test after being heated, then is subjected to a static test after being cooled, and finally is subjected to grade classification according to a test result. The lining plate dynamic and static state automatic testing device realizes automation of lining plate dynamic and static state testing, and greatly improves the testing efficiency; secondly, through the integrated design, the occupied area of the equipment is reduced, and the cost is reduced; and furthermore, the accurate grade classification function meets the requirements of different scenes, and the market competitiveness of the product is improved.

Description

Technical Field

[0001] This application relates to the technical field of automated production equipment, and particularly to a dynamic and static automatic testing device for liners. Background Art

[0002] As an important component in the industrial field, high-pressure liners are widely used in various mechanical equipment. Especially in occasions where high strength and wear resistance are required, their performance is directly related to the operating efficiency and service life of the equipment. High-pressure liners not only require excellent physical properties but also need to undergo strict dynamic and static tests to verify their stability and reliability under different working conditions.

[0003] Dynamic and static tests are key links in the quality control of high-pressure liners. Dynamic tests mainly simulate the stress state of the liner during actual operation and detect its deformation, cracks, etc. under dynamic loads; while static tests focus on evaluating the pressure-bearing capacity and dimensional stability of the liner in a static state. The combination of these two testing methods can comprehensively reflect the comprehensive performance of the liner. Liner sorting is to classify the liners according to different performance grades based on the test results to meet the requirements and usage scenarios of different scenarios.

[0004] However, the common detection equipment on the market currently has relatively single functions. It often can only perform single dynamic or static tests and lacks an efficient grading function. This not only limits the testing efficiency but also makes it difficult to meet the functional requirements of multi-mode detection and precise grading of liners. Summary of the Invention

[0005] The purpose of this application is to provide a dynamic and static automatic testing device for liners, which can improve the above problems.

[0006] The embodiments of this application are implemented as follows:

[0007] This application provides a dynamic and static automatic testing device for liners, including a transfer tray conveying assembly, a machine head assembly, a manipulator assembly, a heating platform, a cooling platform, dynamic testing equipment, static testing equipment, and a liner sorting device;

[0008] The transfer tray conveying assembly includes a tray conveying track, a tray conveying power assembly, and a basket claw; the basket claw is used to clamp and place the tray in the basket at the loading station on the tray conveying track, the tray contains the liner to be tested, and the tray conveying power assembly is used to drive the tray to move along the tray conveying track;

[0009] The head assembly is used to clamp and place the lining plate to be tested on the heating platform, and the heating platform is used to perform heating treatment and transfer the lining plate to be tested to the manipulator assembly; the manipulator assembly is used to clamp and place the heated lining plate to be tested in the dynamic testing equipment for dynamic testing, and clamp and place the dynamically qualified lining plate that passes the dynamic testing on the heating platform; the heating platform is also used to transfer the dynamically qualified lining plate to the head assembly;

[0010] The head assembly is also used to clamp and place the dynamically qualified lining plate on the cooling platform, and the cooling platform is used to perform cooling treatment and transfer the dynamically qualified lining plate to the manipulator assembly; the manipulator assembly is also used to clamp and place the dynamically qualified lining plate in the static testing equipment for static testing, and clamp and place the dynamically and statically qualified lining plate that passes the static testing on the cooling platform; the cooling platform is also used to transfer the dynamically and statically qualified lining plate to the head assembly;

[0011] The head assembly is also used to clamp and place the dynamically and statically qualified lining plate on the tray conveying track to continue moving; the end of the tray conveying track is close to the lining plate sorting equipment, and the lining plate sorting equipment is used to classify the dynamically and statically qualified lining plates.

[0012] It can be understood that the present application proposes a device for automatically testing the dynamic and static states of a lining plate, which integrates multiple functions such as transfer tray conveying, heating treatment, dynamic testing, cooling treatment, static testing, and lining plate sorting. Through the collaborative operation of the head assembly and the manipulator assembly, the automatic flow and testing process of the lining plate to be tested are realized. Specifically, the lining plate is first dynamically tested after heating treatment, then statically tested after cooling treatment, and finally classified according to the test results. The device for automatically testing the dynamic and static states of the lining plate realizes the automation of the dynamic and static testing of the lining plate, greatly improving the testing efficiency; secondly, through the integrated design, the floor area of the equipment is reduced and the cost is lowered; furthermore, the precise classification function meets the requirements of different scenarios and enhances the market competitiveness of the product; finally, the device is easy to operate and maintain, has good practicability and popularization value, and provides strong technical support for the quality control of high-pressure lining plates.

[0013] In an optional embodiment of the present application, the lining plate sorting equipment includes at least two sets of sorting transmission components arranged side by side, and each sorting transmission component includes a sorting conveying track, a sorting power component, and a classification clip component. The head assembly is also used to clamp and place each dynamically and statically qualified lining plate on the tray of the sorting conveying track corresponding to the category; the sorting power component is used to drive the tray to move along the sorting conveying track until the classification clip component clamps and places the tray in the corresponding storage basket.

[0014] It can be understood that the above sorting power assembly includes components such as a motor, a synchronous belt, and a synchronous pulley. The synchronous belt moves under the drive of the motor, thereby driving the tray on the synchronous belt to move along the sorting conveying track. The sorting power assembly provides a power source through its built-in motor. When the motor operates, it drives the synchronous belt to rotate. The synchronous belt is connected to the synchronous pulley arranged on the sorting conveying track. When the synchronous belt rotates, the synchronous pulley rotates accordingly, and then drives the tray placed on the synchronous belt to move along the sorting conveying track. In this way, the sorting power assembly can accurately drive the tray to move along the sorting conveying track to a specified position, so that the sorting clip assembly can clamp the tray and place it in the corresponding storage basket.

[0015] In an alternative embodiment of the present application, the sorting clip assembly includes a sorting clamping component, a sorting clip moving track, and a sorting clip power component. The sorting clip moving track is arranged parallel to the sorting conveying track. The sorting clip power component is used to drive the sorting clamping component to move on the sorting clip moving track. The sorting clamping component is used to clamp the tray on the sorting transmission component and place it in the corresponding storage basket.

[0016] It can be understood that the sorting clip power assembly provides a power source through its built-in motor. When the motor operates, it drives the synchronous belt to rotate. The synchronous belt is connected to the synchronous pulley arranged on the sorting clip moving track. When the synchronous belt rotates, the synchronous pulley rotates accordingly, and then drives the sorting clamping component placed on the synchronous belt to move along the sorting clip moving track. The sorting clamping component includes an electric clip and a cylinder for driving the electric clip. The electric clip can clamp the corresponding tray under the drive of the cylinder. After the sorting clamping component clamps the corresponding tray, the sorting clip power component drives the sorting clamping component to move along the sorting clip moving track to a position close to the storage basket, and the sorting clamping component places the tray into the storage basket.

[0017] In an alternative embodiment of the present application, the lining dynamic and static automatic testing device further includes a basket storage component. The basket storage component includes a basket carrier, a basket lifting module, and a finished product conveying component. The finished product conveying component includes a finished product conveying track and a finished product conveying power component. The finished product conveying power component is used to drive the storage basket to move on the finished product conveying track to the next working station. The basket carrier is used to place the storage basket carrying the sorted tray. The basket lifting module is used to control the lifting of the basket carrier to the corresponding finished product conveying track.

[0018] It can be understood that the above storage basket is placed on the basket carrier. After the storage basket is filled with the sorted trays, the basket lifting module drives the basket carrier to rise or fall to the corresponding finished product conveying track, and the storage basket is driven by the above finished product conveying power component to move on the finished product conveying track to the next working station.

[0019] In an alternative embodiment of the present application, the lining dynamic and static automatic testing device further includes a basket steering assembly, and the basket steering assembly includes a rotating plate, a clamping cylinder, and a rotation driving assembly. The rotation driving assembly is disposed on the basket carrier and is used to drive the rotating plate to rotate relative to the basket carrier, and the clamping cylinder is used to clamp the storage basket during the rotation process.

[0020] It can be understood that when the sorting clamping assembly places the tray into the storage basket, the storage opening of the storage basket faces the sorting clamping moving track. However, in subsequent workstations, it may be necessary to change the orientation of the storage opening. The basket steering assembly clamps the storage basket through the clamping cylinder, and then drives the rotating plate to rotate through the rotation driving assembly, thereby driving the storage opening of the storage basket to rotate a preset angle to meet the operation requirements of the next workstation.

[0021] In an alternative embodiment of the present application, the heating platform includes a fixed heating platform and a moving heating platform; the head assembly is used to clamp and place the lining to be tested that moves to the first position along the tray conveying track on the fixed heating platform for heating treatment. After the temperature of the lining to be tested reaches the first temperature, the lining to be tested is clamped and placed on the moving heating platform; the moving heating platform is used to transfer the lining to be tested to the manipulator assembly; the manipulator assembly is used to clamp and place the lining to be tested on the moving heating platform into the dynamic testing device for dynamic testing, and clamp and place the dynamically qualified lining that passes the dynamic testing on the moving heating platform; the moving heating platform is further used to transfer the dynamically qualified lining to the head assembly.

[0022] In an alternative embodiment of the present application, the cooling platform includes a fixed cooling platform and a moving cooling platform; the head assembly is further used to clamp and place the dynamically qualified lining on the moving heating platform on the fixed cooling platform for cooling treatment. After the temperature of the dynamically qualified lining is lower than the second temperature, the dynamically qualified lining is clamped and placed on the moving cooling platform; the moving cooling platform is further used to transfer the dynamically qualified lining to the manipulator assembly; the manipulator assembly is further used to clamp and place the dynamically qualified lining on the moving cooling platform into the static testing device for static testing, and clamp and place the dynamically and statically qualified lining that passes the static testing on the moving cooling platform; the moving cooling platform is further used to transfer the dynamically and statically qualified lining to the head assembly.

[0023] In an alternative embodiment of the present application, the head assembly includes a rotating electric claw, a lead screw, a head motor, and a vision assembly. One end of the lead screw is connected to the head motor, and the other end of the lead screw is connected to the rotating electric claw. The head motor controls the lifting of the rotating electric claw through the lead screw. The vision assembly is used to observe whether the target lining plate reaches the target grasping position. When the target lining plate reaches the target grasping position, the rotating electric claw grasps the target lining plate.

[0024] In an alternative embodiment of the present application, the manipulator assembly includes a multi-axis robotic arm and a cylinder and an electric claw fixed to the end of the multi-axis robotic arm. The cylinder is used to drive the grasping action of the electric claw.

[0025] In an alternative embodiment of the present application, the lining plate dynamic and static automatic testing device further includes a defective product conveying assembly. The defective product conveying assembly includes a defective product conveying track and a defective product conveying power assembly. The defective product conveying power assembly is used to drive the defective lining plate to move along the defective product conveying track to the blanking station; the head assembly is further used to clamp and place the defective lining plate that fails the dynamic test or the static test on the defective product conveying track.

[0026] It can be understood that the defective product conveying power assembly provides a power source through its built-in motor. When the motor runs, it drives the synchronous belt to rotate. The synchronous belt is connected to the synchronous pulley arranged on the defective product conveying track. When the synchronous belt rotates, the synchronous pulley rotates accordingly, and then drives the defective lining plate placed on the synchronous belt to move along the defective product conveying track to the blanking station.

[0027] Advantageous effects:

[0028] The present application provides a lining plate dynamic and static automatic testing device, which integrates functions such as transfer tray conveying, heat treatment, dynamic testing, cooling treatment, static testing, and lining plate sorting. Through the collaborative operation of the head assembly and the manipulator assembly, the automatic flow and testing process of the lining plate to be tested are realized. Specifically, after the lining plate is heat-treated, it is first subjected to dynamic testing, then static testing after cooling treatment, and finally graded according to the test results. The lining plate dynamic and static automatic testing device realizes the automation of lining plate dynamic and static testing, greatly improves the testing efficiency; secondly, through the integrated design, it reduces the floor area of the equipment and lowers the cost; furthermore, the precise grading function meets the requirements of different scenarios and enhances the market competitiveness of the product; finally, the device is easy to operate and maintain, has good practicability and popularization value, and provides strong technical support for the quality control of high-pressure lining plates.

[0029] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specific embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0030] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0031] Figure 1 is a schematic structural diagram of a dynamic and static automatic testing device for liners provided by the present application;

[0032] Figure 2 is Figure 1 a schematic structural diagram of the transfer tray conveying assembly shown in;

[0033] Figure 3 is Figure 1 a schematic structural diagram of the liner sorting equipment shown in;

[0034] Figure 4 is Figure 3 a schematic structural diagram of the classification clip assembly shown in;

[0035] Figure 5 is a schematic structural diagram of the basket storage assembly provided by the present application;

[0036] Figure 6 is a schematic structural diagram of the basket lifting module and the finished product conveying assembly provided by the present application;

[0037] Figure 7 is a schematic structural diagram of the basket turning assembly provided by the present application;

[0038] Figure 8 is a schematic structural diagram of the machine head assembly provided by the present application;

[0039] Figure 9 is a schematic structural diagram of the manipulator assembly provided by the present application;

[0040] Figure 10 is a schematic structural diagram of the defective product conveying assembly provided by the present application;

[0041] Figure 11 is a schematic diagram of the principle of the robotic arm joint control in the dynamic and static automatic testing device for liners provided by the present application;

[0042] Figure 12 is a schematic diagram of the principle of the overall control of the robotic arm in the dynamic and static automatic testing device for liners provided by the present application;

[0043] Figure 13It is a schematic diagram of the principle of AVG control in the dynamic and static automatic testing device for liners provided by this application. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the protection scope of this application.

[0045] As Figure 1 shown, this application provides a dynamic and static automatic testing device for liners, including a transfer tray conveying assembly 1, a machine head assembly 2, a manipulator assembly 3, a heating platform 4, a cooling platform 5, a dynamic testing device 6, a static testing device 7, and a liner sorting device 8.

[0046] As Figure 2 shown, the transfer tray conveying assembly 1 includes a tray conveying track 11, a tray conveying power assembly, and a basket claw 12; the basket claw 12 is used to clamp and place the tray in the basket 200 at the loading station 9 on the tray conveying track 11, and the tray 10 contains the liner 100 to be tested. The tray conveying power assembly is used to drive the tray 10 to move along the tray conveying track 11. The tray conveying power assembly provides a power source through its built-in motor. When the motor runs, it drives the synchronous belt to rotate. The synchronous belt is connected to the synchronous pulley arranged on the tray conveying track 11. When the synchronous belt rotates, the synchronous pulley rotates accordingly, and then drives the tray 10 placed on the synchronous belt to move along the tray conveying track 11.

[0047] The machine head assembly 2 is used to clamp and place the liner 100 to be tested on the heating platform 4. The heating platform 4 is used to perform heating treatment and transfer the liner 100 to be tested to the manipulator assembly 3; the manipulator assembly 3 is used to clamp and place the heated liner 100 to be tested in the dynamic testing device 6 for dynamic testing, and clamp and place the dynamically qualified liner after passing the dynamic test on the heating platform 4; the heating platform 4 is also used to transfer the dynamically qualified liner to the machine head assembly 2.

[0048] Dynamic testing mainly simulates the stress state of the lining plate during actual operation, and applies dynamic loads to the lining plate, such as vibration, impact, fatigue, etc. By observing and analyzing the deformation, crack generation, fatigue life, etc. of the lining plate under dynamic loads, its performance and reliability under actual working conditions can be evaluated. Dynamic testing can reveal the durability and fatigue life of the lining plate under long-term and high-frequency dynamic loads, which is of great significance for predicting the service life of the lining plate in actual use. By analyzing the results of dynamic testing, weak links in the lining plate design can be found, so as to guide designers to carry out optimized design and improve the performance and reliability of the lining plate. Dynamic testing can simulate the performance of the lining plate under extreme working conditions, such as sudden impact or vibration, to ensure that the lining plate will not suddenly fail in actual use and guarantee the safety of equipment and personnel.

[0049] The head assembly 2 is also used to pick up and place the dynamically qualified lining plate on the cooling platform 5. The cooling platform 5 is used to perform cooling treatment and transfer the dynamically qualified lining plate to the manipulator assembly 3; the manipulator assembly 3 is also used to pick up and place the dynamically qualified lining plate in the static test equipment 7 for static testing, and pick up and place the dynamically and statically qualified lining plate 300 that has passed the static test on the cooling platform 5; the cooling platform 5 is also used to transfer the dynamically and statically qualified lining plate 300 to the head assembly 2.

[0050] Static testing mainly evaluates the physical properties of the lining plate in a static state, such as bearing capacity, dimensional stability, hardness, stiffness, etc. During the test, a static load is applied to the lining plate, and its deformation, stress distribution, failure mode, etc. are observed and analyzed. Static testing can directly evaluate the bearing capacity of the lining plate under static loads, providing an important basis for the design and selection of the lining plate. Through static testing, the dimensional stability of the lining plate during long-term use can be verified to ensure that it will not deform or change in size during use. Static testing can reveal the influence of different materials or different processes on the performance of the lining plate, providing guidance for material selection and process optimization.

[0051] The head assembly 2 is also used to pick up and place the dynamically and statically qualified lining plate 300 on the tray conveyor track 11 for further movement; the end of the tray conveyor track 11 is close to the lining plate sorting device 8, and the lining plate sorting device 8 is used to classify the dynamically and statically qualified lining plates 300.

[0052] It can be understood that the present application proposes a dynamic and static automatic testing device for liners, which integrates multiple functions such as transfer tray conveying, heat treatment, dynamic testing, cooling treatment, static testing, and liner sorting. Through the collaborative operation of the head component and the manipulator component, the automatic flow and testing process of the liners to be tested are realized. Specifically, after heat treatment, the liners are first subjected to dynamic testing, then static testing after cooling treatment, and finally graded according to the test results. The dynamic and static automatic testing device for liners realizes the automation of dynamic and static testing of liners, greatly improving the testing efficiency; secondly, through the integrated design, the floor area of the equipment is reduced and the cost is lowered; furthermore, the precise grading function meets the requirements of different scenarios and enhances the market competitiveness of the product; finally, the device is easy to operate and maintain, has good practicability and popularization value, and provides strong technical support for the quality control of high-pressure liners.

[0053] In an alternative embodiment of the present application, the liner sorting device includes at least two sorting and conveying components arranged side by side. As Figure 3 shown in the liner sorting device 8, it includes three sorting and conveying components, namely the first sorting and conveying component 81, the second sorting and conveying component 82, and the third sorting and conveying component 83. The structure of each sorting and conveying component is the same. Taking the first sorting and conveying component 81 as an example, the first sorting and conveying component 81 includes a sorting and conveying track 811, a sorting power component, and a sorting clip component 812. The head component 2 is also used to pick up and place each dynamically and statically qualified liner 300 on the tray 10 of the corresponding sorting and conveying track 811; the sorting power component is used to drive the tray 10 to move along the sorting and conveying track 811 until the sorting clip component 812 picks up the tray and places it in the corresponding storage basket 400.

[0054] It can be understood that the above sorting power component includes elements such as a motor, a synchronous belt, and a synchronous pulley. The synchronous belt moves under the drive of the motor, thereby driving the tray on the synchronous belt to move along the sorting and conveying track. The sorting power component provides a power source through its built-in motor. When the motor runs, it drives the synchronous belt to rotate. The synchronous belt is connected to the synchronous pulley arranged on the sorting and conveying track. When the synchronous belt rotates, the synchronous pulley rotates accordingly, and then drives the tray placed on the synchronous belt to move along the sorting and conveying track. In this way, the sorting power component can accurately drive the tray to move along the sorting and conveying track to a specified position, so that the sorting clip component can pick up the tray and place it in the corresponding storage basket 400.

[0055] In an alternative embodiment of the present application, as Figure 4As shown, the sorting clip assembly 812 includes a sorting clip picking component 813, a sorting clip moving track 814, and a sorting clip power component. The sorting clip moving track 814 is arranged parallel to the sorting conveyor track 811. The sorting clip power component is used to drive the sorting clip picking component 813 to move on the sorting clip moving track 814. The sorting clip picking component is used to pick up the tray on the sorting and transmission component and place it in the corresponding storage basket 400.

[0056] It can be understood that the sorting clip power component provides a power source through its built-in motor 815. When the motor runs, it drives the synchronous belt 816 to rotate. The synchronous belt 816 is connected to the synchronous pulley 817 arranged on the sorting clip moving track 814. When the synchronous belt 816 rotates, the synchronous pulley 817 rotates accordingly, and then drives the sorting clip picking component 813 placed on the synchronous belt 816 to move along the sorting clip moving track 814. The sorting clip picking component 813 includes an electric clip 818 and a cylinder 819 for driving the electric clip. The electric clip 818 can pick up the corresponding tray under the drive of the cylinder 819. After the sorting clip picking component 813 picks up the corresponding tray, the sorting clip power component drives the sorting clip picking component 813 to move along the sorting clip moving track 814 to a position close to the storage basket 400, and the sorting clip picking component 813 places the tray into the storage basket 400.

[0057] In an alternative embodiment of the present application, the lining dynamic and static automatic testing device further includes a basket storage component, such as Figure 5 and Figure 6 As shown, the basket storage component includes a basket carrier 91, a basket lifting module 92, and a finished product conveying component; the finished product conveying component includes a finished product conveying track 93 and a finished product conveying power component. The finished product conveying power component is used to drive the storage basket 400 to move on the finished product conveying track 93 to the next working station; the basket carrier 91 is used to place the storage basket 400 carrying the sorted trays, and the basket lifting module 92 is used to control the basket carrier 91 to lift to the corresponding finished product conveying track 93.

[0058] It can be understood that the above-mentioned storage basket 400 is placed on the basket carrier 91. After the storage basket 400 is full of sorted trays, the basket lifting module 92 drives the basket carrier 91 to rise or fall to the corresponding finished product conveying track 93, and the storage basket 400 is driven by the above-mentioned finished product conveying power component to move on the finished product conveying track 93 to the next working station.

[0059] In an alternative embodiment of the present application, such as Figure 7As shown, the dynamic and static automatic testing device for the liner plate further includes a basket turning assembly. The basket turning assembly includes a rotating plate 61, a clamping cylinder 62, and a rotation driving assembly 63. The rotation driving assembly 63 is arranged on the basket carrier 91 and is used to drive the rotating plate 61 to rotate relative to the basket carrier 91. The clamping cylinder 62 is used to clamp and hold the receiving basket 400 during the rotation process.

[0060] It can be understood that when the sorting clamping assembly 813 places the tray into the receiving basket 400, the receiving opening of the receiving basket 400 faces the sorting clamping moving track 814. However, in subsequent workstations, the orientation of the receiving opening may need to be changed. The basket turning assembly clamps the receiving basket 400 through the clamping cylinder 62, and then drives the rotating plate 61 to rotate through the rotation driving assembly 63, thereby driving the receiving opening of the receiving basket 400 to rotate by a preset angle to meet the operation requirements of the next workstation.

[0061] In an optional embodiment of the present application, the heating platform 4 includes a fixed heating platform and a movable heating platform; the machine head assembly 2 is used to clamp and place the liner plate 100 to be tested that moves along the tray conveying track 11 to the first position on the fixed heating platform for heating treatment. After the temperature of the liner plate 100 to be tested reaches the first temperature, the liner plate 100 to be tested is clamped and placed on the movable heating platform; the movable heating platform is used to transfer the liner plate 100 to be tested to the manipulator assembly 3; the manipulator assembly 3 is used to clamp and place the liner plate 100 on the movable heating platform into the dynamic testing device 6 for dynamic testing, and clamp and place the dynamically qualified liner plate that passes the dynamic testing on the movable heating platform; the movable heating platform is also used to transfer the dynamically qualified liner plate to the machine head assembly 2.

[0062] In an optional embodiment of the present application, the cooling platform 5 includes a fixed cooling platform 5 and a movable cooling platform 5; the machine head assembly 2 is also used to clamp and place the dynamically qualified liner plate on the movable heating platform on the fixed cooling platform 5 for cooling treatment. After the temperature of the dynamically qualified liner plate is lower than the second temperature, the dynamically qualified liner plate is clamped and placed on the movable cooling platform 5; the movable cooling platform 5 is also used to transfer the dynamically qualified liner plate to the manipulator assembly 3; the manipulator assembly 3 is also used to clamp and place the dynamically qualified liner plate on the movable cooling platform 5 into the static testing device 7 for static testing, and clamp and place the dynamically and statically qualified liner plate 300 that passes the static testing on the movable cooling platform 5; the movable cooling platform 5 is also used to transfer the dynamically and statically qualified liner plate 300 to the machine head assembly 2.

[0063] In an optional embodiment of the present application, such as Figure 8As shown, the head component 2 includes a rotating electric claw 21, a lead screw 22, a head motor 23, and a vision component 24. One end of the lead screw 22 is connected to the head motor 23, and the other end of the lead screw 22 is connected to the rotating electric claw 21. The head motor 23 controls the lifting of the rotating electric claw 21 through the lead screw 22. The vision component 24 is used to observe whether the target lining plate reaches the target grasping position. When the target lining plate reaches the target grasping position, the rotating electric claw 21 grasps the target lining plate.

[0064] In an alternative embodiment of the present application, as Figure 9 shown, the manipulator component 3 includes a multi-axis robotic arm 31, a manipulator cylinder 32 and a manipulator electric claw 33 fixed to the end of the multi-axis robotic arm 31. The manipulator cylinder 32 is used to drive the grasping action of the manipulator electric claw 33.

[0065] In an alternative embodiment of the present application, as Figure 10 shown, the lining plate dynamic and static automatic testing device further includes a defective product conveying component, which includes a defective product conveying track 71 and a defective product conveying power component 72. The defective product conveying power component 72 is used to drive the defective lining plate 500 to move along the defective product conveying track 71 to the blanking station; the head component 2 is also used to clamp and place the defective lining plate 500 that fails the dynamic test or the static test on the defective product conveying track 71.

[0066] It can be understood that the defective product conveying power component 72 provides a power source through its built-in motor. When the motor operates, it drives the synchronous belt to rotate. The synchronous belt is connected to the synchronous pulley arranged on the defective product conveying track 71. When the synchronous belt rotates, the synchronous pulley rotates accordingly, and then drives the defective lining plate 500 placed on the synchronous belt to move along the defective product conveying track 71 to the blanking station.

[0067] As Figure 11As shown, the manipulator joint control in this lining plate dynamic and static automatic testing device adopts an advanced multi-level control structure, ensuring high precision and stable performance. During the control process, first, it enters the input processing stage, where the system receives input information such as the desired joint trajectory, acceleration, velocity, position, and torque, providing the basic data for subsequent control. Then, the signal passes through a smoother to filter out high-frequency noise and generate a continuous command signal. The position and attitude converter maps the joint space to the actual space position and generates a position reference signal. At the same time, the velocity-force mapper and torque conversion module are responsible for processing the relationship between velocity and force, calculating the joint torque, and generating the feedforward torque. In the impedance control processing stage, the system calculates the error between the actual and desired positions and velocities, and then calculates the impedance force, including elastic force and damping force, to achieve compliant control of the manipulator. Subsequently, in the PID control processing stage, the known dynamics are compensated through feedforward control, and the PID controller adjusts according to the proportional, integral, and derivative principles to synthesize the control command and balance various control actions. Finally, in the actuator force control stage, the control command is converted into a drive signal, the external disturbance is estimated through disturbance observation and the system uncertainty is compensated to improve the robustness of the system. The actuator drive module is responsible for realizing the force output and executing the control command. This control system has a closed-loop feedback mechanism, disturbance suppression ability, and adaptive compensation function, and can achieve high-precision trajectory tracking, powerful disturbance suppression, flexible impedance adjustment, and stable system performance. Therefore, it is applicable to various application scenarios such as precision operation tasks, force control interaction occasions, dynamic environment adaptation, and compliant control requirements.

[0068] As Figure 12As shown, the overall control of the robotic arm in this lining plate dynamic and static automatic testing device adopts an advanced full-process closed-loop control system. The core of the system includes three major modules: a state evaluator, a parameter predictor, and a controller, each undertaking key tasks of real-time state analysis, system feature modeling, and decision execution. In the data acquisition stage, the timing processor receives and preprocesses environmental data, providing a standardized format for subsequent analysis. The state evaluator then comprehensively analyzes the current state of the system, generates an evaluation report and outputs a reliability score to ensure an accurate grasp of the system state. Based on the state evaluation results, the parameter predictor establishes a trend prediction model through historical data analysis and current state evaluation, generates predicted values of key parameters, and updates the system feature model in real time to provide strong support for control decisions. As a decision execution system, the controller generates an optimal control strategy according to the target state and predicted parameters, and outputs execution instructions to achieve multi-objective trade-off and real-time control optimization. The system features full-process closed-loop control, real-time adaptive adjustment, predictive decision support, and robust error handling. A close knowledge transfer and functional complementarity relationship is formed between the training module and the actual application module. The training module accumulates experience in a simulated environment and establishes a basic decision model; the actual application module processes actual environmental changes, optimizes the control effect, and returns practical data to the training module to achieve continuous optimization and co-evolution. This design of dual-module collaboration not only improves the safety and efficiency of the system, but also enhances adaptability and reliability, ensuring the stable control and application effect of the robotic arm in complex environments.

[0069] As Figure 13As shown, the dynamic and static automatic test device for this liner adopts an AVG (Autonomous Guided Vehicle) reinforcement learning control model with a dual-evaluation network and a dual-action network to significantly improve the performance and robustness of the AVG in autonomous navigation tasks. This model first improves the common overestimation problem in deep reinforcement learning. By introducing a dual-evaluation network, the system can select the smaller Q value from the two evaluation networks to generate the target Q value, effectively reducing the performance degradation caused by overestimation. At the same time, the dual-evaluation networks are independently trained and cross-validate each other's estimation results, improving the estimation accuracy of the target Q value, thereby generating a more accurate Q value and enhancing the performance of the policy. In addition, the introduction of the dual-action network enhances the exploration ability and robustness of the AVG. The two action networks are independently trained. By adding adaptive parameter space noise, the AVG can better explore the environment, reducing the risk of converging to a suboptimal policy. In terms of training stability, the independent updates of the dual-evaluation and dual-action networks reduce the fluctuations during training and enhance the robustness of the model. At the same time, the use of the parallel experience replay mechanism improves the learning efficiency and data diversity. Through the parallel experience replay buffers, the system can better balance exploration and exploitation. One buffer is used to calculate the loss function and update the network parameters, and the other is used to adjust the variance of the adaptive parameter space noise. In summary, these improvements enable the AVG to achieve higher success rates and average scores in both static and dynamic environments, demonstrating excellent performance and robustness.

[0070] In the various embodiments of the present disclosure, the expressions "first", "second", "the first", or "the second" used may modify various components regardless of order and / or importance, but these expressions do not limit the corresponding components. The above expressions are only configured for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device represent different user devices, although both are user devices. For example, without departing from the scope of the present disclosure, the first element may be referred to as the second element, and similarly, the second element may be referred to as the first element.

[0071] When an element (e.g., the first element) is referred to as "(operatively or communicatively) coupled" or "(operatively or communicatively) coupled to" another element (e.g., the second element) or "connected to" another element (e.g., the second element), it should be understood that the one element is directly connected to the other element or the one element is indirectly connected to the other element via yet another element (e.g., the third element). Conversely, it can be understood that when an element (e.g., the first element) is referred to as "directly connected" or "directly coupled" to another element (the second element), there is no element (e.g., the third element) inserted between the two.

[0072] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element. In addition, components, features, and elements with the same name in different embodiments of this application may have the same meaning or different meanings, and their specific meanings need to be determined based on their explanations in the specific embodiments or further in combination with the context of the specific embodiments.

[0073] The above description is only an optional embodiment of this application and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, technical solutions formed by mutually replacing the above features with (but not limited to) technical features with similar functions disclosed in this application.

[0074] Depending on the context, the words "if", "when" as used herein may be interpreted as "when...", "while...", "in response to determining", or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" may be interpreted as "when determined", "in response to determining", "when detecting (stated condition or event)", or "in response to detecting (stated condition or event)".

[0075] The above description is only an optional embodiment of this application and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, technical solutions formed by mutually replacing the above features with (but not limited to) technical features with similar functions disclosed in this application.

[0076] The above is only an optional embodiment of this application and is not intended to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A dynamic and static automatic testing device for a liner plate, characterized in that, It includes a transfer pallet conveying component, a machine head component, a manipulator component, a heating platform, a cooling platform, a dynamic testing device, a static testing device, and a lining sorting device; The transfer pallet conveying component includes a pallet conveying track, a pallet conveying power component, and a basket claw; the basket claw is used to clamp and place the pallet in the basket at the loading station onto the pallet conveying track, and the pallet contains the lining to be tested, and the pallet conveying power component is used to drive the pallet to move along the pallet conveying track; The machine head component is used to clamp and place the lining to be tested onto the heating platform, and the heating platform is used to perform a heating process and transfer the lining to be tested to the manipulator component; the manipulator component is used to clamp and place the heated lining to be tested into the dynamic testing device for dynamic testing, and clamp and place the dynamically qualified lining after passing the dynamic testing onto the heating platform; the heating platform is also used to transfer the dynamically qualified lining to the machine head component; The machine head component is also used to clamp and place the dynamically qualified lining onto the cooling platform, and the cooling platform is used to perform a cooling process and transfer the dynamically qualified lining to the manipulator component; the manipulator component is also used to clamp and place the dynamically qualified lining into the static testing device for static testing, and clamp and place the dynamically and statically qualified lining after passing the static testing onto the cooling platform; the cooling platform is also used to transfer the dynamically and statically qualified lining to the machine head component; The machine head component is also used to clamp and place the dynamically and statically qualified lining onto the pallet conveying track to continue moving; the end of the pallet conveying track is close to the lining sorting device, and the lining sorting device is used to classify the dynamically and statically qualified lining.

2. The dynamic and static automatic testing device for lining according to claim 1, wherein The lining sorting device includes at least two sets of sorting and conveying components arranged side by side, and each sorting and conveying component includes a sorting conveying track, a sorting power component, and a classification clip component. The machine head component is also used to clamp and place each dynamically and statically qualified lining onto the pallet on the sorting conveying track of the corresponding category; the sorting power component is used to drive the pallet to move along the sorting conveying track until the classification clip component clamps and places the pallet into the corresponding storage basket.

3. The dynamic and static automatic testing device for lining according to claim 2, wherein The classification clip component includes a classification clamping component, a classification clip moving track, and a classification clip power component. The classification clip moving track is arranged parallel to the sorting conveying track, and the classification clip power component is used to drive the classification clamping component to move on the classification clip moving track, and the classification clamping component is used to clamp the pallet on the sorting and conveying component and place it into the corresponding storage basket.

4. The dynamic and static automatic testing device for lining according to claim 2, wherein The lining dynamic and static automatic testing device further includes a basket storage component, and the basket storage component includes a basket carrier, a basket lifting module, and a finished product conveying component; the finished product conveying component includes a finished product conveying track and a finished product conveying power component, and the finished product conveying power component is used to drive the storage basket to move on the finished product conveying track to the next working station; The basket carrier is used to place the storage basket carrying the sorted trays, and the basket lifting module is used to control the basket carrier to lift to the corresponding finished product conveying track.

5. The lining dynamic and static automatic testing device according to claim 4, wherein The lining dynamic and static automatic testing device further includes a basket turning component, and the basket turning component includes a rotating plate, a clamping cylinder, and a rotation driving component. The rotation driving component is arranged on the basket carrier and is used to drive the rotating plate to rotate relative to the basket carrier, and the clamping cylinder is used to clamp the storage basket during the rotation process.

6. The lining dynamic and static automatic testing device according to claim 1, wherein The heating platform includes a fixed heating platform and a movable heating platform; the head component is used to clamp and place the lining to be tested that moves to the first position along the tray conveying track on the fixed heating platform for heating treatment. After the temperature of the lining to be tested reaches the first temperature, the lining to be tested is clamped and placed on the movable heating platform; the movable heating platform is used to transfer the lining to be tested to the manipulator component; the manipulator component is used to clamp and place the lining to be tested on the movable heating platform into the dynamic testing device for dynamic testing, and clamp and place the dynamically qualified lining passed the dynamic testing on the movable heating platform; the movable heating platform is further used to transfer the dynamically qualified lining to the head component.

7. The lining dynamic and static automatic testing device according to claim 6, wherein The cooling platform includes a fixed cooling platform and a movable cooling platform; the head component is further used to clamp and place the dynamically qualified lining on the movable heating platform on the fixed cooling platform for cooling treatment. After the temperature of the dynamically qualified lining is lower than the second temperature, the dynamically qualified lining is clamped and placed on the movable cooling platform; the movable cooling platform is further used to transfer the dynamically qualified lining to the manipulator component; the manipulator component is further used to clamp and place the dynamically qualified lining on the movable cooling platform into the static testing device for static testing, and clamp and place the dynamically and statically qualified lining passed the static testing on the movable cooling platform; the movable cooling platform is further used to transfer the dynamically and statically qualified lining to the head component.

8. The lining dynamic and static automatic testing device according to any one of claims 1 to 7, wherein The head assembly includes a rotating electric claw, a lead screw, a head motor, and a vision component. One end of the lead screw is connected to the head motor, and the other end of the lead screw is connected to the rotating electric claw. The head motor controls the lifting of the rotating electric claw through the lead screw. The vision component is used to observe whether the target lining plate reaches the target grasping position. When the target lining plate reaches the target grasping position, the rotating electric claw grasps the target lining plate.

9. The lining plate dynamic and static automatic testing device according to any one of claims 1 to 7, characterized in that The manipulator assembly includes a multi-axis robotic arm and a cylinder and an electric claw fixed to the end of the multi-axis robotic arm. The cylinder is used to drive the grasping action of the electric claw.

10. The lining plate dynamic and static automatic testing device according to any one of claims 1 to 7, characterized in that The lining plate dynamic and static automatic testing device further includes a defective product conveying assembly. The defective product conveying assembly includes a defective product conveying track and a defective product conveying power assembly. The defective product conveying power assembly is used to drive the defective lining plate to move along the defective product conveying track to the blanking station; The head assembly is further used to clamp and place the defective lining plates that fail the dynamic test or the static test on the defective product conveying track.

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